Stacking mechanical arm

Abstract

The utility model relates to the technical field of machine arms, in particular to a stacking mechanical arm which comprises a base column, a screw rod rotationally connected to the base column in the height direction of the base column and a first motor fixed to the base column, an output shaft of the first motor is coaxially connected with the screw rod, and a transverse column is connected to the base column in a sliding mode. The screw rod is in threaded connection with the transverse column; the grabbing device further comprises a grabbing arm detachably installed on the transverse column, the grabbing arm comprises a bottom plate base, a main body base rotationally connected to the bottom plate base and a first driving piece, and the first driving piece is installed on the main body base and used for driving the main body base to rotate. The problem that an existing mechanical arm is limited in material transferring structure between cross-height conveying lines is solved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a palletizing robotic arm. Background Technology

[0002] In existing industrial palletizing systems, while traditional robotic arms can perform basic handling and stacking functions, they have significant limitations when handling material transfers across conveyor lines of varying heights. Limited by the robotic arm's structural parameters and motion control algorithms, conventional equipment struggles to accurately stack materials across layers when faced with conveyor rollers of varying heights. Specifically, low-load robotic arms, due to insufficient reach or joint limitations, cannot reach the receiving positions on higher conveyor lines; while high-load models, despite their long reach, are prone to triggering protective shutdowns and operational interruptions when transferring materials from higher to lower conveyor rollers due to center of gravity shift and torque limitations. Furthermore, existing systems largely rely on teach programming or fixed trajectory planning. When the height difference of the conveyor lines exceeds a preset threshold, they cannot adjust the robotic arm's posture or add auxiliary transfer devices, reducing overall efficiency and increasing the complexity of multi-device collaborative control. With the increasing demand for flexible production, such cross-height operation scenarios are frequently occurring, and existing technologies are struggling to meet the demands for efficient material flow, becoming a key bottleneck restricting the improvement of warehousing system efficiency.

[0003] Therefore, in view of this, an invention proposes a palletizing robotic arm to solve the above-mentioned technical problems. Utility Model Content

[0004] The purpose of this invention is to provide a palletizing robotic arm to solve the problem of limited structure in existing robotic arms for transferring materials between conveyor lines at different heights.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A palletizing robotic arm includes a base column, a screw rotatably connected to the base column along the height direction of the base column, and a first motor fixed to the base column. The output shaft of the first motor is coaxially connected to the screw. A cross column is slidably connected to the base column, and the screw is threadedly connected to the cross column.

[0007] It also includes a gripping arm that can be detachably mounted on a crossbar. The gripping arm includes a base plate, a main body rotatably connected to the base plate, and a first driving member. The first driving member is mounted on the main body and is used to drive the main body to rotate.

[0008] According to the above technical solution, during operation, the first motor on the base column drives the screw to rotate, and the horizontal column completes vertical lifting and lowering motion along the base column by means of threaded transmission. Its stroke range covers the cross-layer height difference requirements of the high and low conveyor lines. After the horizontal column rises to the target height, the gripping arm starts the operation process: the first drive component on the base plate drives the main body to rotate horizontally and adjust the gripping direction; the multi-joint mechanism of the main body cooperates with the end gripper through the hinged connecting rod to achieve flexible posture adjustment in the dimensions of pitch, extension and retraction.

[0009] Furthermore, at least one guide strip is provided on the base column, and at least one guide block is provided on the cross column, with the guide strip and the guide block being adapted to each other.

[0010] According to the above technical solution, the synergistic effect of the guide strip and the guide block constitutes the motion constraint mechanism of the vertical lifting system of the palletizing robot arm. The guide strip, which is fixed axially on the surface of the base column, adopts a linear guide rail design. The guide strip and the guide block form a surface contact fit, which ensures both guiding accuracy and improves stability. When the first motor drives the screw to rotate, the horizontal column generates vertical movement under the action of thread meshing. At this time, the guide block slides along the guide strip, and the circumferential rotation and radial offset of the horizontal column are restricted by geometric constraints. This can effectively avoid the problem of motion trajectory deviation caused by off-center loading or vibration, and significantly improve the positioning accuracy and system stability of the robot arm in cross-layer operations.

