Lifting type mechanical arm of material taking machine

Abstract

The utility model relates to the technical field of automation equipment, in particular to a lifting type mechanical arm of a material taking machine. Comprising a positioning seat and an adjusting mechanism, the adjusting mechanism comprises a servo motor, a bearing seat, a gland, a rotating shaft, a main supporting arm, an auxiliary supporting arm, a guide block, a descending device, a clamping device and a limiting device, when materials are clamped, taken and placed, firstly, the materials are clamped through the clamping device, and the vertical height of the clamping device can be adjusted through the descending device; the servo motor is controlled to act to drive the rotating shaft to rotate, the rotating shaft can drive the main supporting arm to rotate after rotating, the main supporting arm can drive the auxiliary supporting arm to rotate after rotating, and the rotating angle is controlled through an encoder of the servo motor during rotating. Accordingly, the clamping device can rotate to conduct angle adjustment, angle adjustment during material clamping or placing is achieved, and the problems that when an existing mechanical arm is used for clamping or placing materials, the material placing angle cannot be adjusted, and great limitation exists in use are solved.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to a lifting robotic arm for a material handling machine. Background Technology

[0002] Currently, robotic arms are generally used in automated production to pick up and place workpieces. However, current robotic arms are generally complex in structure, have high manufacturing costs, are prone to damage, and have high maintenance costs.

[0003] A search revealed that prior art CN204603927U discloses a pneumatic manipulator, comprising a mounting plate, a cylinder, a slider, a slide rail, a connecting plate, two first drive arms, and two second drive arms. The cylinder is mounted on one surface of the mounting plate, the slider is fixed to the piston rod of the cylinder, and the slider is slidably mounted on the slide rail, which extends along the length of the piston rod of the cylinder. The connecting plate is fixed to the slider, one end of each of the two first drive arms is hinged to the connecting plate, and both second drive arms are L-shaped, with one end hinged to the other end of each of the two first drive arms. The corners of both second drive arms are hinged to the mounting plate, and the other end of each second drive arm extends beyond the mounting plate and is fixed with a rubber clamp. The two first drive arms and two second drive arms are symmetrically arranged relative to the slide rail. This utility model has a simple structure and low manufacturing cost.

[0004] However, the aforementioned robotic arms cannot adjust the material gripping or placement angle when used for material handling, which greatly limits their application. Utility Model Content

[0005] The purpose of this utility model is to provide a lifting robotic arm for a material handling machine, which aims to solve the problem that existing robotic arms cannot adjust the material placement angle when used for material clamping or placement, resulting in significant limitations in their use.

[0006] To achieve the above objectives, this utility model provides a lifting robotic arm for a material handling machine, including a positioning seat and an adjustment mechanism;

[0007] The adjustment mechanism includes a servo motor, a bearing housing, a pressure cap, a rotating shaft, a main support arm, an auxiliary support arm, a guide block, a descending device, a clamping device, and a limiting device. The servo motor is fixedly connected to the positioning seat and located on top of the positioning seat, and is equipped with a brake mechanism and an encoder. The bearing housing is detachably connected to the positioning seat and located on the positioning seat. The pressure cap is detachably connected to the bearing housing and located on top of the bearing housing. The rotating shaft is mounted on the bearing housing via a rotating bearing. The main support arm is fixed to the bottom of the rotating shaft. The auxiliary support arm is connected to the descending device, which is located on the side of the main support arm near the auxiliary support arm. The guide block is mounted on the end of the main support arm away from the positioning seat and cooperates with the descending device. The clamping device is located on the end of the auxiliary support arm away from the main support arm. The limiting device is located on the rotating shaft.

[0008] A spline cavity is provided on the top end face of the rotating shaft, which is slidably inserted into the spline end on the output shaft of the servo motor.

[0009] The descending device includes a descending cylinder and a slide rod. The descending cylinder is fixed on the main support arm, and its output end is connected to the auxiliary support arm. The slide rod is detachably connected to the auxiliary support arm and slidably connected to the guide block.

[0010] The clamping device includes a mounting bracket and a finger cylinder. The mounting bracket is detachably connected to the auxiliary support arm and is located on the side of the auxiliary support arm away from the main support arm. The finger cylinder is fixedly connected to the mounting bracket and is located on the side of the mounting bracket away from the auxiliary support arm.

[0011] The limiting device includes a spacer ring and a locking screw ring. The spacer ring is slidably fitted on the rotating shaft and abuts against the inner ring of the mounting bearing of the rotating shaft. The locking screw ring is threadedly connected to the rotating shaft and abuts against the spacer ring.

[0012] The lifting robotic arm of the material handling machine also includes a stabilizing mechanism, which includes a first bracket and a second bracket. The first bracket is detachably connected to the auxiliary support arm, and the second bracket is detachably connected to both the first bracket and the mounting bracket.

