Paperboard mechanical arm grabbing structure

Abstract

The utility model relates to a paperboard mechanical arm grabbing structure, and relates to the technical field of paperboard grabbing equipment. Comprising a grabbing mechanism, a base, a stand column, a connecting plate, a supporting plate, a longitudinal linear guide rail, a longitudinal sliding block, a bearing seat, a main shaft, a chain wheel, a cantilever, a transverse linear guide rail, a transverse sliding block, a rotating air cylinder, a translation servo motor, a translation speed reducer, a synchronous belt fixing plate, a synchronous belt wheel, a lifting servo motor, a lifting speed reducer, a rotating servo motor, a rotating speed reducer and a synchronous belt tensioning wheel. The paperboard grabbing device has the advantages that the grabbing mechanism is driven to move in the vertical direction, the horizontal direction and the rotating angle through control of the translation servo motor, the lifting servo motor and the rotating servo motor, a paperboard at a designated position is sucked up, and the paperboard is placed at another designated position through actions of lifting, translation, rotating and the like; the grabbing mechanism grabs the paperboards without being limited by positions and environments; and the degree of freedom of grabbing is improved, the device is not limited by the grabbing position, and the application range is wide.

Description

Technical Field

[0001] This utility model relates to the field of cardboard gripping equipment technology, and in particular to a cardboard robotic arm gripping structure. Background Technology

[0002] Currently, pneumatic applications are increasingly prevalent in production and daily life, especially in environments with high environmental requirements, such as cleanrooms and dust-free workshops, where most material handling is achieved through pneumatic suction cups.

[0003] Pneumatic suction cup gripping devices are often used in the process of handling cardboard. However, existing pneumatic suction cup gripping devices have limited freedom of movement when using suction cups to handle cardboard, and cannot adapt to gripping from various angles and directions.

[0004] The preceding description is intended to provide general background information and does not necessarily constitute prior art. Utility Model Content

[0005] The purpose of this utility model is to provide a cardboard robotic arm gripping structure, which improves the degree of freedom of gripping, is not limited by the gripping position, and has a wide range of applications.

[0006] This utility model provides a cardboard robotic arm gripping structure, including a gripping mechanism, a base, a column, a connecting plate, a support plate, a longitudinal linear guide, a longitudinal slider, a bearing seat, a main shaft, a sprocket, a cantilever, a transverse linear guide, a transverse slider, a rotary cylinder, a translation servo motor, a translation reducer, a synchronous belt fixing plate, a synchronous belt pulley, a lifting servo motor, a lifting reducer, a rotary servo motor, a rotary reducer, and a synchronous belt tensioning pulley; the column is rotatably connected to the base, the rotary reducer is connected to the base, and a rotary servo motor for driving the rotary reducer is mounted on the rotary reducer. The output end of the rotary reducer is connected to the column via gears to drive the column to rotate; two parallel longitudinal linear guides are connected to the front of the column, and a longitudinal slider is slidably connected to the longitudinal linear guides, with one side of the connecting plate connected to the longitudinal slider; two bearing seats are spaced apart on the upper end face of the column, and the two ends of the main shaft (9) are respectively connected to the bearing seats, with the sprocket fixedly sleeved in the middle of the main shaft, and the sprocket connected to the connecting plate via a chain; a lifting reducer is fixedly connected to the side of the upper end of the column, and the lifting reducer... A lifting servo motor is installed on the upper part to drive the lifting reducer to rotate. The output end of the lifting reducer is connected to the main shaft to drive the main shaft to rotate. Two support plates are vertically connected at intervals in front of the connecting plate, and a transverse slider is connected to each of the two support plates. Transverse linear guides are connected to the upper and lower parts of the cantilever, and the two transverse linear guides are slidably connected to the transverse sliders. The cantilever is perpendicular to the column. Synchronous belt fixing plates are provided on the left and right sides in front of the cantilever, and the two ends of the synchronous belt are respectively connected to the two synchronous belt fixing plates. The support plate is also fixedly connected to the translation reducer, which is equipped with a translation servo motor for driving the translation reducer to rotate. The output end of the translation reducer is connected to the synchronous pulley, which presses against the inner surface of the synchronous belt. The synchronous belt tensioning pulleys are rotatably connected to the support plate on both sides of the synchronous pulley, and the two synchronous belt tensioning pulleys press against the outer surface of the synchronous belt. The synchronous pulleys drive the cantilever to move left and right through the synchronous belt. The rotary cylinder is connected to the lower part of the other end of the cantilever, and the output end of the rotary cylinder is connected to the gripping mechanism.

