A roller gripping robotic arm

Abstract

This utility model discloses a roller gripping robotic arm, relating to the field of robotic arm technology. It includes a conveying mechanism with a roller body placed on its top surface, a flipping mechanism connected to three gripping mechanisms for gripping the roller body. The roller body is gripped by these three gripping mechanisms. A servo motor, in conjunction with a lead screw, adjusts the gripping mechanisms. When a gripping mechanism is flipped 180 degrees by a connecting shaft, the servo motor drives the lead screw to reverse, separating the movable plate from the fixed plate. At this point, the roller body falls into the next working process under gravity. Compared to existing robotic arm structures, this application, while less flexible, has a simpler structure. Furthermore, this application only includes two electrical structures: a servo motor and a geared motor, resulting in lower production costs, a simpler structure, and higher structural stability. It solves the problems of complex structures and difficult maintenance in existing roller gripping robotic arms.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a roller gripping robotic arm. Background Technology

[0002] In modern industrial production, rollers are a key component widely used in various fields, such as printing equipment, logistics and transportation systems, and packaging machinery. A roller typically refers to a cylindrical, rotating object in machinery. In actual operation, it is often driven by a power source (such as an electric motor) to propel other materials forward or to process materials using the pressure generated by the roller.

[0003] In the production and transportation of rollers, frequent gripping operations are required to transfer the rollers from one production process to the next. Currently, roller gripping robotic arms are commonly used for this gripping operation.

[0004] Most existing roller gripping robotic arms achieve their effects using the following technologies;

[0005] Mechanical structure design technology, including parallel gripper, rotary gripper design, and multi-joint robotic arms;

[0006] Drive and transmission technologies, including electric drive, hydraulic drive and pneumatic drive;

[0007] Sensor technologies, including vision sensors, force sensors, and position sensors;

[0008] Control technologies, including PLC control and computer control;

[0009] Intelligent and automated technologies, including artificial intelligence technology and automated production line integration technology.

[0010] Currently, existing roller gripping robotic arms have been found to have at least the following technical problems in actual use;

[0011] Most existing roller gripping robotic arms use multiple motors, hydraulic mechanisms, and bearings to enable multi-angle rotation and high flexibility. However, while this design provides high flexibility, it also increases production costs. Furthermore, due to its complex and precise structure, it is prone to damage and difficult to repair and maintain after damage. Therefore, most existing roller gripping robotic arms suffer from structural complexity and difficulty in maintenance. Utility Model Content

[0012] To address the shortcomings of existing technologies, this utility model provides a roller gripping robotic arm that solves the problems of complex structure and difficulty in maintenance of existing roller gripping robotic arms.

[0013] To achieve the above objectives, this utility model provides the following technical solution:

[0014] A roller gripping robotic arm includes a conveying mechanism, on the top surface of which a roller body is placed. It also includes a flipping mechanism, which is connected to three gripping mechanisms for gripping the roller body. The flipping mechanism includes a support base, a PLC controller, a geared motor, and a connecting shaft. Each gripping mechanism includes a fixed sleeve, a fixed plate, a movable plate, and an adjustment component.

[0015] Preferably, there are two support bases, one of which is fixedly connected to the side wall of a PLC controller, the geared motor is fixedly installed on the top surface of the PLC controller, the connecting shaft is fixedly connected to the output end of the geared motor, and the connecting shaft is rotatably connected to the two support bases.

[0016] Preferably, the fixing sleeves of the three gripping mechanisms are all fixedly connected to the connecting shaft, and the fixing sleeves are fixedly connected to the mounting plates.

[0017] Preferably, the fixing plate is fixedly connected to the top surface of the mounting plate at the end away from the fixing sleeve, the top surface of the mounting plate has three T-shaped grooves, and the top surface of the mounting plate is fixedly connected to a support plate.

[0018] Preferably, the bottom of the movable plate is fixedly connected to three T-shaped sliders, and the surface of the middle T-shaped slider is provided with a threaded groove.

[0019] Preferably, the three T-shaped sliders are slidably connected to the three T-shaped grooves respectively.

[0020] Preferably, the adjustment component includes a servo motor, which is fixedly mounted on the top surface of the support plate. A lead screw is fixedly connected to the output end of the servo motor, and the lead screw is rotatably connected to the mounting plate.

[0021] Preferred: The lead screw is threadedly connected to the threaded groove.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] I. This application utilizes a flipping mechanism to flip three gripping mechanisms, which then grip the roller body. A servo motor, in conjunction with a lead screw, adjusts the gripping mechanisms. After the gripping mechanism is flipped 180 degrees by the connecting shaft, the servo motor drives the lead screw to reverse, separating the movable plate from the fixed plate. At this point, the roller body falls into the next working process under gravity. Compared to existing robotic arm structures, this application, while less flexible, has a simpler structure. Furthermore, this application only includes two electrical components: a servo motor and a geared motor. This results in lower production costs, a simpler structure, and higher structural stability, solving the problems of complex and difficult-to-maintain structures in existing roller gripping robotic arms.

