A rotating robotic arm suitable for steel material handling and loading.

Abstract

This utility model discloses a rotatable manipulator suitable for steel material handling and loading, belonging to the field of steel gripping technology. It includes a first linear motion mechanism, a rotating mechanism, a second linear motion mechanism, a slewing mechanism, and a steel gripper. The first steel gripper is connected to the slewing mechanism, driving it to rotate for fine angle adjustment. The second linear motion mechanism is connected to the slewing mechanism, driving it to move linearly. The rotating mechanism is connected to the second linear motion mechanism, driving it to rotate for coarse angle adjustment. The first linear motion mechanism is connected to the rotating mechanism, driving it to move linearly. This rotatable manipulator effectively solves the problems of limited movement paths and inability to adapt to complex routes for steel material handling in existing material handling trolleys after receiving steel.

Description

Technical Field

[0001] This utility model belongs to the field of steel gripping technology. Specifically, it relates to a rotatable robotic arm suitable for loading and unloading steel materials. Background Technology

[0002] In the fields of steel production, processing, warehousing, and logistics, automated handling and discharge (discharging) of steel are key to improving production efficiency and operational safety. Especially in automated and intelligent production lines, specialized discharge trolleys are typically required to complete the receiving, relocation, and precise discharge of steel.

[0003] One of the core requirements of this type of material handling operation is that the material handling trolley must be able to accurately locate the steel at a specific position, reliably pick up the target steel, and rotate (rotationally shift) the steel during movement to adjust its posture (such as angle and orientation) to meet the requirements of subsequent automated processing (such as stacking, loading, and feeding into processing equipment). Existing material handling trolleys, after picking up the steel, have limited movement routes and cannot adapt to various complex routes for steel handling. Utility Model Content

[0004] The purpose of this utility model is to address the aforementioned shortcomings by providing a rotatable robotic arm suitable for steel material handling and loading, thus solving the problems of limited movement paths and inability to adapt to various complex routes for steel material handling in existing technologies. To achieve the above objective, this utility model provides the following technical solution:

[0005] A rotatable manipulator suitable for steel material handling includes a first linear motion mechanism, a rotary mechanism, a second linear motion mechanism, a slewing mechanism, and a steel gripper. The steel gripper is connected to the slewing mechanism, driving it to rotate for fine angle adjustment. The second linear motion mechanism is connected to the slewing mechanism, driving it to move linearly. The rotary mechanism is connected to the second linear motion mechanism, driving it to rotate for coarse angle adjustment. The first linear motion mechanism is connected to the rotary mechanism, driving it to move linearly.

[0006] Furthermore, the first linear motion mechanism includes a ground rail panel, a first reduction motor, a first chain, and two first sprockets; the first reduction motor is fixed to one end of the ground rail panel, and its output end is connected to one of the first sprockets, while the other first sprocket is rotatably mounted on the other end of the ground rail panel; the first chain is connected to the two first sprockets.

[0007] Furthermore, the rotating mechanism includes a support frame; several sets of pulleys are symmetrically arranged on both sides of the bottom of the support frame, which cooperate with the ground rail panel; a chain rod is provided at the bottom of the support frame, which is fixedly connected to the first chain, and moves the support frame on the ground rail panel following the movement of the first chain.

[0008] Furthermore, the rotating mechanism also includes a second reduction motor and a reduction gear transmission assembly; the reduction gear assembly includes a second sprocket, a third sprocket, a drive chain, a first drive gear, and a reduction gear; the output end of the second reduction motor is coaxially and fixedly connected to the second sprocket; the third sprocket is rotatably connected within the support frame and arranged parallel to the second sprocket, and is connected to the second sprocket and the third sprocket via the drive chain; the first drive gear is coaxially and fixedly connected to the third sprocket and is located above the third sprocket; the reduction gear meshes with the first drive gear; a rotary support platform is fixedly provided on the reduction gear.

[0009] Furthermore, the second linear movement mechanism includes an outer frame; a rotary mounting plate is provided on the outer frame, which is fixedly connected to the rotary support platform; a drive motor is provided at one end of the outer frame; two parallel transmission rods are rotatably connected to both ends of the outer frame; the drive motor is connected to the middle of one transmission rod through a sprocket transmission assembly; a fourth sprocket is provided at both ends of the two transmission rods, and the two transmission rods rotate synchronously through an inner frame chain that cooperates with the fourth sprocket.

[0010] Furthermore, the second linear movement mechanism also includes an inner frame disposed on the outer frame; the inner frame is provided with channel steel rollers on both sides, which cooperate with the outer frame and can slide on the outer frame; the inner frame is also provided with chain fixing seats on both sides, which are fixedly connected to the inner frame chain on the outer frame.