[0007] By adopting the above technical solution, the gripping mechanism is driven to move vertically, horizontally, and at rotational angles through the control of translation servo motors, lifting servo motors, and rotation servo motors. It picks up the cardboard from a designated position and places it at another designated position through lifting, translation, and rotation. The gripping mechanism can grip the cardboard without being limited by the location environment.

[0008] Furthermore, the grasping mechanism includes a suction cup mounting frame, a middle frame, vacuum suction cups, and suction cup connecting rods; the middle of the suction cup mounting frame is connected to the middle frame, the middle of the middle frame is connected to the output end of the rotary cylinder, and a plurality of the suction cup connecting rods are vertically connected below the suction cup mounting frame, and the vacuum suction cups are connected to the ends of the suction cup connecting rods.

[0009] Furthermore, the suction cup mounting frame is in the shape of a Chinese character 'Mu', and three of the vacuum suction cups are evenly spaced and connected to both sides of the suction cup mounting frame, and one of the vacuum suction cups is connected to each of the two connecting rods in the middle of the suction cup mounting frame.

[0010] The cardboard robotic arm grasping structure of the present utility model controls the translational servo motor, the lifting servo motor, and the rotary servo motor, thereby driving the grasping mechanism to move in the vertical direction, the horizontal direction, and the rotation angle, sucking up the cardboard at a specified position, and placing it at another specified position through actions such as lifting, translation, and rotation. The grasping mechanism is not restricted by the position environment for cardboard grasping; the freedom of grasping is improved, it is not restricted by the grasping position, and the applicable range is wide. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic structural view of the cardboard robotic arm grasping structure provided by an embodiment of the present utility model.

[0012] Figure 2 is Figure 1 the front view schematic diagram of the cardboard robotic arm grasping structure in

[0013] Figure 3 is Figure 1 the side view schematic diagram of the cardboard robotic arm grasping structure in

[0014] Figure 4 is Figure 1 the schematic diagram of another perspective structure of the cardboard robotic arm grasping structure in

[0015] Figure 5 is Figure 1 the top view schematic diagram of the cardboard robotic arm grasping structure in

[0016] The reference numerals and components involved in the drawings are as follows:

[0017] 1. Grasping mechanism 2. Base 3. Column

[0018] 4. Connection plate 5. Support plate 6. Longitudinal linear guide rail

[0019] 7. Longitudinal slider 8. Bearing seat 9. Main shaft

[0020] 10. Sprocket; 11. Cantilever; 12. Lateral linear guide.

[0021] 13. Horizontal slider; 14. Rotary cylinder; 15. Translation servo motor

[0022] 16. Translation reducer 17. Synchronous belt fixing plate 18. Synchronous belt pulley

[0023] 19. Lifting servo motor; 20. Lifting reducer; 21. Rotary servo motor.

[0024] 22. Rotary speed reducer; 23. Cardboard; 24. Suction cup mounting frame.

[0025] 25. Middle frame 26. Vacuum suction cup 27. Suction cup connecting rod

[0026] 28. Synchronous belt tensioner Detailed Implementation

[0027] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.

[0028] The terms "first," "second," "third," "fourth," etc., used in the specification and claims of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0029] Example 1