[0011] Furthermore, the main body includes a seat body rotatably connected to the base plate seat, a first arm fixedly mounted on the seat body, and a second arm hinged to the first arm. The end of the second arm is connected to a gripper, and a hollow cavity with a hollow structure is formed inside the seat body.

[0012] Furthermore, the first driving component includes a second motor fixedly mounted on the base, the output shaft of the second motor extending downward into the cavity and coaxially connected to a driving gear, and a driven gear fixed to the base plate seat is provided in the cavity, the driving gear meshing with the driven gear.

[0013] According to the above technical solution, the gripping arm adjusts its angle and posture through gear meshing. When the second motor starts, the output shaft drives the active gear to rotate in the cavity, forming a meshing transmission with the driven gear fixed to the base plate. Since the driven gear is fixed in position, the rotational motion of the active gear is converted into the circumferential rotation of the base body relative to the base plate, driving the entire gripping arm to achieve 360° stepless rotation in the horizontal plane. The first arm is rigidly connected to the base body, and the second arm forms a pitch joint through the hinge point. With the switching action of the end gripper, a gripping system with three-dimensional spatial motion capability is formed to complete the precise material docking and stacking operation on the cross-layer conveyor line.

[0014] Furthermore, a first connecting part is rotatably connected to the base, and a first connecting rod is hinged to the first connecting part. The free end of the first connecting rod is hinged to the end of the second arm.

[0015] A third motor is fixedly mounted on the base, and the output shaft of the third motor is connected to the first connecting part to drive the first connecting part to rotate.

[0016] Furthermore, a triangular block is hinged to the first arm, a second connecting part is rotatably connected to the base, a second connecting rod is hinged to the second connecting part, the end of the second connecting rod is hinged to the triangular block, the other end of the triangular block is connected to a third connecting rod, the third connecting rod is hinged to a mounting bracket, and the mounting bracket is installed at the end of the second arm.

[0017] Furthermore, it also includes a fourth motor, which is fixedly mounted on the base. The output shaft of the fourth motor is connected to the second connecting part and is used to drive the second connecting part to rotate.

[0018] Furthermore, the mounting frame includes a block and a first connecting block and a second connecting block fixedly disposed on both sides of the block. The first connecting block is hinged to the end of the second arm, and the second connecting block is hinged to the third connecting rod.

[0019] Furthermore, a vacuum adsorption claw is provided at the bottom of the crossbar, and the vacuum adsorption claw is connected to an air compressor.

[0020] Furthermore, a limit contact switch is installed on the base, and the limit contact switch is connected to the control of the first motor.

[0021] The beneficial effects of this utility model are:

[0022] The first motor drives the screw and the cross column through a threaded engagement mechanism, combined with the geometric constraints of the double guide bars and guide blocks, to achieve a large-stroke vertical lifting and lowering of the cross column along the base column. At the same time, the gripping arm achieves stepless horizontal rotation through a gear engagement mechanism driven by the second motor. With the linkage pitch adjustment and gripper extension compensation controlled by the third and fourth motors, a multi-degree-of-freedom coordinated motion is formed, which significantly improves the adaptability of the robotic arm to complex working conditions between high and low position conveyor lines. The structure is compact and highly practical.

[0023] Other advantages, objectives, and features of this application will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from practice of this application. The objectives and other advantages of this application may be realized and obtained through the detailed embodiments described below. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the palletizing robotic arm of this utility model;

[0025] Figure 2 In the palletizing robotic arm of this utility model Figure 1 A magnified structural diagram of part A;

[0026] Figure 3 The gripping arm (view) in the palletizing robot arm of this utility model Figure 1 A schematic diagram of the overall structure of ( );

[0027] Figure 4 The gripping arm (view) in the palletizing robot arm of this utility model Figure 2 A schematic diagram of the overall structure of ( );

[0028] Figure 5 In the palletizing robotic arm of this utility model Figure 3 A schematic diagram of the structure of part B;

[0029] Figure 6 This is a schematic diagram showing the meshing of the driving gear and the driven gear in the palletizing robot arm of this utility model.

