Manipulator structure for inserting and clamping bagged materials

Abstract

The utility model provides a manipulator structure for inserting and clamping bagged materials, and belongs to the technical field of loading and unloading equipment. The mechanical arm structure for inserting and clamping the bagged materials comprises a multi-axis robot, a support, a visual device, a supporting block, a clamping mechanism and a barrel-shaped material clamping piece, the support is fixed to the multi-axis robot, a second through hole is formed in the support, the visual device is fixed to the outer wall of the support, and the supporting block is fixed to the outer wall of the support. The supporting block is fixed to the outer wall of the first clamping arm, the clamping mechanism is installed on the support and used for clamping square materials, the second clamping arm is convenient to disassemble and assemble through the mechanical arm structure for inserting and clamping the bagged materials, bolts do not need to be disassembled and assembled, and time and labor are saved; in addition, operations such as grabbing, carrying, stacking and feeding / discharging of square bagged materials or barrel-shaped bagged materials can be achieved, and better use experience is brought to a user.

Description

Technical Field

[0001] This utility model relates to the field of loading and unloading equipment technology, specifically to a robotic arm structure for inserting and clamping bagged materials. Background Technology

[0002] Current robotic arms for gripping bagged materials often need to perform operations such as grasping, handling, stacking, and loading / unloading of square or cylindrical bagged materials. However, when gripping cylindrical bagged materials, in order to make the grip more secure, it is necessary to install an arc-shaped gripper on the original gripper or directly remove the original gripper and replace it with an arc-shaped gripper. The process of replacing the arc-shaped gripper often requires disassembling and assembling multiple bolts, which makes the disassembly and assembly of the arc-shaped gripper time-consuming and laborious, resulting in a poor user experience. Utility Model Content

[0003] In view of this, the problem to be solved by this utility model is to provide a robotic arm structure for inserting and clamping bagged materials.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a robotic arm structure for inserting and clamping bagged materials, including a multi-axis robot, a bracket, a vision device, a support block, a clamping mechanism, and a barrel-shaped material clamping component. The bracket is fixed on the multi-axis robot, and a second through hole is provided on the bracket. The vision device is fixed on the outer wall of the bracket, and the support block is fixed on the outer wall of the first clamping arm.

[0005] The clamping mechanism is installed on the bracket, and the clamping mechanism is configured to clamp square materials;

[0006] The barrel-shaped material clamping component is installed on the first clamping arm, and the barrel-shaped material clamping component is set to clamp the barrel-shaped material.

[0007] In one embodiment of this application, a lighting fixture is also included, which is fixed to the outer wall of the housing of the vision device.

[0008] In one embodiment of this application, the clamping mechanism includes a motor, a bidirectional threaded rod, a guide rod, and a first clamping arm. The motor is fixed to the outer wall of the bracket. One end of the bidirectional threaded rod is rotatably mounted on the bracket, and the other end of the bidirectional threaded rod is fixed to the output shaft of the motor. The guide rod is fixed to the bracket. The first clamping arm is threaded onto the bidirectional threaded rod and is also slidably mounted on the guide rod. There are two first clamping arms. The motor and the vision device are electrically connected together.

[0009] In one embodiment of this application, the barrel-shaped material clamping member includes a slider, a second clamping arm, an anti-slip pad, and a locking mechanism. The slider is fixed on the outer wall of the second clamping arm and slidably disposed on the first clamping arm. The anti-slip pad is fixed on the outer wall of the second clamping arm. The locking mechanism is installed on the first clamping arm and the slider. A positioning groove is provided on the slider.

[0010] In one embodiment of this application, the locking mechanism includes a pin, a spring, and a pull ring. A countersunk hole is provided on the first clamping arm. The pin slides through the countersunk hole. One end of the spring is fixed in the countersunk hole, and the other end of the spring is fixed on the pin. One end of the pin is inserted into the positioning groove, and the pull ring is installed on the other end of the pin.

[0011] In one embodiment of this application, a first through hole is provided on the first clamping arm.

[0012] In one embodiment of this application, a counterweight is further included, which is fixed to the lower surface of the bracket.

[0013] The advantages and positive effects of this utility model are:

[0014] The second clamping arm is easy to assemble and disassemble without removing bolts, saving time and effort. In addition, it can perform operations such as gripping, handling, stacking, loading / unloading of square or cylindrical bagged materials, providing users with a better user experience. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0016] Figure 1 This is a three-dimensional structural diagram of a robotic arm structure for inserting and clamping bagged materials according to the present invention;

[0017] Figure 2 This is a diagram showing the relationship between the bracket, clamping mechanism, and barrel-shaped material clamping component of this utility model.

