Automatic cleaning line carrying mechanical arm structure
By using a servo motor-driven robotic arm device, combined with a tank chain and guide components, the problems of environmental limitations, high energy consumption, and poor stability of traditional robotic arms are solved, achieving high-precision, low-energy-consumption, and automated robotic lifting operations.
Patent Information
- Application Number
- CN202520492069.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-20
- Publication Date
- 2026-02-17
- Estimated Expiration
- 2035-03-20
AI Technical Summary
Traditional robotic arms, driven by hydraulics or pneumatics, suffer from environmental limitations, high energy consumption, complex control, and lack of overload protection, resulting in positioning deviations and poor long-term stability.
It adopts a drive method that combines servo motors, reducers and couplings, combined with tank chains and guide components to achieve high-precision and stable rotation. The movement trajectory of the lifting frame is automatically controlled by proximity switch sensors, and the hook is driven by a cylinder for automated operation.
It achieves a compact, precise, low-energy-consumption, and highly stable robotic lifting system with safety protection and automated operation capabilities, reducing energy consumption and improving positioning accuracy and long-term equipment stability.
Smart Images
Figure CN223917975U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotic arm technology, specifically to a vertical lifting robotic arm device driven by a motor. Background Technology
[0002] In the manufacturing industry, automated cleaning line handling robots can be used for material transfer, workpiece assembly, and other tasks on the production line, improving work efficiency and quality.
[0003] Traditional robotic arms mostly use hydraulic or pneumatic drives, which have problems such as limited operating environment, high energy consumption, and complex control. They are prone to positioning deviations during lifting and lack overload protection mechanisms, affecting long-term stability. Therefore, it is necessary to propose a motor-driven lifting machine that is compact in structure, precise in control, has low requirements for the operating environment, is reliable in operation, and has safety protection features. Utility Model Content
[0004] The purpose of this invention is to provide an automatic cleaning line handling robot arm structure to at least partially solve the above-mentioned technical problems.
[0005] To achieve the above objectives, the present invention provides the following technical solution: It includes a frame, on which two symmetrical shelf plates are vertically fixed on both sides. A driving assembly is disposed above the two shelf plates. A lifting frame is slidably disposed on the inner side of the two shelf plates. Guide components for guiding the lifting frame to move up and down are vertically disposed on the inner sides of the two shelf plates. Lifting components for driving the lifting frame are disposed inside the two shelf plates. A hook assembly for hooking an item frame is disposed below the lifting frame.
[0006] The drive assembly includes a servo motor fixedly mounted on the top of the left side of the frame plate, a reducer connected in cooperation with the servo motor, a shaft that rotates laterally between the two frame plates, and a coupling for connecting the reducer and the shaft.
[0007] The lifting assembly includes two upper sprockets fixedly mounted on the outer wall of the shaft, two sprocket shafts rotating inside the two frame plates, two lower sprockets fixedly mounted on the outer walls of the two sprocket shafts, chain connecting seats fixedly mounted on both sides of the lifting frame, and chain connecting rods fixedly mounted on the upper and lower ends of the chain connecting seats.
[0008] The upper sprocket and the lower sprocket are connected by a matching tank chain, and the two ends of the tank chain are respectively connected to the connecting ends of two chain connecting rods.
[0009] Preferably, the guide assembly includes four first guide rails that are vertically fixed on the inner sides of the two frame plates, four first sliders that are slidably disposed on the four first guide rails, and a guide rod that is vertically fixedly connected to the first guide rails and passes through the first sliders.
[0010] One end of each of the two first sliders is fixedly connected to one side of the lifting frame.
[0011] Preferably, the hook assembly includes two second guide rails fixedly and parallelly disposed below the lifting frame, four second sliders slidably disposed on the two second guide rails, fixed plates respectively fixedly disposed on the top of the two horizontally distributed second sliders, two cylinders fixedly disposed below the lifting frame for individually pushing the two fixed plates to move, and four hooks fixedly connected to the lower ends of the two fixed plates and distributed at the four corners.
[0012] Preferably, reinforcing ribs are fixedly provided laterally on both sides of the two frame plates, and chain cavities for chain drive are opened inside the frame plates.
[0013] Preferably, bearings are provided at the connection points between the shaft and the two frame plates.
[0014] Preferably, proximity switch sensors are respectively provided above and below the two edges of the frame.
[0015] Preferably, the lifting frame has multiple notches at its lower part, and the multiple hooks extend downward through the notches respectively.