[0030] The components include: base column 1, guide bar 11, guide block 12, first motor 2, screw 3, cross column 4, gripping arm 5, base plate 51, main body 52, first driving component 53, second motor 531, driving gear 532, driven gear 533, first arm 54, triangular block 541, second connecting part 542, second connecting rod 543, third connecting rod 544, second arm 55, gripper 56, first connecting part 57, third motor 58, first connecting rod 59, mounting bracket 6, block 61, first connecting block 62, second connecting block 63, fourth motor 7, vacuum suction claw 8, and limit contact switch 9. Detailed Implementation

[0031] The embodiments of this utility model will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be understood that the preferred embodiments are only for illustrating this utility model and not for limiting the scope of protection of this utility model.

[0032] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0033] This embodiment proposes a palletizing robotic arm, such as Figures 1 to 6 As shown, it includes a base column 1, a screw 3 rotatably connected to the base column 1 along the height direction of the base column 1, and a first motor 2 fixed to the base column 1. The first motor 2 is fixedly installed on the top of the base column 1, and the output shaft of the first motor 2 is coaxially connected to the screw 3. A horizontal column 4 is slidably connected to the base column 1, and the screw 3 is threadedly connected to the horizontal column 4.

[0034] It also includes a gripping arm 5 that is detachably mounted on the crossbar 4 via bolt connection, such as Figure 3 and Figure 4 As shown, the gripping arm 5 includes a base plate 51, a main body 52 rotatably connected to the base plate 51, and a first driving member 53. The first driving member 53 is mounted on the main body 52 and is used to drive the main body 52 to rotate.

[0035] like Figure 2 As shown, at least one guide bar 11 is provided on the base column 1, and at least one guide block 12 is provided on the horizontal column 4. The guide bar 11 and the guide block 12 are adapted to each other. In this embodiment, it is preferable that there are two guide bars 11 and two guide blocks 12, which are arranged in pairs. The synergistic effect of the guide bars 11 and the guide blocks 12 constitutes the motion constraint mechanism of the vertical lifting system of the palletizing robot arm, which ensures both guiding accuracy and stability. When the first motor 2 drives the screw 3 to rotate, the horizontal column 4 generates vertical movement under the engagement of the screw. At this time, the guide block 12 slides along the guide bar 11, and the circumferential rotation and radial offset of the horizontal column 4 are restricted by geometric constraints. This can effectively avoid the problem of motion trajectory deviation caused by off-center loading or vibration, and significantly improve the positioning accuracy and system stability of the robot arm in cross-layer operations.

[0036] As a preferred embodiment, such as Figure 3 and Figure 5As shown, the main body 52 includes a seat body rotatably connected to the base plate 51, a first arm 54 fixedly mounted on the seat body, and a second arm 55 hinged to the first arm 54. A gripper 56 is provided at the end of the second arm 55, and a hollow cavity is formed within the seat body. The first driving member 53 includes a second motor 531 fixedly mounted on the seat body. The output shaft of the second motor 531 extends downward into the cavity and is coaxially connected to a driving gear 532. A driven gear 533, fixed to the base plate 51, is disposed within the cavity, and the driving gear 532 meshes with the driven gear 533. In this embodiment, the gripping arm 5 adjusts its angle and posture through the meshing of the drive gear 532 and the driven gear 533. When the second motor 531 is started, the output shaft drives the drive gear 532 to rotate in the cavity, forming a meshing transmission with the driven gear 533 fixed to the base plate 51. Since the driven gear 533 is fixed in position, the rotational motion of the drive gear 532 is converted into the circumferential rotation of the base body relative to the base plate 51, thereby driving the entire gripping arm 5 to achieve stepless rotation in the horizontal plane.

[0037] As a preferred embodiment, such as Figure 3 As shown, a first connecting part 57 is rotatably connected to the base, and a first connecting rod 59 is hinged to the first connecting part 57. The free end of the first connecting rod 59 (that is, Figure 3 The top end of the first connecting rod 59 is hinged to the end of the second arm 55;

