Multifunctional mechanical arm device for wobble plate system

Abstract

The utility model relates to the technical field of mechanical arms, and discloses a multifunctional mechanical arm device for a wobble plate system, which comprises a mechanical arm body, the inner wall of the mechanical arm body is fixedly connected with a first fixing block, the inner wall of the first fixing block is fixedly connected with a second fixing block, and the upper surface of the second fixing block is fixedly connected with a sliding block. A button is slidably connected to the inner wall of the sliding block, a spring is fixedly connected to the lower surface of the button, a connecting rod is fixedly connected to the inner wall of the sliding column, a clamping column is rotatably connected to the inner wall of the connecting rod, the outer wall of a limiting column is fixedly connected to the inner wall of a second fixing block, and a conveying assembly is arranged on the lower surface of the mechanical arm body. The conveying assembly is used for conveying a bearing appliance. According to the utility model, the pressing button is rotated to drive the sliding column to press downwards, so that different end effectors can be conveniently and quickly replaced, the replacement cost is reduced, and the production flexibility and the response speed are improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a multifunctional robotic arm device for a plate-stacking system. Background Technology

[0002] A traying system is a combination of automated devices used to place items in a specific layout, order, or rule on a tray, carrier, or other container.

[0003] The layout and task requirements of a plating system may vary depending on factors such as product packaging design and subsequent processing procedures. A multi-functional robotic arm can flexibly adjust its movement trajectory and action mode to meet different plating layouts, such as placing items in a matrix layout or a circular layout.

[0004] Existing tray systems using multi-functional robotic arms may require frequent switching of the arm's functions depending on different product types and tray requirements. When switching from picking up small parts for tray placement to picking up large products, changing the end effector or other functional modules of the robotic arm can be very cumbersome, making it difficult to quickly adapt to new task requirements and reducing production flexibility and response speed. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a multi-functional robotic arm device for a tray-stacking system. It aims to improve the situation where, when switching from stacking small parts for tray-stacking to stacking large products, the end effector or other functional modules of the robotic arm cannot be quickly replaced, resulting in an inability to quickly adapt to new task requirements and reducing production flexibility and response speed.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A multifunctional robotic arm device for a tray-stacking system includes a robotic arm body. A first fixing block is fixedly connected to the inner wall of the robotic arm body. A second fixing block is fixedly connected to the inner wall of the first fixing block. A sliding block is fixedly connected to the upper surface of the second fixing block. A button is slidably connected to the inner wall of the sliding block. A spring is fixedly connected to the lower surface of the button. The lower surface of the spring is fixedly connected to the upper surface of the second fixing block. The outer wall of the spring is slidably connected to the inner wall of the sliding block. A sliding column is fixedly connected to the lower surface of the button. The outer wall of the sliding column is slidably connected to the inner wall of the second fixing block. A connecting rod is fixedly connected to the inner wall of the sliding column. A locking pin is rotatably connected to the inner wall of the connecting rod. A limiting pin is slidably connected to the inner wall of the locking pin. The outer wall of the limiting pin is fixedly connected to the inner wall of the second fixing block. A conveying assembly is provided on the lower surface of the robotic arm body for conveying a load-bearing device.

[0008] Preferably, the conveying assembly includes a base, the upper surface of which is fixedly connected to the lower surface of the robotic arm body, a first motor is fixedly connected to the inner wall of the base, a rotating column is fixedly provided at the output end of the first motor, a conveyor belt is slidably connected to the outer wall of the rotating column, and the inner wall of the conveyor belt is slidably connected to the outer wall of the base.

[0009] Preferably, a first fixing box is fixedly connected to the upper surface of the base, a transmission gear is rotatably connected to the inner wall of the first fixing box, the inner wall of the base is rotatably connected to the outer wall of the transmission gear, a rotating gear is meshed with the tooth end of the transmission gear, a sector tooth is fixedly connected to the inner wall of the rotating gear, a first rack is meshed with the tooth end of the sector tooth, the outer wall of the first rack is slidably connected to the inner wall of the first fixing box, and the outer wall of the first rack is slidably connected to the inner wall of the robotic arm body.

[0010] Preferably, a worm gear is fixedly connected to the outer wall of the transmission gear, a worm is meshed with the tooth end of the worm gear, a sliding gear is meshed with the tooth end of the worm, a threaded rod is meshed with the tooth end of the sliding gear, and the outer wall of the sliding gear is slidably connected to the inner wall of the worm.

