Heavy manipulator

Abstract

The utility model discloses a heavy mechanical arm which comprises a base, a rotating mechanism, a lifting mechanism, a lifting assembly, a gripper mechanism and an electric control box, the rotating mechanism is installed on the base, the lifting mechanism is vertically installed on a rotating portion of the rotating mechanism, and the lifting assembly is driven by the lifting mechanism to move up and down. The extending end of the lifting assembly is provided with a position-adjustable gripper mechanism used for gripping a wire rod pay-off rack, and the side end of the lifting mechanism is further provided with an electric control box. The gripper mechanism comprises an adjusting assembly and a gripper assembly, the position-adjustable adjusting assembly is installed at the extending end of the lifting assembly, and the gripper assembly is installed at the lower end of the adjusting assembly. By means of the mode, heavy goods can be automatically grabbed, the material taking range can be adjusted, the lifting hook extends outwards to grab the goods, the lifting hook contracts to release the goods, and whether the goods meet the goods taking range of the grabbing hand or not can be detected.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment technology, and in particular to a heavy-duty robotic arm. Background Technology

[0002] A coil release frame is a device used to support and release coils (such as rebars, steel wires, etc.). It is widely used in construction, manufacturing, and other industries. By rotating the coils, it ensures smooth material release, preventing tangling or knotting. A coil release frame is like... Figure 1 As shown, manual labor can only handle small or light-duty wire racks; forklifts are suitable for medium or heavy-duty wire racks; when the wire rack is heavy-duty or large, manual labor and forklifts cannot meet the handling requirements.

[0003] Based on the above defects and shortcomings, it is necessary to improve the existing technology and design a heavy-duty robotic arm. Utility Model Content

[0004] The main technical problem solved by this utility model is to provide a heavy-duty robotic arm that can automatically grab heavy goods, adjust the picking range, extend the hook to grab the goods, retract the hook to release the goods, and detect whether the goods meet the picking range of the gripper.

[0005] To solve the above-mentioned technical problems, the present invention provides a heavy-duty robotic arm, which includes a base, a rotating mechanism, a lifting mechanism, a lifting assembly, a gripper mechanism, and an electrical control box. The rotating mechanism is mounted on the base, and the lifting mechanism is vertically mounted on the rotating part of the rotating mechanism. The lifting mechanism drives the lifting assembly to move up and down. An adjustable gripper mechanism for gripping a coiled wire feeder is mounted on the extended end of the lifting assembly. An electrical control box is also mounted on the side of the lifting mechanism. The gripper mechanism includes an adjustment assembly and a gripper assembly, and an adjustable adjustment assembly is mounted on the extended end of the lifting assembly. The lower end of the adjustment component is equipped with a gripper assembly; the gripper assembly includes a lower plate, a hook slide, an electric cylinder, a push block, a hook, an elastic reset unit, a guide unit, and a detection unit. The base plate and the lower plate of the adjustment component are fixedly connected by the hook slide. An electric cylinder is installed on the base plate of the adjustment component. The electric cylinder drives the push block to reciprocate in the vertical direction. At least three guide wedges are provided around the push block. A hook that cooperates with the guide wedges is slidably installed in the hook slide. An elastic reset unit that acts on the hook is installed at the outer end of the hook slide. The lower end of the push block is guided and connected to the lower plate through the guide unit. A detection unit for detecting the coil wire feeding frame is also installed on the lower plate.

[0006] Preferably, the elastic reset unit includes a fixed seat, an adjusting screw, a spring guide screw, and a spring. The fixed seat is fixed to the outer end of the hook slide. An adjusting screw is installed on the fixed seat. The adjusting screw is axially threaded with a spring guide screw. A spring is sleeved on the spring guide screw. The hook has a rectangular opening, and the spring is located inside the rectangular opening.

[0007] Preferably, the guide unit includes a push block guide rod installed to the lower end of the push block and a push block guide seat installed on the lower plate, with the push block guide rod passing through the push block guide seat.

[0008] Preferably, the detection unit includes at least three photoelectric sensors concentrically mounted on the lower plate.

[0009] Preferably, an additional set of photoelectric sensors for detecting the presence or absence of goods is added to the middle of the photoelectric sensors.

[0010] Preferably, the adjustment component is manually or electrically adjustable.

[0011] Preferably, the rotating mechanism is an electric rotary table.