[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:
[0017] 1. In this utility model, the cooperation between the servo motor, reducer, and coupling achieves high-precision and stable rotation of the shaft. The shaft drives two upper sprockets on the outer wall to rotate. The two upper and lower sprockets are connected by a tank chain. When the tank chain rotates, the two chain connecting rods connected to the edge of the tank chain drive the chain connecting seat to move, causing the lifting frame fixedly connected to the chain connecting seat to move. The drive method of the sprockets reduces energy consumption during lifting. At the same time, the double linear guide component guides the movement of the lifting frame, improving the stability of the vertical lifting motion.
[0018] 2. When in use, this utility model uses two proximity switch sensors to automatically control the position of the lifting frame rising and the hook falling, which better controls the movement trajectory planning of the lifting structure, eliminating the need for manual operation and improving the automation effect of the overall lifting and handling device.
[0019] 3. When this utility model is used, multiple hooks are moved to different positions by a cylinder, which can be used to automatically design the hook range in conjunction with the equipment, and is not affected by the size of the equipment. Attached Figure Description
[0020] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying 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.
[0021] Figure 1 This is a schematic diagram of the overall structure of this embodiment;
[0022] Figure 2 This is a schematic diagram of the overall frontal planar structure of this embodiment;
[0023] Figure 3 This is a schematic diagram of the three-dimensional structure of the lifting component in this embodiment;
[0024] Figure 4 This is a three-dimensional structural diagram of the hook assembly in this embodiment;
[0025] Figure 5 This is an example. Figure 3 A schematic diagram of the enlarged structure A in the diagram;
[0026] Figure 6 This is an example. Figure 3 A schematic diagram of the enlarged B structure in the diagram.
[0027] The attached diagram lists the components represented by each number as follows:
[0028] 1. Frame; 2. Frame plate; 22. Chain cavity; 3. Drive assembly; 31. Servo motor; 32. Reducer; 33. Shaft; 34. Coupling; 4. Proximity switch sensor; 5. Guide assembly; 51. First guide rail; 52. First slider; 53. Guide rod; 6. Reinforcing rib; 7. Lifting assembly; 71. Upper sprocket; 72. Chain connecting rod; 73. Chain connecting seat; 74. Sprocket shaft; 75. Lower sprocket; 8. Lifting frame; 9. Hook assembly; 91. Second guide rail; 91. Notch; 92. Second slider; 93. Cylinder; 94. Fixing plate; 95. Hook. Detailed Implementation
[0029] 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 skilled in the art without creative effort are within the protection scope of the present utility model.
[0030] Please see Figure 1-6 This utility model provides a technical solution: an automatic cleaning line handling robot arm structure, including a frame 1, two symmetrical frame plates 2 are vertically fixed on both sides of the frame 1, a driving component 3 is arranged above the two frame plates 2, a lifting frame 8 is slidably arranged on the inner side of the two frame plates 2, a guide component 5 for guiding the lifting frame 8 to move up and down is vertically arranged on the inner side of the two frame plates 2, a lifting component 7 for driving the lifting frame 8 is arranged inside the two frame plates 2, and a hook component 9 for hooking the item frame is arranged below the lifting frame 8;
[0031] The drive assembly 3 includes a servo motor 31 fixedly mounted on the top of the left side plate 2, a reducer 32 connected to the servo motor 31, a shaft 33 that rotates laterally between the two plates 2, and a coupling 34 for connecting the reducer 32 and the shaft 33.
[0032] The lifting assembly 7 includes two upper sprockets 71 fixedly mounted on the outer wall of the shaft 33, two sprocket shafts 74 rotating inside the two frame plates 2, two lower sprockets 75 fixedly mounted on the outer wall of the two sprocket shafts 74, chain connecting seats 73 fixedly mounted on both sides of the lifting frame 8, and chain connecting rods 72 fixedly mounted on the upper and lower ends of the chain connecting seats 73.
[0033] The upper sprocket 71 and the lower sprocket 75 are connected by a matching tank chain, and the two ends of the tank chain are respectively connected to the connecting ends of the two chain connecting rods 72;
[0034] The servo motor 31 drives the reducer 32 to rotate. The output end of the reducer 32 is connected to the shaft 33 through the coupling 34, achieving high-precision and stable rotation of the shaft 33. When the shaft 33 drives the two upper sprockets 71 on the outer wall to rotate clockwise, the two upper sprockets 71 and the lower sprocket 75 are connected by the tank chain. When the tank chain rotates clockwise, the two chain connecting rods 72 connected to the edge of the tank chain drive the chain connecting seat 73 to move upward, so that the lifting frame 8 fixedly connected to the chain connecting seat 73 moves upward. The energy consumption during lifting is reduced by the drive of the sprockets. At the same time, the movement of the lifting frame 8 is guided by the double linear guide component 5, which improves the stability of the vertical movement of the lifting frame.
