Parcel stacking mechanical arm controlled by PLC

Abstract

The utility model provides a package stacking mechanical arm controlled by a PLC, and relates to the technical field of mechanical arms, the package stacking mechanical arm comprises a rotating base, a connecting seat is fixedly installed at the output end of the rotating base, a mechanical supporting arm is fixedly connected to the upper surface of the connecting seat, and a connecting rod is fixedly connected to the end, away from the connecting seat, of the mechanical supporting arm; a grabbing plate is fixedly installed at the bottom end of the connecting rod, a fixing plate is fixedly connected to the outer surface of the connecting rod, a vacuum pump is fixedly installed on the bottom face of the fixing plate, the input end of the vacuum pump fixedly communicates with a communicating pipe, and an electromagnetic valve fixedly communicates with the outer surface of the communicating pipe. According to the package stacking mechanical arm controlled by the PLC, a vacuum state is formed between the vacuum suction cups and packages, the packages can be sucked and grabbed, then the packages of different specifications can be grabbed and stacked more flexibly, the problem that the packages of long sizes are difficult to clamp is avoided, and the flexibility of package stacking is improved.

Description

Technical Field

[0001] This utility model relates to a PLC-controlled robotic arm for stacking and placing packages, belonging to the field of robotic arm technology. Background Technology

[0002] A robotic arm is an industrial automation device that can simulate the movement of a human arm. It features multiple degrees of freedom, precise positioning, and flexible operation. It is the most widely used automated mechanical device in the field of robotics and can perform multi-axis motion control operations.

[0003] Currently, Chinese patent CN222021642U discloses a PLC-controlled loading and unloading robotic arm, including a base, a support seat on the top of the base, a PLC programmer on one side of the support seat, a support arm on the top of the PLC programmer, a telescopic arm on the top of the support arm, a rotating arm at the end of the telescopic arm away from the support arm, a wire at the end of the telescopic arm near the support arm, and a clamping device at the end of the rotating arm away from the telescopic arm. However, the clamping device in the above patent has limitations in clamping packages, making it difficult to clamp longer packages, thus reducing the flexibility in loading, unloading, and stacking packages of different sizes. Therefore, we provide a PLC-controlled package stacking robotic arm to solve the above problems. Utility Model Content

[0004] To address the aforementioned problems, this utility model provides a PLC-controlled robotic arm for stacking and placing packages, with the specific technical solution as follows:

[0005] A PLC-controlled package stacking robotic arm includes a rotating base. A connecting seat is fixedly installed at the output end of the rotating base. A mechanical support arm is fixedly connected to the upper surface of the connecting seat. A connecting rod is fixedly connected to the end of the mechanical support arm away from the connecting seat. A gripping plate is fixedly installed at the bottom end of the connecting rod. A fixing plate is fixedly connected to the outer surface of the connecting rod. A vacuum pump is fixedly installed on the bottom surface of the fixing plate. A connecting pipe is fixedly connected to the input end of the vacuum pump. A solenoid valve is fixedly connected to the outer surface of the connecting pipe. Air supply pipes are fixedly connected to both ends of the connecting pipe. Air extraction pipes are fixedly connected to the bottom surfaces of both air supply pipes. The bottom ends of both sets of air extraction pipes penetrate the gripping plate and extend below the gripping plate. Vacuum suction cups are fixedly connected to the bottom ends of both sets of air extraction pipes. A PLC controller is provided outside the rotating base.

[0006] Preferably, a detection plate is fixedly connected to the right side of the connecting rod, a vision sensor is fixedly installed on the bottom surface of the detection plate, and a detection hole is opened on the bottom surface of the gripping plate.

[0007] Preferably, a mounting base plate is fixedly connected to the bottom surface of the rotating base, and two sets of mounting holes are provided on the upper surface of the mounting base plate.

[0008] Preferably, a vertical plate is fixedly connected to the right side of the mounting base plate, and the left side of the PLC controller is fixedly connected to the right side of the vertical plate.

[0009] Preferably, a reinforcing plate is fixedly connected to the upper surface of the detection plate, and the left side of the reinforcing plate is fixedly connected to the outer surface of the connecting rod.