[0012] Preferably, the lifting mechanism includes a column, a lifting sprocket chain, a motor, a fall protection structure, a guide rail, a maintenance platform, and a ladder. The column is vertically installed on the rotating part of the rotating mechanism. A lifting sprocket chain is installed on the side of the column. The sprocket of the lifting sprocket chain is driven to rotate by the motor. The chain of the lifting sprocket chain is connected to the lifting plate of the lifting assembly through the fall protection structure. The lifting plate is slidably connected to the column through two guide rails. A counterweight is installed on the chain on the other side of the column. A maintenance platform is installed on the top of the column, and a ladder is installed on the side of the column.

[0013] Preferably, the lifting assembly includes a lifting plate and a crossbeam, with a horizontally arranged crossbeam installed at the outer end of the lifting plate, and the tail of the crossbeam and the lifting plate being fixedly connected by connecting ribs.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] The rotating mechanism and the lifting mechanism work together to automatically move the gripper mechanism repeatedly to the material picking position and the material discharging position;

[0016] The adjustment components allow for fine-tuning of the gripper component position and adjustment of the material handling range. The position adjustment can be done manually or electrically according to actual usage requirements.

[0017] The hook of the gripper assembly can extend outward to grab goods under the drive of the electric cylinder. When releasing the goods, the electric cylinder resets, and the hook retracts under the elastic force of the elastic reset unit to release the material.

[0018] The detection unit can detect whether the goods are within the reach of the gripper. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the wire feeding frame.

[0020] Figure 2 This is a schematic diagram of a heavy-duty robotic arm.

[0021] Figure 3 This is a side view of a heavy-duty robotic arm.

[0022] Figure 4 This is a schematic diagram of a partial structure of a heavy-duty robotic arm.

[0023] Figure 5 This is a schematic diagram of the gripper assembly structure of a heavy-duty robotic arm.

[0024] Figure 6 This is a cross-sectional view of the gripper assembly of a heavy-duty robotic arm.

[0025] The components include: 1. Base; 2. Rotation mechanism; 3. Lifting mechanism; 31. Column; 32. Lifting sprocket and chain; 33. Motor; 34. Anti-fall structure; 35. Guide rail; 36. Maintenance platform; 37. Ladder; 4. Lifting assembly; 41. Lifting plate; 42. Crossbeam; 5. Handling mechanism; 51. Adjustment assembly; 511. Handling bracket; 512. Linear slide rail; 513. Rack; 52. Handling assembly; 521. Lower plate; 522. Hook slide; 523. Electric cylinder; 524. Push block; 525. Hook; 526. Elastic reset unit; 5261. Fixing seat; 5262. Adjusting screw; 5263. Spring guide screw; 5264. Spring; 527. Guide unit; 5271. Push block guide rod; 5272. Push block guide seat; 528. Detection unit; 6. Electrical control box. Detailed Implementation

[0026] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0027] Please see Figures 1 to 6 The embodiments of this utility model include:

[0028] A heavy-duty robotic arm includes a base 1, a rotating mechanism 2, a lifting mechanism 3, a lifting assembly 4, a gripper mechanism 5, and an electrical control box 6. The rotating mechanism 2 is mounted on the base 1, and the lifting mechanism 3 is vertically mounted on the rotating part of the rotating mechanism 2. The lifting mechanism 3 drives the lifting assembly 4 to move up and down. The extended end of the lifting assembly 4 is equipped with an adjustable gripper mechanism 5 for gripping the reel wire feeder. The electrical control box 6 is also mounted on the side of the lifting mechanism 3.

[0029] The installation method of the base 1 is as follows: the base 1 is marked and drilled, and after the base plate of the base 1 is locked with screws, the base plate is welded together with the pre-embedded base plate. The pre-embedded base plate is provided with pre-embedded screws for connection with the building steel bars.

[0030] The rotating mechanism 2 is an electric rotary table.

[0031] The lifting mechanism 3 includes a column 31, a lifting sprocket chain 32, a motor 33, a fall protection structure 34, a guide rail 35, a maintenance platform 36, and a ladder 37. The column 31 is vertically installed on the rotating part of the rotating mechanism 2. The lifting sprocket chain 32 is installed on the side of the column 31. The sprocket of the lifting sprocket chain 32 is driven to rotate by the motor 33. The chain of the lifting sprocket chain 32 is connected to the lifting plate 41 of the lifting assembly 4 through the fall protection structure 34. The lifting plate 41 is slidably connected to the column 31 through two guide rails 35. A counterweight is installed on the chain on the other side of the column 31. The maintenance platform 36 is installed on the top of the column 31, and the ladder 37 is installed on the side of the column 31.