[0035] In a further preferred embodiment, the guide assembly 5 includes four first guide rails 51 that are vertically fixed on the inner sides of the two frame plates 2, four first sliders 52 that are slidably disposed on the four first guide rails 51, and a guide rod 53 that is vertically fixedly connected to the first guide rails 51 and passes through the first sliders 52.
[0036] One end of each of the two first sliders 52 is fixedly connected to one side of the lifting frame 8;
[0037] Two first guide rails 51 are set on the inner edge of the frame plate 2 and are slidably connected to the first guide rails 51 by the first sliders 52, allowing them to move vertically up and down in parallel. The guide rods 53 are vertically set on each first guide rail 51 and pass through the first sliders 52, which improves the stability of the movement of the first sliders 52. Two first guide rails 51 are respectively set on the inner sides of the two frame plates 2, and the first sliders 52 on both sides are fixedly connected to the two ends of the lifting frame 8, which guides the vertical movement of the lifting frame 8 and increases the stability of the lifting frame 8.
[0038] In a further preferred embodiment, the hook assembly 9 includes two second guide rails 91 fixedly and parallelly disposed below the lifting frame 8, four second sliders 92 slidably disposed on the two second guide rails 91, a fixing plate 94 fixedly disposed on the top of the two horizontally distributed second sliders 92, two cylinders 93 fixedly disposed below the lifting frame 8 for individually pushing the two fixing plates 94 to move, and four hooks 95 fixedly connected to the lower end of the two fixing plates 94 and distributed at the four corners.
[0039] When the lifting frame 8 moves downward to lift the object, the lifting frame 8 moves downward so that the hook 95 is located inside the object frame. The two cylinders 93 push the two fixed plates 94 to move in opposite directions, so that the four hooks 95 set at the bottom of the two fixed plates 94 move downward to the lower edge of the object frame. When they move to the lower edge of the object frame, the cylinders 93 stop working, so that the hooks 95 are in the position to hook the object frame. Then, the servo motor 31 drives the upward to hook the object frame and lift it up.
[0040] More preferably, the two frame plates 2 are respectively horizontally fixed with reinforcing ribs 6, and the frame plates 2 have chain cavity openings 22 for chain drive.
[0041] The rigidity between the frame body 1 and the frame plate 2 is strengthened by the reinforcing ribs 6 set on both sides of the two frame plates 2, and the chain cavity 22 starting from the inside of the frame plate 2 is used for the installation of the tank chain.
[0042] In a further preferred embodiment, bearings are provided at the connection points between the shaft 33 and the two frame plates 2;
[0043] Bearings are provided at the connection points between the two frame plates 2 and the shaft 33 to support the shaft 33 to rotate stably between the two frame plates 2.
[0044] More preferably, proximity switch sensors 4 are respectively provided above and below the edges of the two shelf plates 2;
[0045] By using proximity switch sensors 4 installed at the upper and lower edges of the frame plate 2, the positions of the lifting frame 8 and the hook assembly 9 are controlled respectively. When the lifting frame 8 moves upward, and reaches the height set by the upper proximity switch sensor 4, the servo motor 31 stops working, and the lifting frame 8 stops moving, allowing the hooked object frame to move to the specified height. When the lifting frame 8 moves downward to lift an object, the hook assembly 9 moves to the value set by the lower proximity switch sensor 4, and the servo motor 31 stops working. The hook 95 of the hook assembly 9 is located exactly below the edge of the object frame to be lifted. By using two proximity switch sensors 4, the movement trajectory planning of the lifting structure is better controlled, eliminating the need for manual operation and improving the automation effect of the overall lifting and handling device.
[0046] In a further preferred embodiment, the lower part of the lifting frame 8 has multiple notches 911, and multiple hooks 95 extend downward through the notches 911 respectively;
[0047] The notch 911, starting below the lifting frame 8, is used to move the hook 95 to the part of the lifting frame 8.