[0030] Figure 1 This is a schematic diagram of the cardboard robotic arm gripping structure provided in an embodiment of the present invention. Figure 2 for Figure 1 A front view diagram of the gripping structure of the paperboard robotic arm. Figure 3 for Figure 1 A side view of the gripping structure of the paperboard robotic arm. Figure 4 for Figure 1 Another perspective view of the gripping structure of the paperboard robotic arm. Figure 5 for Figure 1 A top-view diagram of the paperboard robotic arm's gripping structure. Please refer to... Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5The cardboard robotic arm gripping structure provided in this embodiment includes a gripping mechanism 1, a base 2, a column 3, a connecting plate 4, a support plate 5, a longitudinal linear guide rail 6, a longitudinal slider 7, a bearing seat 8, a main shaft 9, a sprocket 10, a cantilever 11, a transverse linear guide rail 12, a transverse slider 13, a rotary cylinder 14, a translational servo motor 15, a translational reducer 16, a synchronous belt fixing plate 17, a synchronous belt pulley 18, a lifting servo motor 19, a lifting reducer 20, a rotary servo motor 21, a rotary reducer 22, and a synchronous belt tensioning pulley 28. The column 3 is rotatably connected to the base 2, and the rotary reducer 22 is connected to the base 2. The rotary reducer 22 is equipped with a mechanism for driving the rotary reducer. A rotary servo motor 21 rotates, and the output end of the rotary reducer 22 is connected to the column 3 via gears to drive the column 3 to rotate. Two parallel longitudinal linear guide rails 6 are connected to the front of the column 3, and a longitudinal slider 7 is slidably connected to the longitudinal linear guide rails 6. One side of the connecting plate 4 is connected to the longitudinal slider 7. Two bearing seats 8 are connected at intervals to the upper end face of the column 3, and the two ends of the main shaft 9 are respectively connected to the bearing seats 8. The sprocket 10 is fixedly sleeved in the middle of the main shaft 9, and the sprocket 10 is connected to the connecting plate 4 via a chain. A lifting reducer 20 is fixedly connected to the side of the upper end of the column 3. A lifting servo motor 19 is installed on the lifting reducer 20 to drive its rotation. The output end of the lifting reducer 20 is connected to the main shaft 9 to drive its rotation. Two support plates 5 are vertically connected at intervals in front of the connecting plate 4, and a horizontal slider 13 is connected to each of the two support plates 5. Horizontal linear guides 12 are connected to the top and bottom of the cantilever 11, and the two horizontal linear guides 12 are slidably connected to the horizontal sliders 13. The cantilever 11 is perpendicular to the column 3. Synchronous belt fixing plates 17 are provided on the left and right sides in front of the cantilever 11, and the two ends of the synchronous belt (not shown in the figure) are respectively connected to the two synchronous belt fixing plates 17. The translation reducer 16 is fixedly connected to the support plate 5. A translation servo motor 15 for driving the translation reducer 16 to rotate is installed on the translation reducer 16. The output end of the translation reducer 16 is connected to the synchronous pulley 18, which presses against the inner surface of the synchronous belt. The synchronous belt tensioning pulleys 28 are rotatably connected to both sides of the synchronous pulley 18 on the support plate 5. The two synchronous belt tensioning pulleys 28 press against the outside of the synchronous belt. The synchronous pulleys 18 drive the cantilever 11 to move left and right through the synchronous belt. The rotary cylinder 14 is connected to the lower part of the other end of the cantilever 11. The output end of the rotary cylinder 14 is connected to the gripping mechanism 1.

[0031] It should be noted that, through the control of the translation servo motor 15, the lifting servo motor 19 and the rotating servo motor 21, the present utility model drives the grasping mechanism 1 to move in the vertical direction, horizontal direction and rotation angle, sucks up the cardboard 23 at a specified position, and places it at another specified position through actions such as lifting, translation and rotation. The grasping mechanism 1 can grasp the cardboard 23 without being restricted by the position environment.

[0032] Furthermore, the grasping mechanism 1 includes a sucker mounting frame 24, a middle frame 25, a vacuum sucker 26 and a sucker connecting rod 27; the middle of the sucker mounting frame 24 is connected to the middle frame 25, the middle of the middle frame 25 is connected to the output end of the rotating cylinder 14, and a plurality of the sucker connecting rods 27 are vertically connected under the sucker mounting frame 24, and the end of the sucker connecting rod 27 is connected to the vacuum sucker 26.

[0033] Specifically, the sucker mounting frame 24 of the present utility model is in a shape of a Chinese character 'Mu'. Three vacuum suckers 26 are equally spaced and connected to both sides of the sucker mounting frame 24, and one vacuum sucker 26 is connected to each of the two connecting rods in the middle of the sucker mounting frame 24.

[0034] Based on the above description, the advantages of the present utility model are as follows:

[0035] The cardboard manipulator grasping structure of the present utility model drives the grasping mechanism 1 to move in the vertical direction, horizontal direction and rotation angle through the control of the translation servo motor 15, the lifting servo motor 19 and the rotating servo motor 21, sucks up the cardboard 23 at a specified position, and places it at another specified position through actions such as lifting, translation and rotation. The grasping mechanism 1 can grasp the cardboard 23 without being restricted by the position environment, improves the freedom degree of grasping, is not restricted by the grasping position, and has a wide application range.