[0018] Figure 3 This is a three-dimensional structural diagram of the clamping mechanism of this utility model;

[0019] Figure 4 This is a three-dimensional structural diagram of the barrel-shaped material clamping component of this utility model;

[0020] Figure 5 This is a cross-sectional view of the first clamping arm of this utility model;

[0021] Figure 6 This is a utility model Figure 5 A magnified view of region A in the middle.

[0022] In the diagram: 110, multi-axis robot; 120, support frame; 130, vision device; 140, lighting fixture; 150, clamping mechanism; 151, motor; 152, bidirectional threaded rod; 153, guide rod; 154, first clamping arm; 160, slide groove; 170, barrel-shaped material clamping component; 171, slider; 172, second clamping arm; 173, anti-slip pad; 174, positioning groove; 175, locking mechanism; 1751, countersunk hole; 1752, pin; 1753, spring; 1754, pull ring; 180, support block; 190, first through hole; 191, counterweight; 192, second through hole. Detailed Implementation

[0023] 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.

[0024] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is considered "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is considered "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0026] Please see Figures 1-6This application provides a technical solution: a robotic arm structure for clamping bagged materials, including a multi-axis robot 110, a support 120, a vision device 130, a support block 180, a clamping mechanism 150, and a barrel-shaped material clamping component 170. The support 120 is fixed on the multi-axis robot 110, and a second through hole 192 is provided on the support 120. The vision device 130 is fixed on the outer wall of the support 120, and the support block 180 is fixed on the outer wall of the first clamping arm 154. It also includes a lighting fixture 140, which is fixed on the outer wall of the housing of the vision device 130. The lighting fixture 140 is provided to facilitate the operation of the device in a dark environment. It also includes a counterweight 191, which is fixed on the lower surface of the support 120.

[0027] The clamping mechanism 150 is mounted on the bracket 120. The clamping mechanism 150 is used to clamp square materials. The clamping mechanism 150 includes a motor 151, a bidirectional threaded rod 152, a guide rod 153, and a first clamping arm 154. The motor 151 is fixed on the outer wall of the bracket 120. One end of the bidirectional threaded rod 152 is rotatably mounted on the bracket 120, and the other end of the bidirectional threaded rod 152 is fixed together with the output shaft of the motor 151. The guide rod 153 is fixed on the bracket 120. The first clamping arm 154 is threaded onto the bidirectional threaded rod 152 and is also slidably mounted onto the guide rod 153. There are two first clamping arms 154. The motor 151 and the vision device 130 are electrically connected together.

[0028] A barrel-shaped material clamping component 170 is mounted on a first clamping arm 154. The barrel-shaped material clamping component 170 clamps the barrel-shaped material. The barrel-shaped material clamping component 170 includes a slider 171, a second clamping arm 172, an anti-slip pad 173, and a locking mechanism 175. The slider 171 is fixed to the outer wall of the second clamping arm 172 and slidably mounted on the first clamping arm 154. The anti-slip pad 173 is fixed to the outer wall of the second clamping arm 172. The locking mechanism 175 is mounted on the first clamping arm 154 and the slider 171. A positioning groove 174 is provided on the slider 171. The locking mechanism 175 includes a pin 1752, a spring 1753, and a pull ring 1754. A countersunk hole 1751 is provided on the first clamping arm 154. The pin 1752 slides through the countersunk hole 1751. One end of the spring 1753 is fixed in the countersunk hole 1751, and the other end of the spring 1753 is fixed on the pin 1752. One end of the pin 1752 is inserted into the positioning groove 174. The pull ring 1754 is installed on the other end of the pin 1752. A first through hole 190 is provided on the first clamping arm 154. The first through hole 190 facilitates the insertion of the support block 180 into the bag.