[0011] Preferably, the outer wall of the sliding gear is slidably connected to the inner wall of the threaded rod, the outer wall of the second fixed box is fixedly connected to the inner wall of the base, and the lower surface of the base is fixedly connected to the second motor.

[0012] Preferably, a threaded rod is fixedly provided at the output end of the second motor, a first bevel gear is fixedly connected to the outer wall of the threaded rod, a second bevel gear is meshed with the tooth end of the first bevel gear, the outer wall of the second bevel gear is rotatably connected to the inner wall of the second fixed box, a fixed gear is fixedly connected to the outer wall of the second bevel gear, a second rack is meshed with the tooth end of the fixed gear, a slider is fixedly connected to the outer wall of the second rack, a guide shaft is provided on the inner wall of the second fixed box, and the outer wall of the guide shaft is slidably connected to the outer wall of the second rack.

[0013] Preferably, the lower surface of the slider is slidably connected to the inner bottom wall of the second fixed box, and the inner bottom wall of the second fixed box is provided with a slide bar, the inner wall of the slide bar being slidably connected to the outer wall of the slider.

[0014] Preferably, the outer wall of the threaded rod is threadedly connected to a slide rod, the outer wall of the slide rod is slidably connected to a clamping block, the outer wall of the slide rod is slidably connected to the inner wall of the slider, and the outer wall of the clamping block is slidably connected to the inner wall of the slider.

[0015] This utility model has the following beneficial effects:

[0016] 1. In this utility model, rotating and pressing the button drives the sliding column to press down, allowing the locking column to slide. The limiting column drives the locking column to rotate to both sides, which facilitates the insertion of the end effector. After insertion, releasing the button allows the spring to return and fix the end effector. Rotating the button again locks it into the sliding block for fixation. This facilitates quick replacement of different end effectors, reduces replacement costs, and increases production flexibility and response speed.

[0017] 2. In this utility model, the second motor drives the threaded rod to rotate, which in turn causes the first bevel gear to rotate and the slide rod to drive the clamping block to slide to adapt to material boxes of different sizes. The first bevel gear drives the second bevel gear to rotate, which in turn causes the fixed gear to drive the slider fixed outside the second rack to center, making it convenient for material boxes of different sizes, shapes and weights to be accurately centered and placed, avoiding misalignment or tilting when putting in materials. Attached Figure Description

[0018] Figure 1 This is a perspective view of a multifunctional robotic arm device for a tray-stacking system proposed in this utility model;

[0019] Figure 2 This is a partial structural diagram of the first fixing block of a multifunctional robotic arm device for a tray-stacking system proposed in this utility model;

[0020] Figure 3 This is a partial structural diagram of the sliding column of a multifunctional robotic arm device for a tray-stacking system proposed in this utility model;

[0021] Figure 4 This is a partial structural diagram of the first fixing box of a multifunctional robotic arm device for a tray-stacking system proposed in this utility model;

[0022] Figure 5 This is a partial structural diagram of the transmission gear of a multifunctional robotic arm device for a tray-stacking system proposed in this utility model;

[0023] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0024] Figure 7 This is a partial structural diagram of the second bevel gear of a multifunctional robotic arm device for a tray-stacking system proposed in this utility model.

[0025] Legend:

[0026] 1. Robotic arm body; 2. First fixed block; 3. Second fixed block; 4. Sliding block; 5. Button; 6. Spring; 7. Sliding column; 8. Connecting rod; 9. Clamping column; 10. Limiting column; 11. Base; 12. First motor; 13. Rotating column; 14. Conveyor belt; 15. First fixed box; 16. Transmission gear; 17. Rotating gear; 18. Sector gear; 19. First rack; 20. Worm gear; 21. Worm; 22. Sliding gear; 23. Threaded rod; 24. Second fixed box; 25. Second motor; 26. First bevel gear; 27. Second bevel gear; 28. Sliding rod; 29. ​​Sliding block; 30. Clamping block; 31. Fixed gear; 32. Second rack. Detailed Implementation