[0048] A specific application of this embodiment is as follows: After ultrasonic cleaning of items located inside the object frame, the servo motor 31 drives the two upper sprockets 71 on the outer wall of the shaft 33 to rotate counterclockwise. The two symmetrical upper sprockets 71 are connected to the lower sprockets 75 by a tank chain. When the tank chain rotates counterclockwise, the two chain connecting rods 72 connected to the edge of the tank chain drive the chain connecting seat 73 to move downward, causing the lifting frame 8 connected to the chain connecting seat 73 to move downward. When the hook assembly 9 at the bottom of the lifting frame 8 moves to the position set by the lower proximity switch sensor 4, the servo motor 31 stops working. At the same time, the hooks 95 in the hook assembly 9 are located on the lower inner side of the object frame. The two cylinders 93 simultaneously push the two fixing plates 94 to move to both sides, so that the four hooks 95 are located below the edge of the object frame. Then, driven by the servo motor 31, the lifting frame 8 is moved upward in another direction. When the lifting frame 8 moves to the position set by the upper proximity switch sensor 4, the servo motor 31 stops, so that the object frame is located in the set position, completing the lifting and transportation of the cleaned object.
[0049] In the description of this utility model, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "side", "top", "inner", "front", "center", "both ends", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0050] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "setting", "connection", "fixing", "screw connection", etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0051] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. An automatic cleaning line carrying mechanical arm structure comprising a frame body (1), characterized in that: The frame body (1) is vertically fixed with two symmetric frame plates (2) on both sides, a driving assembly (3) is arranged above the two frame plates (2), a lifting frame (8) is slidably arranged in the inner side of the two frame plates (2), a guide assembly (5) for guiding the lifting frame (8) to move up and down is vertically arranged on the inner side of the two frame plates (2), a lifting assembly (7) for driving the lifting frame (8) is arranged in the inner side of the two frame plates (2), and a hook assembly (9) for hooking the article frame is arranged below the lifting frame (8); The driving assembly (3) comprises a servo motor (31) fixedly arranged on the top of the left frame plate (2), a speed reducer (32) connected with the servo motor (31), a shaft (33) rotating transversely between the two frame plates (2), and a shaft coupling (34) for connecting the speed reducer (32) and the shaft (33). The lifting assembly (7) comprises two upper chain wheels (71) fixedly arranged on the outer wall of the shaft (33), two chain wheel shafts (74) rotating below the two frame plates (2), two lower chain wheels (75) fixedly arranged on the outer wall of the two chain wheel shafts (74), a chain connecting seat (73) fixedly arranged on both sides of the lifting frame (8), and a chain connecting rod (72) fixedly arranged on the upper and lower ends of the chain connecting seat (73). The upper chain wheel (71) and the lower chain wheel (75) are connected by a matching tank chain, and the two ends of the tank chain are connected with the connecting ends of the two chain connecting rods (72), respectively.
2. The automatic cleaning line carrying mechanical arm structure according to claim 1, characterized in that: The guide assembly (5) comprises four first guide rails (51) vertically fixedly arranged on the inner side of the two frame plates (2), respectively, four first sliding blocks (52) slidably arranged on the four first guide rails (51), and a guide rod (53) fixedly connected on the first guide rail (51) and penetrating through the first sliding block (52). One end of each of the two first sliding blocks (52) is fixedly connected with one side of the lifting frame (8).
3. The automatic cleaning line carrying mechanical arm structure according to claim 1, characterized in that: The hook assembly (9) comprises two second guide rails (91) fixedly and parallelly arranged below the lifting frame (8), four second sliding blocks (92) slidably arranged on the two second guide rails (91), two fixed plates (94) fixedly arranged on the top of the two transversely distributed second sliding blocks (92), respectively, two air cylinders (93) fixedly arranged below the lifting frame (8) for separately driving the two fixed plates (94) to move, and four hooks (95) fixedly connected with the lower ends of the two fixed plates (94) and distributed at four corners.
4. The automatic cleaning line carrying mechanical arm structure according to claim 1, characterized in that: The two frame plates (2) are respectively transversely fixedly provided with reinforcing ribs (6) on both sides, and chain cavities (22) for chain transmission are formed in the inner sides of the frame plates (2).
5. The automatic cleaning line handling robot structure according to claim 4, characterized in that: Bearing is arranged at the connection part of the shaft (33) and the two frame plates (2), respectively.
6. The automatic cleaning line carrying mechanical arm structure according to claim 1, characterized in that: Proximity switch sensors (4) are arranged above and below the edges of the two frame plates (2), respectively.
7. The automatic cleaning line handling robot structure according to claim 3, characterized in that: A plurality of gaps (911) are formed below the lifting frame (8), and the plurality of hooks (95) respectively extend downward through the gaps (911).