[0010] Preferably, the PLC controller is electrically connected to the vacuum pump, solenoid valve, rotating base, and mechanical support arm via wires.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] This PLC-controlled robotic arm for stacking packages, through the operation of its rotating base and mechanical support arm, can drive the gripping plate to rotate left and right, and simultaneously move the gripping plate and vacuum suction cup up and down. This allows the vacuum suction cup to come into contact with the package to be gripped. By using a vacuum pump and cooperating with air supply and extraction pipes, air can be extracted from between the vacuum suction cup and the package, creating a vacuum state between the vacuum suction cup and the package. This allows for the suction and gripping of the package, making it more flexible in gripping and stacking packages of different sizes, avoiding the problem of difficulty in gripping longer packages, and improving the flexibility of package stacking. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural schematic diagram of the front view of this utility model;

[0014] Figure 2 This is a three-dimensional structural schematic diagram of the side view of this utility model;

[0015] Figure 3 This is a three-dimensional structural schematic diagram of the gripping plate in this utility model, shown from the side view.

[0016] Figure 4 This is a three-dimensional structural schematic diagram of the gripping plate in this utility model, viewed from below.

[0017] Figure Descriptions: 1. Rotating base; 2. Connecting seat; 3. Mechanical support arm; 4. Connecting rod; 5. Gripping plate; 6. Fixing plate; 7. Vacuum pump; 8. Connecting pipe; 9. Solenoid valve; 10. Mounting hole; 11. Gas supply pipe; 12. Gas extraction pipe; 13. Vacuum suction cup; 14. Reinforcing plate; 15. Detection plate; 16. Vision sensor; 17. Detection hole; 18. Vertical plate; 19. PLC controller; 20. Mounting base plate. Detailed Implementation

[0018] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0019] 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Please see Figure 1-4 In this utility model, a PLC-controlled packing robot arm includes a rotating base 1. A connecting seat 2 is fixedly installed at the output end of the rotating base 1. A mechanical support arm 3 is fixedly connected to the upper surface of the connecting seat 2. A connecting rod 4 is fixedly connected to the end of the mechanical support arm 3 away from the connecting seat 2. A gripping plate 5 is fixedly installed at the bottom end of the connecting rod 4. A fixing plate 6 is fixedly connected to the outer surface of the connecting rod 4. A vacuum pump 7 is fixedly installed on the bottom surface of the fixing plate 6. A connecting pipe 8 is fixedly connected to the input end of the vacuum pump 7. A solenoid valve 9 is fixedly connected to the outer surface of the connecting pipe 8. The front and rear ends of the connecting pipe 8 are connected to the connecting pipe 8. Both ends are fixedly connected to air supply pipes 11, and the bottom surfaces of the two air supply pipes 11 are fixedly connected to air extraction pipes 12. The bottom ends of the two sets of air extraction pipes 12 pass through the gripping plate 5 and extend to the bottom of the gripping plate 5. The bottom ends of the two sets of air extraction pipes 12 are fixedly connected to vacuum suction cups 13. A PLC controller 19 is provided on the outside of the rotating base 1. Through the operation of the rotating base 1 and the mechanical support arm 3, the gripping plate 5 can be driven to rotate left and right, and the gripping plate 5 and vacuum suction cups 13 can also be driven to move up and down, so that the vacuum suction cups 13 can contact the package to be gripped, which is convenient for vacuum adsorption gripping.

[0021] Preferably, a detection plate 15 is fixedly connected to the right side of the connecting rod 4, a vision sensor 16 is fixedly installed on the bottom surface of the detection plate 15, a reinforcing plate 14 is fixedly connected to the upper surface of the detection plate 15, and the left side of the reinforcing plate 14 is fixedly connected to the outer surface of the connecting rod 4. A detection hole 17 is opened on the bottom surface of the gripping plate 5, and a mounting base plate 20 is fixedly connected to the bottom surface of the rotating base 1. Two sets of mounting holes 10 are opened on the upper surface of the mounting base plate 20. Through the setting of the detection plate 15 and the vision sensor 16, and their cooperation with the detection hole 17, the position, shape and size of the package are identified, providing accurate target information for the gripping action of the robotic arm. The setting of the reinforcing plate 14 strengthens the fixation of the detection plate 15. With the setting of the mounting base plate 20 and the mounting holes 10, the device will be firmly installed and fixed.