[0027] The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0028] Reference Figure 1 - Figure 3 This utility model provides an embodiment of a multifunctional robotic arm device for a tray-stacking system, comprising a robotic arm body 1, a first fixing block 2 fixedly connected to the inner wall of the robotic arm body 1, a second fixing block 3 fixedly connected to the inner wall of the first fixing block 2, a sliding block 4 fixedly connected to the upper surface of the second fixing block 3, a button 5 slidably connected to the inner wall of the sliding block 4, a spring 6 fixedly connected to the lower surface of the button 5, the lower surface of the spring 6 fixedly connected to the upper surface of the second fixing block 3, the outer wall of the spring 6 slidably connected to the inner wall of the sliding block 4, a sliding column 7 fixedly connected to the lower surface of the button 5, the outer wall of the sliding column 7 slidably connected to the inner wall of the second fixing block 3, a connecting rod 8 fixedly connected to the inner wall of the sliding column 7, a locking column 9 rotatably connected to the inner wall of the connecting rod 8, a limiting column 10 slidably connected to the inner wall of the locking column 9, and the outer wall of the limiting column 10 fixedly connected to the inner wall of the second fixing block 3. A conveying assembly is provided on the lower surface of the robotic arm body 1 for conveying the carrying device.

[0029] Specifically, the first fixing block 2 is fixed by the robotic arm body 1, and the second fixing block 3 fixed inside the first fixing block 2 can drive the sliding block 4 to be fixed, so that the button 5 can slide stably inside the sliding block 4. The button 5 drives the spring 6 to slide, and at the same time drives the sliding column 7 to slide inside the second fixing block 3, which has the effect of preventing the spring 6 and the sliding column 7 from falling off. The sliding column 7 drives the connecting rod 8 to slide, and the locking column 9 rotating inside the connecting rod 8 rotates outside the limiting column 10 fixed inside the first fixing block 2, realizing the stable swinging clamping effect of the locking column 9. During use, the end effector can be quickly changed to different end effectors when facing different product types, so that the robotic arm can quickly adapt to new task requirements, increasing the flexibility and response speed of production.

[0030] Reference Figure 1 The conveying assembly includes a base 11, the upper surface of which is fixedly connected to the lower surface of the robotic arm body 1. A first motor 12 is fixedly connected to the inner wall of the base 11. A rotating column 13 is fixedly installed at the output end of the first motor 12. A conveyor belt 14 is slidably connected to the outer wall of the rotating column 13. The inner wall of the conveyor belt 14 is slidably connected to the outer wall of the base 11.

[0031] Specifically, the first motor 12 fixed inside the base 11 drives the rotating column 13 to rotate, which in turn drives the conveyor belt 14 to rotate. During use, the conveyor belt 14 quickly transports the material box, enabling the robotic arm to perform uninterrupted tray operation, thereby greatly improving the working efficiency of the entire tray system.

[0032] Reference Figure 1 , Figure 4 and Figure 6 A first fixed box 15 is fixedly connected to the upper surface of the base 11. A transmission gear 16 is rotatably connected to the inner wall of the first fixed box 15. The inner wall of the base 11 is rotatably connected to the outer wall of the transmission gear 16. A rotating gear 17 is meshed with the tooth end of the transmission gear 16. A sector tooth 18 is fixedly connected to the inner wall of the rotating gear 17. A first rack 19 is meshed with the tooth end of the sector tooth 18. The outer wall of the first rack 19 is slidably connected to the inner wall of the first fixed box 15. The outer wall of the first rack 19 is slidably connected to the inner wall of the robotic arm body 1. A worm gear 20 is fixedly connected to the outer wall of the transmission gear 16. A worm 21 is meshed with the tooth end of the worm gear 20. A sliding gear 22 is meshed with the tooth end of the worm 21. A threaded rod 23 is meshed with the tooth end of the sliding gear 22. The outer wall of the sliding gear 22 is slidably connected to the inner wall of the worm 21.

[0033] Specifically, the second motor 25 drives the threaded rod 23 to rotate, which in turn drives the sliding gear 22 to rotate. The sliding gear 22 slides outside the worm gear 21, allowing the threaded rod 23 to drive the worm gear 21 to rotate together, thus achieving the function of rotation adjustment. The worm gear 21 drives the worm wheel 20 to rotate, which in turn drives the transmission gear 16 to rotate, and simultaneously drives the rotating gear 17 to rotate together, achieving a stable rotation effect. The rotating gear 17 drives the sector gear 18 to rotate, which in turn drives the first rack 19 into the first fixed box 15, achieving a stable pushing and pushing effect. During use, this allows the filled material box to be pushed out quickly, improving the working efficiency of the entire tray system and reducing the dwell time of the material box at the tray position.