[0029] The working principle and process of this utility model are as follows: In use, the multi-axis robot 110 moves with the support 120. The rotation of the output shaft of the motor 151 drives the bidirectional threaded rod 152 to rotate. The two first gripping arms 154 move in opposite directions under the combined action of the bidirectional threaded rod 152 and the guide rod 153. The vision device 130 identifies and transfers the gripped material. Under the combined action of the multi-axis robot 110, the vision device 130, and the motor 151, the two first gripping arms 154 grip the square-shaped bagged material. When it is necessary to grip the cylindrical bagged material, the pull ring 1754 is pulled, so that the end of the pin 1752 enters the countersunk hole 1751. Then, the slider 171 on the second gripping arm 172 is inserted into the slide groove 160. Then, the pull ring 1754 is released, and under the reaction action of the spring 1753, the end of the pin 1752 is inserted into the positioning groove 174, realizing the gripping of the first cylindrical bagged material. After installing the arc-shaped gripper arm 172, the cylindrical bagged material can be gripped following the steps described above. When the bag opening needs to be opened for filling, the multi-axis robot 110 and motor 151 work together to insert the support blocks 180 on both sides into the bag that has already been opened by the bag opening opening mechanism. Then, the direction of rotation of the output shaft of motor 151 is controlled to open the bag opening with the support blocks 180 on both sides. After that, the bag opening opening mechanism releases the constraint on the bag, and then the multi-axis robot 110 moves the bag directly below the unloading device. The material enters the bag through the second through hole 192 to achieve filling. This robotic arm structure for inserting and clamping bagged materials facilitates the assembly and disassembly of the second gripper arm 172 without the need to remove bolts, saving time and effort. In addition, it can perform operations such as gripping, handling, stacking, and loading / unloading of square or cylindrical bagged materials, providing users with a better user experience.

[0030] The embodiments of this utility model have been described in detail above, but the content described is only a preferred embodiment of this utility model and should not be considered as limiting the scope of implementation of this utility model. All equivalent changes and improvements made within the scope of this utility model should still fall within the scope of this patent.

Claims

1. A robotic arm structure for inserting and clamping bagged materials, characterized in that, The system includes a multi-axis robot (110), a support (120), a vision device (130), a support block (180), a clamping mechanism (150), and a barrel-shaped material clamping component (170). The support (120) is fixed on the multi-axis robot (110), and a second through hole (192) is provided on the support (120). The vision device (130) is fixed on the outer wall of the support (120), and the support block (180) is fixed on the outer wall of the first clamping arm (154). The clamping mechanism (150) is mounted on the bracket (120), and the clamping mechanism (150) is configured to clamp square materials; The barrel-shaped material clamping member (170) is installed on the first clamping arm (154), and the barrel-shaped material clamping member (170) is set to clamp the barrel-shaped material.

2. The robotic arm structure for inserting and clamping bagged materials according to claim 1, characterized in that, It also includes a lighting fixture (140) which is fixed to the outer wall of the housing of the vision device (130).

3. The robotic arm structure for inserting and clamping bagged materials according to claim 1, characterized in that, The clamping mechanism (150) includes a motor (151), a bidirectional threaded rod (152), a guide rod (153), and a first clamping arm (154). The motor (151) is fixed on the outer wall of the bracket (120). One end of the bidirectional threaded rod (152) is rotatably mounted on the bracket (120), and the other end of the bidirectional threaded rod (152) is fixed together with the output shaft of the motor (151). The guide rod (153) is fixed on the bracket (120). The first clamping arm (154) is threaded onto the bidirectional threaded rod (152) and also slidably mounted onto the guide rod (153). There are two first clamping arms (154). The motor (151) and the vision device (130) are electrically connected together.

4. The robotic arm structure for inserting and clamping bagged materials according to claim 3, characterized in that, The barrel-shaped material clamping component (170) includes a slider (171), a second clamping arm (172), an anti-slip pad (173), and a locking mechanism (175). The slider (171) is fixed on the outer wall of the second clamping arm (172), and the slider (171) is slidably disposed on the first clamping arm (154). The anti-slip pad (173) is fixed on the outer wall of the second clamping arm (172). The locking mechanism (175) is installed on the first clamping arm (154) and the slider (171). The slider (171) is provided with a positioning groove (174).

5. A robotic arm structure for inserting and clamping bagged materials according to claim 4, characterized in that, The locking mechanism (175) includes a pin (1752), a spring (1753), and a pull ring (1754). The first clamping arm (154) has a countersunk hole (1751). The pin (1752) slides through the countersunk hole (1751). One end of the spring (1753) is fixed in the countersunk hole (1751), and the other end of the spring (1753) is fixed on the pin (1752). One end of the pin (1752) is inserted into the positioning groove (174), and the pull ring (1754) is installed on the other end of the pin (1752).

6. The robotic arm structure for inserting and clamping bagged materials according to claim 3, characterized in that, The first clamping arm (154) has a first through hole (190).

7. A robotic arm structure for inserting and clamping bagged materials according to claim 1, characterized in that, It also includes a counterweight (191) which is fixed to the lower surface of the bracket (120).

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