[0032] The lifting assembly 4 includes a lifting plate 41 and a crossbeam 42. The horizontally arranged crossbeam 42 is installed at the outer end of the lifting plate 41. The tail of the crossbeam 42 and the lifting plate 41 are fixedly connected by connecting ribs to ensure stability.

[0033] The gripper mechanism 5 includes an adjustment component 51 and a gripper component 52. The lifting component 4 has an adjustment component 51 installed at its extended end, which can be adjusted manually or electrically. The gripper component 52 is installed at the lower end of the adjustment component 51.

[0034] The adjustment assembly 51 includes a gripper fixing frame 511, a linear slide rail 512, and a rack 513. The two vertical plates of the gripper fixing frame 511 are slidably connected to the crossbeam 42 of the lifting assembly 4 through the linear slide rail 512. Two racks 513 are also installed on the crossbeam 42.

[0035] The manual adjustment method of the adjustment component 51 is as follows: a second rack that meshes with the rack 513 is installed on the vertical plate of the gripper fixing frame 511. The second rack can be quickly disassembled and installed on the gripper fixing frame 511 by screws. After manually adjusting the position of the adjustment component 51, the second rack is quickly installed and meshes with the rack 513.

[0036] The electric adjustment method of the adjustment component 51 is as follows: a servo motor is installed on the vertical plate of the gripper fixing frame 511, the servo motor drives the gear to rotate, and the gear meshes with the rack 513.

[0037] The gripper assembly 52 includes a lower plate 521, a hook slide 522, an electric cylinder 523, a push block 524, a hook 525, an elastic reset unit 526, a guide unit 527, and a detection unit 528. The base plate and lower plate 521 of the adjustment assembly 51 are fixedly connected by the hook slide 522. An electric cylinder 523 is installed on the base plate of the adjustment assembly 51. The electric cylinder 523 drives the push block 524 to reciprocate in the vertical direction. At least one [missing information] is provided around the push block 524. There are three guide wedge surfaces. A hook 525 that mates with the guide wedge surfaces is slidably installed in the hook slide 522. The push block 524 moves down and drives the hook 525 to spread outward under the action of the guide wedge surfaces. An elastic reset unit 526 that acts on the hook 525 is installed at the outer end of the hook slide 522. The lower end of the push block 524 is guided and connected to the lower plate 521 through the guide unit 527. A detection unit 528 for detecting the coil wire feeding frame is also installed on the lower plate 521.

[0038] The elastic reset unit 526 includes a fixed base 5261, an adjusting screw 5262, a spring guide screw 5263, and a spring 5264. The fixed base 5261 is fixed to the outer end of the hook slide 522. The adjusting screw 5262 is installed on the fixed base 5261. The adjusting screw 5262 is axially threaded with the spring guide screw 5263. The spring 5264 is sleeved on the spring guide screw 5263. The hook 525 has a rectangular opening. The spring 5264 is located in the rectangular opening. After the hoisting is completed, the push block 524 resets and moves upward. Under the elastic force of the spring 5264, the hook 525 resets and gathers towards the center.

[0039] The guide unit 527 includes a push block guide rod 5271 installed at the lower end of the push block 524 and a push block guide seat 5272 installed on the lower plate 521, with the push block guide rod 5271 passing through the push block guide seat 5272.

[0040] The detection unit 528 includes at least three photoelectric sensors concentrically mounted on the lower plate 521 to detect whether the coil wire feeding frame meets the gripper's picking range. The three photoelectric sensors form a circle. If any one of the photoelectric sensors detects the coil wire feeding frame, it is determined that the position does not meet the requirements. If none of the three photoelectric sensors detect the coil wire feeding frame, it is determined that the picking is satisfied. In addition, a set of photoelectric sensors for detecting the presence or absence of goods can be added in the middle of the photoelectric sensors.

[0041] The working steps of this heavy-duty robotic arm are as follows:

[0042] Step 1: When the heavy-duty robotic arm is in the picking position, when there is a task, the lifting mechanism 3 drives the gripper mechanism 5 to descend. The detection unit 528 detects whether the coil wire feeding frame meets the picking conditions and whether the coil wire feeding frame is within the picking range of the gripper. The three photoelectric sensors form a circle. If any one of the photoelectric sensors detects the coil wire feeding frame, it is determined that the position does not meet the requirements. If none of the three photoelectric sensors detect the coil wire feeding frame, the picking condition is met.