[0038] A third motor 58 is fixedly mounted on the base. The output shaft of the third motor 58 is connected to the first connecting part 57 and is used to drive the first connecting part 57 to rotate. The pitch angle of the gripping arm 5 is adjusted by the linkage mechanism driven by the third motor 58. When the third motor 58 is started, its output shaft drives the first connecting part 57 to rotate around the revolute joint on the base. The first connecting part 57 acts as a crank to drive the first connecting rod 59 to move. The free end of the first connecting rod 59 is hinged to the end of the second arm 55, forming a modified structure of the rocker-slider mechanism, which converts the rotational motion of the crank into the pitch motion of the second arm 55. This allows the working point of the gripper 56 to form an arc trajectory in the vertical plane. Combined with the lifting and lowering motion of the horizontal column 4, the material gripping height and stacking angle can be flexibly adjusted. For example, when the conveyor line is tilted by 5°, the angle of the second arm 55 can be precisely controlled by the third motor 58 to compensate for the material offset caused by the tilt of the conveyor line, ensuring the accuracy of stacking alignment. While maintaining the compactness of the structure, the gripping arm 5 can be adjusted in pitch within a certain working radius, which significantly enhances the adaptability of the robotic arm to complex working conditions and completes the precise material docking and stacking operation on the cross-layer conveyor line.

[0039] As a preferred embodiment, such as Figure 4As shown, a triangular block 541 is hinged to the first arm 54, and a second connecting part 542 is rotatably connected to the base. A second connecting part 542 is hinged to a second connecting rod 543, and the end of the second connecting rod 543 (that is, Figure 4 The top of the second connecting rod is hinged to the triangular block 541. The other end of the triangular block 541 is connected to the third connecting rod 544, which is hinged to the mounting bracket 6. The mounting bracket 6 is installed at the end of the second arm 55, and the gripper 56 is installed on the mounting bracket 6. A fourth motor 7 is also included, which is fixedly installed on the base. The output shaft of the fourth motor 7 is connected to the second connecting part 542 and is used to drive the second connecting part 542 to rotate.

[0040] As a preferred embodiment, such as Figure 3 As shown, the mounting bracket 6 includes a block 61 and a first connecting block 62 and a second connecting block 63 fixedly disposed on both sides of the block 61. The first connecting block 62 is hinged to the end of the second arm 55, and the second connecting block 63 is hinged to the third connecting rod 544.

[0041] In this embodiment, the extension and retraction adjustment function of the gripper 56 at the end of the gripping arm 5 is achieved by driving the fourth motor 7. When the fourth motor 7 is started, its output shaft drives the second connecting part 542 to rotate around the base. This rotation is transmitted to the triangular block 541 through the second connecting rod 543, forming a crank-rocker motion. The displacement of the triangular block 541 drives the third connecting rod 544 to move, ultimately driving the mounting frame 6 to achieve the pitch adjustment of the gripper 56 along the end of the second arm 55. For example, when there is a deviation in the material stacking position, the fourth motor 7 drives the mounting frame 6 to extend forward to compensate for the deviation, while the third motor 58 synchronously adjusts the pitch angle to keep the gripper 56 in a vertical docking posture, ensuring the adaptability of the gripper 56 to irregular stacking scenarios.

[0042] As a preferred embodiment, such as Figure 1 As shown, a vacuum adsorption claw 8 is provided at the bottom of the horizontal column 4, and the vacuum adsorption claw 8 is connected to an air compressor. In this embodiment, the vacuum adsorption claw 8 at the bottom of the horizontal column 4 achieves efficient material gripping through a pneumatic control system. The air compressor continuously generates compressed air, which is then extracted from the inner cavity of the adsorption claw by a vacuum generator to form a negative pressure environment, so that the adsorption surface is in close contact with the surface of the material, thus completing the material transfer operation.

[0043] As a preferred embodiment, such as Figure 5 As shown, a limit contact switch 9 is installed on the base, and the limit contact switch 9 is connected to the first motor 2 for control. In this example, the limit contact switch 9 serves as a safety protection mechanism. When the gripping arm 5 operates at its limit position or encounters a sudden obstacle, a contact probe is installed on the base. The contact probe will trigger the limit contact switch 9, and its electrical signal will be immediately fed back to the controller built into the first motor 2, thereby cutting off the power to the first motor 2.