[0036] The above is only the specific implementation manner of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model can easily think of changes or substitutions, which should all be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.

Claims

1. A paperboard robotic arm gripping structure, characterized by, It includes grabbing mechanism (1), base (2), column (3), connecting plate (4), support plate (5), longitudinal linear guide (6), longitudinal slider (7), bearing seat (8), main shaft (9), chain wheel (10), cantilever (11), transverse linear guide (12), transverse slider (13), rotary cylinder (14), translation servo motor (15), translation reducer (16), synchronous belt fixed plate (17), synchronous pulley (18), lifting servo motor (19), lifting reducer (20), rotary servo motor (21), rotary reducer (22) and synchronous belt tension pulley (28); The column (3) is rotatably connected to the base (2), the rotary reducer (22) is connected to the base (2), the rotary servo motor (21) is installed on the rotary reducer (22) for driving the rotary reducer (22) to rotate, and the output end of the rotary reducer (22) is connected with the column (3) through gears for driving the column (3) to rotate; Two parallel longitudinal linear guides (6) are connected to the front of the column (3), the longitudinal slider (7) is slidably connected to the longitudinal linear guide (6), and one side of the connecting plate (4) is connected to the longitudinal slider (7); Two bearing seats (8) are connected to the upper end surface of the column (3) at intervals, both ends of the main shaft (9) are connected to the bearing seats (8), and the chain wheel (10) is fixedly sleeved on the middle part of the main shaft (9), and the chain wheel (10) is connected with the connecting plate (4) through a chain; The lifting reducer (20) is fixedly connected to the side surface of the upper end of the column (3), the lifting servo motor (19) is installed on the lifting reducer (20) for driving the lifting reducer (20) to rotate, and the output end of the lifting reducer (20) is connected with the main shaft (9) for driving the main shaft (9) to rotate; Two support plates (5) are vertically and intervally connected to the front of the connecting plate (4), and the transverse slider (13) is connected to both of the support plates (5); The transverse linear guide (12) is connected to the upper surface and the lower surface of the cantilever (11), the two transverse linear guides (12) are slidably connected to the transverse slider (13), and the cantilever (11) is perpendicular to the column (3); Synchronous belt fixed plates (17) are arranged on the left and right sides of the front of the cantilever (11), and both ends of the synchronous belt are connected to the two synchronous belt fixed plates (17). A translation decelerator (16) is also fixedly connected to the support plate (5), a translation servo motor (15) is installed on the translation decelerator (16) to drive the translation decelerator (16) to rotate, the output end of the translation decelerator (16) is connected with a synchronous pulley (18), and the synchronous pulley (18) is pressed against the inner surface of the synchronous belt; the support plate (5) is rotatably connected with synchronous belt tension pulleys (28) on both sides of the synchronous pulley (18), and the two synchronous belt tension pulleys (28) are pressed against the outer surface of the synchronous belt; and the synchronous pulley (18) drives the cantilever (11) to move left and right through the synchronous belt. A rotary air cylinder (14) is connected to the lower portion of the other end of the cantilever (11), and the output end of the rotary air cylinder (14) is connected with the grabbing mechanism (1).

2. The paperboard (23) robotic arm gripping structure of claim 1, wherein, The grabbing mechanism (1) comprises a suction disc mounting frame (24), a middle frame (25), a vacuum suction disc (26) and a suction disc connecting rod (27). The middle portion of the suction disc mounting frame (24) is connected with the middle frame (25), the middle portion of the middle frame (25) is connected with the output end of the rotary air cylinder (14), and a plurality of vacuum suction discs (26) are vertically connected to the lower portion of the suction disc mounting frame (24).

3. The paperboard (23) robotic arm gripping structure of claim 2, wherein, The suction disc mounting frame (24) is in the shape of a Chinese character "mu", three vacuum suction discs (26) are equidistantly and spacedly connected to each side of the suction disc mounting frame (24), and one vacuum suction disc (26) is connected to each of the two connecting rods in the middle portion of the suction disc mounting frame (24).

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