[0034] Reference Figure 1 , Figure 4 and Figure 7 The outer wall of the sliding gear 22 is slidably connected to the inner wall of the threaded rod 23. The outer wall of the second fixed box 24 is fixedly connected to the inner wall of the base 11. A second motor 25 is fixedly connected to the lower surface of the base 11. A threaded rod 23 is fixedly installed at the output end of the second motor 25. A first bevel gear 26 is fixedly connected to the outer wall of the threaded rod 23. The tooth end of the first bevel gear 26 is meshed with a second bevel gear 27. The outer wall of the second bevel gear 27 is rotatably connected to the inner wall of the second fixed box 24. A fixed gear 31 is fixedly connected to the outer wall of the second bevel gear 27. The tooth end of the fixed gear 31 is meshed with a second bevel gear 27. The second rack 32 has a slider 29 fixedly connected to its outer wall. The inner wall of the second fixed box 24 is provided with a guide shaft, and the outer wall of the guide shaft is slidably connected to the outer wall of the second rack 32. The lower surface of the slider 29 is slidably connected to the inner bottom wall of the second fixed box 24. The inner bottom wall of the second fixed box 24 is provided with a slide bar, and the inner wall of the slide bar is slidably connected to the outer wall of the slider 29. The outer wall of the threaded rod 23 is threadedly connected to a slide rod 28, and the outer wall of the slide rod 28 is slidably connected to a clamping block 30. The outer wall of the slide rod 28 is slidably connected to the inner wall of the slider 29, and the outer wall of the clamping block 30 is slidably connected to the inner wall of the slider 29.

[0035] Specifically, the second motor 25 drives the threaded rod 23 to rotate, which in turn causes the sliding rod 28, whose external thread rotates, to adjust the size of the clamping block 30 to accommodate different material boxes. The threaded rod 23 drives the first bevel gear 26 to rotate, which in turn drives the second bevel gear 27 to rotate, and simultaneously drives the fixed gear 31 to rotate, thus ensuring the stable rotation of the fixed gear 31 and preventing it from falling off. The fixed gear 31 drives the second rack 32 to rotate, which in turn causes the slider 29 fixed to the outside of the second rack 32 to drive the clamping block 30, thus achieving a stable centering and clamping effect for the material box. During use, the clamping block 30 facilitates precise centering and placement of material boxes of different sizes, shapes, and weights, preventing misalignment or tilting when placing materials.

[0036] Working principle: When this device is needed, the first motor 12 drives the rotating column 13 to rotate, which in turn drives the conveyor belt 14 to stably transport the material box. The second motor 25 drives the threaded rod 23 to rotate, which allows the sliding clamp 30 of the slide bar 28 to be adjusted in size. The first bevel gear 26 drives the second bevel gear 27 to rotate, which in turn drives the fixed gear 31 fixed to the second bevel gear 27 to drive the slider 29 fixed to the second rack 32 to stably center and clamp the material box. The threaded rod 23 drives... The sliding gear 22 rotates. When it is necessary to eject the material box, the sliding gear 22 slides outside the worm gear 21, causing the sliding gear 22 to drive the worm gear 21 to rotate, achieving the effect of rotation adjustment. The worm gear 21 drives the worm wheel 20 to rotate, which in turn drives the transmission gear 16 to rotate, and simultaneously drives the rotating gear 17 to rotate. This allows the rotating gear 17 to rotate and stably push and pull the first rack 19 to achieve the effect of ejecting the material box. The robotic arm body 1 drives the first fixed block 2 to swing the tray. When it needs to be replaced, the sliding block 4 is rotated. Pressing button 5 prevents it from falling off. Button 5 drives spring 6 to slide, simultaneously causing slide column 7 to slide within the second fixed block 3. This allows the connecting rod 8 fixed within slide column 7 to drive the locking column 9, achieving stable sliding and preventing it from falling off. By sliding the locking column 9 outside the limiting column 10, it can swing to both sides, enabling quick replacement of the end effector. When the end effector is placed within the second fixed block 3, releasing button 5 causes spring 6 to rebound and rotate, fixing button 5 within slide block 4 and quickly securing the end effector. The locking column 9 enables quick replacement of different end effectors, allowing the robotic arm to quickly adapt to new task requirements, increasing production flexibility and response speed. The first rack 19 enables rapid ejection of the material box, reducing its dwell time on the tray and facilitating quick replacement of new material boxes. The clamping block 30 ensures stable centering and clamping of the material box, facilitating precise centering and placement of material boxes of different sizes, shapes, and weights, preventing misalignment or tilting during material placement.