[0013] This utility model discloses a lifting robotic arm for a material handling machine. When gripping and placing materials, the material is first gripped by a gripping device. The vertical height of the gripping device can be adjusted by a descending device. Furthermore, by controlling the action of a servo motor, a rotating shaft can be driven to rotate. The rotation of the rotating shaft drives the main support arm to rotate, and the rotation of the main support arm drives the auxiliary support arm to rotate. During rotation, the rotation angle is controlled by the encoder of the servo motor, thereby enabling the angle adjustment of the gripping device and the angle adjustment when gripping or placing materials. This solves the problem that existing robotic arms cannot adjust the material placement angle when gripping or placing materials, resulting in significant limitations in their use. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0015] Figure 1 This is a schematic diagram of the overall structure of the lifting robotic arm of the material handling machine according to the first embodiment of this utility model.

[0016] Figure 2 This is a schematic diagram of the installation position of the spacer ring according to the first embodiment of this utility model.

[0017] Figure 3 This is a schematic diagram of the slide bar according to the first embodiment of this utility model.

[0018] Figure 4 This is a schematic diagram of the overall structure of the lifting robotic arm of the material handling machine according to the second embodiment of this utility model.

[0019] In the diagram: 101-positioning seat, 102-servo motor, 103-bearing seat, 104-pressure cover, 105-rotating shaft, 106-main support arm, 107-auxiliary support arm, 108-guide block, 109-downward cylinder, 110-slide rod, 111-mounting bracket, 112-finger cylinder, 113-spacer ring, 114-locking screw ring, 201-first bracket, 202-second bracket. Detailed Implementation

[0020] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0021] Example 1:

[0022] like Figures 1 to 3 As shown, where Figure 1 This is a schematic diagram of the overall structure of the lifting robotic arm of the material handling machine. Figure 2This is a schematic diagram of the installation position of spacer 113. Figure 3 This is a schematic diagram of the slide bar 110. This utility model provides a lifting robotic arm for a material handling machine: it includes a positioning seat 101 and an adjustment mechanism. The adjustment mechanism includes a servo motor 102, a bearing seat 103, a pressure cover 104, a rotating shaft 105, a main support arm 106, an auxiliary support arm 107, a guide block 108, a descending device, a clamping device, and a limiting device. The descending device includes a descending cylinder 109 and a slide bar 110. The clamping device includes a mounting bracket 111 and a finger cylinder 112. The limiting device includes a spacer ring 113 and a locking coil 114. This solution solves the problem that existing robotic arms cannot adjust the material placement angle when clamping or placing materials, resulting in significant limitations. It is understood that the aforementioned solution can be used to adjust the material placement angle when clamping or placing materials.

[0023] In this embodiment, the positioning seat 101 is fixed to the connecting arm of the material handling machine by bolts.

[0024] The servo motor 102 is fixedly connected to the positioning seat 101 and located on top of the positioning seat 101, and includes a brake mechanism and an encoder. The bearing seat 103 is detachably connected to the positioning seat 101 and located on the positioning seat 101. The pressure cover 104 is detachably connected to the bearing seat 103 and located on top of the bearing seat 103. The rotating shaft 105 is mounted on the bearing seat 103 via a rotating bearing. The main support arm 106 is fixed to the bottom of the rotating shaft 105. The auxiliary support arm 107 is connected to the descending device, which is located on the side of the main support arm 106 near the auxiliary support arm 107. The guide block 108 is mounted on the end of the main support arm 106 away from the positioning seat 101 and cooperates with the descending device. The clamping device is located on... The auxiliary support arm 107 is located on the end furthest from the main support arm 106. The limiting device is mounted on the rotating shaft 105. The servo motor 102 is bolted to a detachable bracket on the positioning seat 101 and includes an encoder and a brake mechanism for rotation angle control and shaft locking. The bearing seat 103 is bolted and has an internal bearing mounting cavity. The rotating shaft 105 is mounted on the bearing seat 103 via two rotating bearings. The pressure cap 104 is bolted and used to abut against the outer ring of the bearing for limiting. The limiting device abuts against the inner ring of the bearing for limiting. The main support arm 106 is fixed with a positioning pin and bolts. The guide block 108 is bolted. The descending device drives the auxiliary support arm 107 downward. The clamping device is used for material clamping.

[0025] A spline cavity is provided on the top end face of the rotating shaft 105, which is slidably inserted into the spline end on the output shaft of the servo motor 102. The direct spline cavity on the top end face of the rotating shaft 105 facilitates the slidable insertion of the spline end on the output shaft of the servo motor 102. This method not only achieves a direct connection but is also more convenient to disassemble than a coupling connection. Separation can be achieved simply by removing the fixing bolts of the servo motor 102, and it is less prone to slippage, resulting in better stability.

[0026] Secondly, the downward cylinder 109 is fixed to the main support arm 106, and its output end is connected to the auxiliary support arm 107; the slide rod 110 is detachably connected to the auxiliary support arm 107 and slidably connected to the guide block 108. The downward cylinder 109 is fixed by bolts, and its output end is connected to the auxiliary support arm 107 by bolts. The bottom of the slide rod 110 is fixed by bolts arranged from bottom to top, and is guided and slidably engaged by the guide block 108.