[0043] Step 2: If the picking conditions are not met, the posture is finely adjusted by rotating mechanism 2 until the picking conditions are met. After the conditions are met, gripper mechanism 5 is activated. Under the action of electric cylinder 523, push block 524 moves down and drives hook 525 to spread outward under the action of guide wedge surface. Hook 525 opens outward so that hook 525 hooks onto the inner wall of the coil wire feeding frame to realize the picking of coil.

[0044] Step 3: After hooking the coil, the lifting mechanism 3 rises, and at the same time the rotating mechanism 2 moves to place the coil feeding frame on the delivery position conveyor line.

[0045] Step 4: After completing the action, the gripper mechanism 5 returns to its original path with the empty disk intact, and repeats the gripping action.

[0046] This utility model relates to a heavy-duty robotic arm that can automatically grasp heavy goods, adjust the material handling range, extend the hook to grasp the goods, retract the hook to release the goods, and detect whether the goods are within the grasping range of the gripper.

[0047] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A heavy-duty robotic arm, characterized in that: The system includes a base, a rotating mechanism, a lifting mechanism, a lifting assembly, a gripper mechanism, and an electrical control box. The rotating mechanism is mounted on the base, and the lifting mechanism is vertically mounted on the rotating part of the rotating mechanism. The lifting mechanism drives the lifting assembly to move up and down. An adjustable gripper mechanism for gripping the coil cable tray is mounted on the extended end of the lifting assembly. An electrical control box is also mounted on the side of the lifting mechanism. The gripper mechanism includes an adjusting assembly and a gripper assembly. An adjustable adjusting assembly is mounted on the extended end of the lifting assembly, and a gripper assembly is mounted on the lower end of the adjusting assembly. The gripper assembly... The adjustment assembly includes a lower plate, a hook slide, an electric cylinder, a push block, a hook, an elastic reset unit, a guide unit, and a detection unit. The base plate and the lower plate of the adjustment assembly are fixedly connected by the hook slide. An electric cylinder is installed on the base plate of the adjustment assembly. The electric cylinder drives the push block to reciprocate in the vertical direction. At least three guide wedges are provided around the push block. A hook that cooperates with the guide wedges is slidably installed in the hook slide. An elastic reset unit that acts on the hook is installed at the outer end of the hook slide. The lower end of the push block is guided and connected to the lower plate through the guide unit. A detection unit for detecting the coil wire feeding frame is also installed on the lower plate.

2. The heavy-duty robotic arm according to claim 1, characterized in that: The elastic reset unit includes a fixed base, an adjusting screw, a spring guide screw, and a spring. The fixed base is fixed to the outer end of the hook slide. An adjusting screw is installed on the fixed base. The adjusting screw is axially threaded with a spring guide screw. A spring is sleeved on the spring guide screw. The hook has a rectangular opening, and the spring is located inside the rectangular opening.

3. A heavy-duty robotic arm according to claim 1, characterized in that: The guiding unit includes a push block guide rod installed at the lower end of the push block and a push block guide seat installed on the lower plate, with the push block guide rod passing through the push block guide seat.

4. A heavy-duty robotic arm according to claim 1, characterized in that: The detection unit includes at least three photoelectric sensors mounted concentrically on the lower plate.

5. A heavy-duty robotic arm according to claim 4, characterized in that: A new set of photoelectric sensors for detecting the presence or absence of goods has been added to the middle of the photoelectric sensors.

6. A heavy-duty robotic arm according to claim 1, characterized in that: The adjustment component can be adjusted manually or electrically.

7. A heavy-duty robotic arm according to claim 1, characterized in that: The rotating mechanism is an electric rotary table.

8. A heavy-duty robotic arm according to claim 1, characterized in that: The lifting mechanism includes a column, a lifting sprocket chain, a motor, a fall protection structure, guide rails, a maintenance platform, and a ladder. The column is vertically installed on the rotating part of the rotating mechanism. A lifting sprocket chain is installed on the side of the column. The sprocket of the lifting sprocket chain is driven to rotate by the motor. The chain of the lifting sprocket chain is connected to the lifting plate of the lifting assembly through the fall protection structure. The lifting plate is slidably connected to the column through two guide rails. A counterweight is installed on the chain on the other side of the column. A maintenance platform is installed on the top of the column, and a ladder is installed on the side of the column.

9. A heavy-duty robotic arm according to claim 1, characterized in that: The lifting assembly includes a lifting plate and a crossbeam. A horizontally arranged crossbeam is installed at the outer end of the lifting plate, and the tail of the crossbeam and the lifting plate are fixedly connected by connecting ribs.

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