[0024] Second, this application, by setting up a flipping mechanism and three gripping mechanisms, not only has a simple structure, but also requires a simpler program setting compared to the complex operation program required by traditional robotic arms. It only needs to set the running time of the servo motor and the geared motor to match the conveying mechanism, which makes this application easy to use. Attached Figure Description

[0025] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0026] Figure 1 This is an overall structural diagram of the present invention;

[0027] Figure 2 This is a structural diagram of the flipping mechanism and gripping mechanism of this utility model;

[0028] Figure 3 This is a side view of the gripping mechanism of this utility model;

[0029] Figure 4 This is an exploded structural diagram of the gripping mechanism of this utility model.

[0030] Legend: 1. Conveying mechanism; 2. Tilting mechanism; 3. Gripping mechanism; 4. Servo motor; 101. Roller body; 201. Support base; 202. PLC controller; 203. Gear motor; 204. Connecting shaft; 301. Fixing sleeve; 302. Mounting plate; 303. Fixing plate; 304. T-shaped chute; 305. Support plate; 306. Movable plate; 307. T-shaped slider; 308. Threaded groove; 401. Lead screw. Detailed Implementation

[0031] This application provides a roller gripping robotic arm that effectively solves the problems of complex structure and difficulty in maintenance of existing roller gripping robotic arms.

[0032] Example

[0033] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the technical solution in this application embodiment effectively solves the technical problems of complex structure and difficulty in maintenance of existing roller gripping robotic arms. The overall idea is as follows:

[0034] To address the problems existing in the prior art, this utility model provides a roller gripping robotic arm, including a conveying mechanism 1, on the top surface of which a roller body 101 is placed, and a flipping mechanism 2, which is connected to three gripping mechanisms 3 for gripping the roller body 101. The flipping mechanism 2 includes a support base 201, a PLC controller 202, a reduction motor 203, and a connecting shaft 204. The gripping mechanism 3 includes a fixed sleeve 301, a fixed plate 303, a movable plate 306, and an adjustment component.

[0035] There are two support bases 201. The side wall of one support base 201 is fixedly connected to the PLC controller 202. The geared motor 203 is fixedly installed on the top surface of the PLC controller 202. The connecting shaft 204 is fixedly connected to the output end of the geared motor 203. The connecting shaft 204 is rotatably connected to the two support bases 201.

[0036] The fixing sleeves 301 of the three gripping mechanisms 3 are all fixedly connected to the connecting shaft 204, and the fixing sleeves 301 are fixedly connected to the mounting plate 302.

[0037] The fixing plate 303 is fixedly connected to the top surface of the mounting plate 302 at the end away from the fixing sleeve 301. The top surface of the mounting plate 302 is provided with three T-shaped grooves 304, and the top surface of the mounting plate 302 is fixedly connected to the support plate 305.

[0038] The bottom of the movable plate 306 is fixedly connected to three T-shaped sliders 307, and the surface of the middle T-shaped slider 307 is provided with a threaded groove 308.

[0039] The three T-shaped sliders 307 are slidably connected to the three T-shaped grooves 304 respectively.

[0040] The adjustment component includes a servo motor 4, which is fixedly mounted on the top surface of the support plate 305. The output end of the servo motor 4 is fixedly connected to a lead screw 401, which is rotatably connected to the mounting plate 302.

[0041] The lead screw 401 is threadedly connected to the threaded groove 308.

[0042] Conveying mechanism 1: used to transport the roller body 101 to the top of the three gripping mechanisms 3, providing a basis for subsequent gripping operations.

[0043] Tilting mechanism 2: As one of the core motion mechanisms of the entire mechanical system, it is responsible for driving the gripping mechanism 3 to rotate, thereby realizing the position transfer of the roller body 101.

[0044] Support base 201: There are two of them, which serve to support the connecting shaft 204 and the entire flipping mechanism 2, ensuring the stable operation of the mechanism.

[0045] PLC controller 202: controls the start, stop and operation status of geared motor 203 and servo motor 4 to realize the automated control of the entire grasping and flipping process.

[0046] Gear motor 203: provides power for the rotation of connecting shaft 204, drives connecting shaft 204 to rotate, and in turn drives gripping mechanism 3 to flip.

[0047] Connecting shaft 204: connects the geared motor 203 and the gripping mechanism 3, and transmits the power of the geared motor 203 to the gripping mechanism 3 to achieve the flipping action.

[0048] Gripping mechanism 3: responsible for gripping and releasing the roller body 101, and working with the flipping mechanism 2 to complete the transfer of the roller.

[0049] Fixed sleeve 301: Fixedly connected to the connecting shaft 204, used for the connection between the connecting shaft 204 and the mounting plate 302, so that the gripping mechanism 3 can rotate with the connecting shaft 204.

[0050] Mounting plate 302: Provides a mounting base for the fixed plate 303, movable plate 306 and adjustment components, and also serves as a load-bearing component when gripping the roller body 101.