[0027] Then, the mounting bracket 111 is detachably connected to the auxiliary support arm 107 and is located on the side of the auxiliary support arm 107 away from the main support arm 106; the finger cylinder 112 is fixedly connected to the mounting bracket 111 and is located on the side of the mounting bracket 111 away from the auxiliary support arm 107. The mounting bracket 111 is fixed by bolts and is L-shaped. The finger cylinder 112 is fixed to the mounting bracket 111 by bolts and can be an SMC MHZ2 series product.

[0028] Finally, the spacer ring 113 is slidably fitted onto the rotating shaft 105 and abuts against the inner ring of the mounting bearing of the rotating shaft 105; the locking screw ring 114 is threadedly connected to the rotating shaft 105 and abuts against the spacer ring 113. The spacer ring 113 can be directly slidably fitted onto the rotating shaft 105, and the locking screw ring 114 is directly mounted on the rotating shaft 105.

[0029] This invention addresses the limitation of existing robotic arms in material gripping and placement due to their inability to adjust the material placement angle. Firstly, the finger cylinder 112 actuates to grip the material. The descending device allows for vertical height adjustment of the gripping device. Secondly, the servo motor 102 drives the rotating shaft 105 to rotate, which in turn drives the main support arm 106, which in turn drives the auxiliary support arm 107. The encoder of the servo motor 102 controls the rotation angle, enabling angle adjustment during material gripping and placement. This solves the problem of existing robotic arms' inability to adjust the material placement angle, thus greatly limiting their usability.

[0030] Example 2:

[0031] like Figure 4 As shown, where Figure 4 This is a schematic diagram of the overall structure of the lifting robotic arm of the material handling machine. Based on the first embodiment, this utility model provides a lifting robotic arm for the material handling machine. The lifting robotic arm of the material handling machine also includes a stabilizing mechanism, which includes a first support 201 and a second support 202.

[0032] The first bracket 201 is detachably connected to the auxiliary support arm 107; the second bracket 202 is detachably connected to both the first bracket 201 and the mounting bracket 111. One end of the first bracket 201 is bolted to the auxiliary support arm 107, and the other end is bolted to the second bracket 202. The side of the second bracket 202 away from the first bracket 201 is bolted to the mounting bracket 111.

[0033] In this embodiment, the stability of the mounting bracket 111 can be improved by setting the first bracket 201 and the second bracket 202.

[0034] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. A lifting robotic arm for a material handling machine, comprising a positioning base, characterized in that: It also includes adjustment mechanisms; The adjustment mechanism includes a servo motor, a bearing housing, a pressure cap, a rotating shaft, a main support arm, an auxiliary support arm, a guide block, a descending device, a clamping device, and a limiting device. The servo motor is fixedly connected to the positioning seat and located on top of the positioning seat, and is equipped with a brake mechanism and an encoder. The bearing housing is detachably connected to the positioning seat and located on the positioning seat. The pressure cap is detachably connected to the bearing housing and located on top of the bearing housing. The rotating shaft is mounted on the bearing housing via a rotating bearing. The main support arm is fixed to the bottom of the rotating shaft. The auxiliary support arm is connected to the descending device, which is located on the side of the main support arm near the auxiliary support arm. The guide block is mounted on the end of the main support arm away from the positioning seat and cooperates with the descending device. The clamping device is located on the end of the auxiliary support arm away from the main support arm. The limiting device is located on the rotating shaft. A spline cavity is provided on the top end face of the rotating shaft, which is slidably inserted into the spline end on the output shaft of the servo motor.

2. The lifting robotic arm of the material handling machine as described in claim 1, characterized in that... : The descending device includes a descending cylinder and a slide rod. The descending cylinder is fixed on the main support arm, and its output end is connected to the auxiliary support arm. The slide rod is detachably connected to the auxiliary support arm and slidably connected to the guide block.

3. The lifting robotic arm of the material handling machine as described in claim 1, characterized in that... : The clamping device includes a mounting bracket and a finger cylinder. The mounting bracket is detachably connected to the auxiliary support arm and is located on the side of the auxiliary support arm away from the main support arm. The finger cylinder is fixedly connected to the mounting bracket and is located on the side of the mounting bracket away from the auxiliary support arm.

4. The lifting robotic arm of the material handling machine as described in claim 1, characterized in that... : The limiting device includes a spacer ring and a locking screw ring. The spacer ring is slidably fitted on the rotating shaft and abuts against the inner ring of the mounting bearing of the rotating shaft. The locking screw ring is threadedly connected to the rotating shaft and abuts against the spacer ring.

5. The lifting robotic arm of the material handling machine as described in claim 3, characterized in that... : The lifting robotic arm of the material handling machine also includes a stabilizing mechanism, which includes a first support and a second support. The first support is detachably connected to the auxiliary support arm, and the second support is detachably connected to both the first support and the mounting bracket.

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