[0037] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multifunctional robotic arm device for a tray-stacking system, comprising a robotic arm body (1), characterized in that: The inner wall of the robotic arm body (1) is fixedly connected to a first fixing block (2), the inner wall of the first fixing block (2) is fixedly connected to a second fixing block (3), the upper surface of the second fixing block (3) is fixedly connected to a sliding block (4), the inner wall of the sliding block (4) is slidably connected to a button (5), the lower surface of the button (5) is fixedly connected to a spring (6), the lower surface of the spring (6) is fixedly connected to the upper surface of the second fixing block (3), and the outer wall of the spring (6) is slidably connected to the inner wall of the sliding block (4). A sliding column (7) is fixedly connected to the lower surface of the button (5). The outer wall of the sliding column (7) is slidably connected to the inner wall of the second fixed block (3). A connecting rod (8) is fixedly connected to the inner wall of the sliding column (7). A locking column (9) is rotatably connected to the inner wall of the connecting rod (8). A limiting column (10) is slidably connected to the inner wall of the locking column (9). The outer wall of the limiting column (10) is fixedly connected to the inner wall of the second fixed block (3). A conveying assembly is provided on the lower surface of the robotic arm body (1). The conveying assembly is used to convey the carrying device.

2. The multifunctional robotic arm device for a tray-stacking system according to claim 1, characterized in that: The conveying assembly includes a base (11), the upper surface of which is fixedly connected to the lower surface of the robotic arm body (1), a first motor (12) is fixedly connected to the inner wall of the base (11), a rotating column (13) is fixedly provided at the output end of the first motor (12), a conveyor belt (14) is slidably connected to the outer wall of the rotating column (13), and the inner wall of the conveyor belt (14) is slidably connected to the outer wall of the base (11).

3. The multifunctional robotic arm device for a tray-stacking system according to claim 2, characterized in that: A first fixed box (15) is fixedly connected to the upper surface of the base (11). A transmission gear (16) is rotatably connected to the inner wall of the first fixed box (15). The inner wall of the base (11) is rotatably connected to the outer wall of the transmission gear (16). A rotating gear (17) is meshed with the tooth end of the transmission gear (16). A sector tooth (18) is fixedly connected to the inner wall of the rotating gear (17). A first rack (19) is meshed with the tooth end of the sector tooth (18). The outer wall of the first rack (19) is slidably connected to the inner wall of the first fixed box (15). The outer wall of the first rack (19) is slidably connected to the inner wall of the robotic arm body (1).

4. The multifunctional robotic arm device for a tray-stacking system according to claim 3, characterized in that: A worm gear (20) is fixedly connected to the outer wall of the transmission gear (16). The tooth end of the worm gear (20) is meshed with a worm (21). The tooth end of the worm (21) is meshed with a sliding gear (22). The tooth end of the sliding gear (22) is meshed with a threaded rod (23). The outer wall of the sliding gear (22) is slidably connected to the inner wall of the worm (21).

5. The multifunctional robotic arm device for a tray-stacking system according to claim 4, characterized in that: The outer wall of the sliding gear (22) is slidably connected to the inner wall of the threaded rod (23), the inner wall of the base (11) is fixedly connected to the second fixing box (24), and the lower surface of the base (11) is fixedly connected to the second motor (25).

6. The multifunctional robotic arm device for a tray-stacking system according to claim 5, characterized in that: The output end of the second motor (25) is fixedly provided with a threaded rod (23). The outer wall of the threaded rod (23) is fixedly connected with a first bevel gear (26). The tooth end of the first bevel gear (26) is meshed with a second bevel gear (27). The outer wall of the second bevel gear (27) is rotatably connected to the inner wall of the second fixed box (24). The outer wall of the second bevel gear (27) is fixedly connected with a fixed gear (31). The tooth end of the fixed gear (31) is meshed with a second rack (32). The outer wall of the second rack (32) is fixedly connected with a slider (29). The inner wall of the second fixed box (24) is provided with a guide shaft. The outer wall of the guide shaft is slidably connected to the outer wall of the second rack (32).

7. A multifunctional robotic arm device for a tray-stacking system according to claim 6, characterized in that: The lower surface of the slider (29) is slidably connected to the inner bottom wall of the second fixed box (24). The inner bottom wall of the second fixed box (24) is provided with a slide bar, and the inner wall of the slide bar is slidably connected to the outer wall of the slider (29).

8. The multifunctional robotic arm device for a tray-stacking system according to claim 7, characterized in that: The outer wall of the threaded rod (23) is threadedly connected to a slide rod (28), the outer wall of the slide rod (28) is slidably connected to a clamping block (30), the outer wall of the slide rod (28) is slidably connected to the inner wall of the slider (29), and the outer wall of the clamping block (30) is slidably connected to the inner wall of the slider (29).

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