[0051] Fixed plate 303: Fixed on mounting plate 302, cooperating with movable plate 306, and playing a role in fixing and limiting when gripping roller body 101.

[0052] T-shaped groove 304: It is formed on the mounting plate 302 and cooperates with the T-shaped slider 307 to provide guidance for the movement of the movable plate 306.

[0053] Support plate 305: Fixed on mounting plate 302, used to mount servo motor 4 and provide support for adjustment components.

[0054] Movable plate 306: The T-shaped slider 307 at the bottom is slidably connected to the T-shaped slide groove 304. Under the action of the adjustment component, it can move or separate towards the fixed plate 303 to realize the gripping and release of the roller body 101.

[0055] T-shaped slider 307: Fixed to the bottom of the movable plate 306, it slides in conjunction with the T-shaped groove 304 to ensure the stability of the movement of the movable plate 306.

[0056] Threaded groove 308: It is formed on the surface of the T-shaped slider 307 located in the middle and is threadedly connected to the lead screw 401, converting the rotation of the lead screw 401 into the linear movement of the movable plate 306.

[0057] Adjustment component: Adjust the position of the movable plate 306 to achieve gripping and releasing of the roller body 101.

[0058] Servo motor 4: provides power for the rotation of lead screw 401, controls lead screw 401 by forward and reverse rotation, and thus drives movable plate 306 to move.

[0059] Lead screw 401: threadedly connected to threaded groove 308, rotates under the drive of servo motor 4, converting rotational motion into linear motion of movable plate 306.

[0060] Working principle:

[0061] In this application, the roller body 101 is transported to the top of the three gripping mechanisms 3 via the conveying mechanism 1. The PLC controller 202 controls the start of the reduction motor 203, which drives the connecting shaft 204 to rotate. The connecting shaft 204 drives the three gripping mechanisms 3 to flip. During the flipping process of the gripping mechanisms 3 towards the side of the flipping mechanism 2 away from the conveying mechanism 1, the roller body 101 is lifted by the mounting plate 302, the fixed plate 303, and the movable plate 306. During this process, the PLC controller 202 controls the start of the servo motor 4. 4 drives the lead screw 401 to rotate, and the lead screw 401 drives the movable plate 306 to move towards the fixed plate 303, so that the movable plate 306 contacts the end of the fixed plate 303 away from the mounting plate 302, so that the roller body 101 is wrapped between the movable plates 306. When the gripping mechanism 3 is rotated 180 degrees by the connecting shaft 204, the servo motor 4 drives the lead screw 401 to reverse, so that the movable plate 306 separates from the fixed plate 303. At this time, the roller body 101 falls into the next working process (packaging, stacking, etc.) under the action of gravity.

[0062] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A roller gripping robotic arm, comprising a conveying mechanism (1), wherein a roller body (101) is placed on the top surface of the conveying mechanism (1), characterized in that, It includes a flipping mechanism (2), which is connected to three gripping mechanisms (3) for gripping the roller body (101); The flipping mechanism (2) includes a support base (201), a PLC controller (202), a geared motor (203), and a connecting shaft (204); The gripping mechanism (3) includes a fixed sleeve (301), a fixed plate (303), a movable plate (306), and an adjustment component.

2. The roller gripping robotic arm as described in claim 1, characterized in that: There are two support bases (201), one of which is fixedly connected to the side wall of the PLC controller (202). The geared motor (203) is fixedly installed on the top surface of the PLC controller (202). The connecting shaft (204) is fixedly connected to the output end of the geared motor (203). The connecting shaft (204) is rotatably connected to the two support bases (201).

3. The roller gripping robotic arm as described in claim 2, characterized in that: The fixing sleeves (301) of the three gripping mechanisms (3) are all fixedly connected to the connecting shaft (204), and the fixing sleeves (301) are fixedly connected to the mounting plate (302).

4. The roller gripping robotic arm as described in claim 3, characterized in that: The fixing plate (303) is fixedly connected to the top surface of the mounting plate (302) away from the fixing sleeve (301). The top surface of the mounting plate (302) is provided with three T-shaped grooves (304). The top surface of the mounting plate (302) is fixedly connected with a support plate (305).

5. A roller gripping robotic arm as described in claim 4, characterized in that: The bottom of the movable plate (306) is fixedly connected to three T-shaped sliders (307), and the surface of the middle T-shaped slider (307) is provided with a threaded groove (308).

6. The roller gripping robotic arm as described in claim 5, characterized in that: The three T-shaped sliders (307) are slidably connected to the three T-shaped grooves (304) respectively.

7. A roller gripping robotic arm as described in claim 6, characterized in that: The adjustment component includes a servo motor (4), which is fixedly installed on the top surface of the support plate (305). The output end of the servo motor (4) is fixedly connected to a lead screw (401), which is rotatably connected to the mounting plate (302).

8. The roller gripping robotic arm as described in claim 7, characterized in that: The lead screw (401) is threadedly connected to the threaded groove (308).

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