[0022] Preferably, a vertical plate 18 is fixedly connected to the right side of the mounting base 20, and the left side of the PLC controller 19 is fixedly connected to the right side of the vertical plate 18. The PLC controller 19 is electrically connected to the vacuum pump 7, the solenoid valve 9, the rotating base 1, and the mechanical support arm 3 via wires. The vertical plate 18 serves to mount the PLC controller 19. The PLC controller 19 can meet the complex control requirements of the robotic arm. It is responsible for receiving feedback signals from sensors, calculating the motion parameters of each joint of the robotic arm according to the preset program logic, and sending control commands to the vacuum pump 7, the solenoid valve 9, the rotating base 1, and the mechanical support arm 3.

[0023] The working principle of this utility model is as follows:

[0024] In use, the device is first installed using the mounting base 20 and mounting holes 10. Then, it is connected to a power source. The operation of the rotating base 1 drives the mechanical support arm 3 and the gripping plate 5 to rotate left and right. The operation of the mechanical support arm 3 drives the gripping plate 5 and the vacuum suction cup 13 to move up and down. When the vacuum suction cup 13 descends and contacts the package, the vacuum pump 7 is started. The air between the vacuum suction cup 13 and the package is extracted through the air supply pipe 11 and the air extraction pipe 12. The package is then adsorbed and gripped by the vacuum suction cup 13, and the gripped package is placed in a suitable position by the rotating base 1 and the mechanical support arm 3.

[0025] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0026] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0027] The technical principles of this utility model have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this utility model and should not be construed as limiting the scope of protection of this utility model in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this utility model without inventive effort, and these embodiments will all fall within the protection scope of the claims of this utility model.

Claims

1. A PLC-controlled package stacking robotic arm, comprising a rotating base (1), characterized in that: A connecting seat (2) is fixedly installed at the output end of the rotating base (1). A mechanical support arm (3) is fixedly connected to the upper surface of the connecting seat (2). A connecting rod (4) is fixedly connected to the end of the mechanical support arm (3) away from the connecting seat (2). A gripping plate (5) is fixedly installed at the bottom end of the connecting rod (4). A fixing plate (6) is fixedly connected to the outer surface of the connecting rod (4). A vacuum pump (7) is fixedly installed on the bottom surface of the fixing plate (6). A connecting pipe is fixedly connected to the input end of the vacuum pump (7). (8) A solenoid valve (9) is fixedly connected to the outer surface of the connecting pipe (8). Both ends of the connecting pipe (8) are fixedly connected to the gas supply pipe (11). The bottom surfaces of the two gas supply pipes (11) are fixedly connected to the suction pipe (12). The bottom ends of the two sets of suction pipes (12) penetrate the gripping plate (5) and extend to the bottom of the gripping plate (5). The bottom ends of the two sets of suction pipes (12) are fixedly connected to the vacuum suction cup (13). A PLC controller (19) is provided on the outside of the rotating base (1).

2. The PLC-controlled parcel stacking robotic arm according to claim 1, characterized in that: A detection plate (15) is fixedly connected to the right side of the connecting rod (4), a vision sensor (16) is fixedly installed on the bottom surface of the detection plate (15), and a detection hole (17) is opened on the bottom surface of the gripping plate (5).

3. The PLC-controlled parcel stacking robotic arm according to claim 1, characterized in that: The bottom surface of the rotating base (1) is fixedly connected to a mounting base plate (20), and the upper surface of the mounting base plate (20) is provided with two sets of mounting holes (10).

4. The PLC-controlled parcel stacking robotic arm according to claim 3, characterized in that: The right side of the mounting base plate (20) is fixedly connected to the upright plate (18), and the left side of the PLC controller (19) is fixedly connected to the right side of the upright plate (18).

5. A PLC-controlled parcel stacking robotic arm according to claim 2, characterized in that: A reinforcing plate (14) is fixedly connected to the upper surface of the detection plate (15), and the left side of the reinforcing plate (14) is fixedly connected to the outer surface of the connecting rod (4).

6. The PLC-controlled parcel stacking robotic arm according to claim 1, characterized in that: The PLC controller (19) is electrically connected to the vacuum pump (7), the solenoid valve (9), the rotating base (1), and the mechanical support arm (3) via wires.

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