[0044] In this embodiment, the first motor 2 at the top of the base column 1 drives the screw 3 to rotate, causing the horizontal column 4 to rise and fall vertically along the double guide strips 11, covering the drop between the high and low conveying rollers; the gripping arm 5 is detachably connected to the horizontal column 4 by bolts, and its second motor 531 drives the active gear 532 to mesh with the driven gear 533 fixed in the base plate seat 51, realizing stepless rotation at multiple angles in the horizontal plane; the third motor 58 controls the pitch angle of the second arm 55 through the first connecting part 57 and the linkage mechanism to compensate for the tilt of the conveyor line or the material offset; the fourth motor 7 adjusts the extension and retraction of the gripper 56 through the linkage of the triangular block 541 and the linkage group, and adjusts the pitch angle synchronously to ensure the adaptability of the gripper 56 to irregular stacking scenarios. The structure is compact and highly practical.

[0045] The above embodiments are merely preferred embodiments provided to fully illustrate the present utility model, and the protection scope of the present utility model is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present utility model are all within the protection scope of the present utility model.

Claims

1. A palletizing robotic arm, characterized in that, include: The base column (1), the screw (3) rotatably connected to the base column (1) along the height direction of the base column (1), and the first motor (2) fixed on the base column (1), the output shaft of the first motor (2) is coaxially connected to the screw (3), and a horizontal column (4) is slidably connected on the base column (1), and the screw (3) is threadedly connected to the horizontal column (4). It also includes a gripping arm (5) that is detachably mounted on the crossbar (4). The gripping arm (5) includes a base plate (51), a main body (52) rotatably connected to the base plate (51), and a first drive member (53). The first drive member (53) is mounted on the main body (52) and is used to drive the main body (52) to rotate.

2. The palletizing robotic arm according to claim 1, characterized in that: At least one guide bar (11) is provided on the base column (1), and at least one guide block (12) is provided on the horizontal column (4). The guide bar (11) and the guide block (12) are adapted to each other.

3. The palletizing robotic arm according to claim 2, characterized in that: The main body (52) includes a seat body rotatably connected to the base plate (51), a first arm (54) fixedly mounted on the seat body, and a second arm (55) hinged to the first arm (54). The end of the second arm (55) is connected to a gripper (56), and a hollow cavity is formed inside the seat body.

4. The palletizing robotic arm according to claim 3, characterized in that: The first driving component (53) includes a second motor (531) fixedly mounted on the base. The output shaft of the second motor (531) extends downward into the cavity and is coaxially connected to a driving gear (532). A driven gear (533) fixed to the base plate (51) is provided in the cavity. The driving gear (532) meshes with the driven gear (533).

5. The palletizing robotic arm according to claim 4, characterized in that: The seat is rotatably connected to a first connecting part (57), and a first connecting rod (59) is hinged to the first connecting part (57). The free end of the first connecting rod (59) is hinged to the end of the second arm (55). A third motor (58) is fixedly installed on the base. The output shaft of the third motor (58) is connected to the first connecting part (57) and is used to drive the first connecting part (57) to rotate.

6. The palletizing robotic arm according to claim 5, characterized in that: A triangular block (541) is hinged to the first arm (54), and a second connecting part (542) is rotatably connected to the base. A second connecting rod (543) is hinged to the second connecting part (542). The end of the second connecting rod (543) is hinged to the triangular block (541). The other end of the triangular block (541) is connected to a third connecting rod (544). The third connecting rod (544) is hinged to a mounting bracket (6). The mounting bracket (6) is installed at the end of the second arm (55).

7. The palletizing robotic arm according to claim 6, characterized in that: It also includes a fourth motor (7), which is fixedly mounted on the base. The output shaft of the fourth motor (7) is connected to the second connecting part (542) and is used to drive the second connecting part (542) to rotate.

8. The palletizing robotic arm according to claim 7, characterized in that: The mounting bracket (6) includes a block (61) and a first connecting block (62) and a second connecting block (63) fixedly disposed on both sides of the block (61). The first connecting block (62) is hinged to the end of the second arm (55), and the second connecting block (63) is hinged to the third connecting rod (544).

9. The palletizing robotic arm according to claim 1, characterized in that: The bottom of the horizontal column (4) is provided with a vacuum adsorption claw (8), and the vacuum adsorption claw (8) is connected to an air compressor.

10. The palletizing robotic arm according to claim 7, characterized in that: A limit contact switch (9) is installed on the base, and the limit contact switch (9) is connected to the first motor (2) for control.

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