[0011] Furthermore, one end of the inner frame is provided with a mounting base extending beyond the outer frame; the rotary mechanism includes a third geared motor, which is fixed on the mounting base; the output end of the third geared motor is fixedly connected to a second drive gear via a transmission shaft; the second drive gear is meshed with a rotary gear; the rotary gear is provided with a small rotary support for connecting a steel gripper.

[0012] Furthermore, the steel gripper includes two sets of steel support frames arranged in parallel on the small slewing support; the steel support frames are provided with steel limiting blocks.

[0013] Furthermore, each of the steel support frames is equipped with a first synchronous telescopic cylinder; the output end of the first synchronous telescopic cylinder faces the steel limiting block and cooperates with the steel limiting block to clamp the steel.

[0014] Furthermore, the steel support frame is also equipped with a second synchronous telescopic cylinder; the output end of the second synchronous telescopic cylinder is connected to the first synchronous telescopic cylinder, driving the first synchronous telescopic cylinder to move up and down.

[0015] The beneficial effects of this utility model are:

[0016] This utility model discloses a rotatable robotic arm suitable for loading and unloading steel. After the steel is clamped by first synchronous telescopic cylinders on two sets of steel support frames in conjunction with steel limiting blocks, a first linear movement mechanism and a second linear movement mechanism work together to cover a longer distance. A rotation mechanism performs coarse angle adjustments, and after moving to the designated position, a slewing mechanism performs fine angle adjustments before placing the steel on a storage rack. Finally, the first synchronous telescopic cylinder unlocks the steel, and the second synchronous telescopic cylinder moves it downwards to detach it. This design is adaptable to various complex transportation routes and has wider applicability. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the first linear movement mechanism of this utility model;

[0019] Figure 3 This is a schematic diagram of the rotating mechanism of this utility model;

[0020] Figure 4 This is a cross-sectional view of the rotating mechanism of this utility model;

[0021] Figure 5 This is a schematic diagram of the outer frame structure of this utility model;

[0022] Figure 6 This is a schematic diagram of the inner frame structure of this utility model;

[0023] Figure 7 This is a schematic diagram of the rotary mechanism of this utility model;

[0024] Figure 8 for Figure 1 Enlarged view at point A;

[0025] In the attached diagram: 1. Ground rail panel; 2. First geared motor; 3. First chain; 4. First sprocket; 5. Support frame; 6. Chain pull rod; 7. Second geared motor; 8. Second sprocket; 9. Third sprocket; 10. Drive chain; 11. First drive gear; 12. Reduction gear; 13. Rotary support platform; 14. Outer frame; 15. Rotary mounting plate; 16. Drive motor; 17. Transmission rod; 18. Fourth sprocket; 19. Inner frame chain; 20. Inner frame; 21. Channel steel roller; 22. Chain fixing seat; 23. Mounting seat; 24. Third geared motor; 25. Second drive gear; 26. Rotary gear; 27. Steel support frame; 28. Steel limit block; 29. ​​First synchronous telescopic cylinder; 30. Second synchronous telescopic cylinder. Detailed Implementation

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0027] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance. In addition, the terms "horizontal," "vertical," etc., do not indicate that the component is required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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.

[0028] Example:

[0029] See attached Figures 1-8 This embodiment provides a rotatable robotic arm suitable for steel material handling and loading. The first linear movement mechanism includes a ground rail panel 1, which is fixed to the ground by a screw fastening structure. The ground rail panel 1 is provided with a guide rail structure that matches the pulleys. A first reduction motor 2 is provided at the front end of the ground rail panel 1. A first sprocket 4 is fixedly connected to the output end of the first reduction motor 2, driving the first sprocket 4 to rotate. A first sprocket 4 is also provided at the rear end of the ground rail panel 1, and is in a straight line with the first sprocket 4. The rear first sprocket 4 is rotatably connected to the ground rail panel 1 through a bearing and a bearing seat. The two first sprockets 4 are connected by the first sprocket 4. Driven by the first reduction motor 2, the first chain 3 can move repeatedly on the two first sprockets 4.

[0030] In this embodiment, the rotating mechanism includes a support frame 5. Several sets of pulleys are provided on both sides of the support frame 5. Each set of pulleys includes horizontal and vertical pulleys, which cooperate with the upper surface and sides of the guide rail structure on the ground rail panel 1. The vertical pulleys provide support, while the horizontal pulleys provide guidance. The cooperation of the vertical and horizontal pulleys on the guide rail structure enables the linear movement of the support frame 5 on the ground rail panel 1. Chain rods 6 are provided on both the front and rear sides of the bottom of the support frame 5. The chain rods 6 are fixedly connected to the first chain 3 by screws. When the first reduction motor 2 drives the first sprocket 4 to rotate, the first chain 3 drives the entire support frame 5 to move along the guide rail. The operating state of the first reduction motor 2 can be controlled by an external controller, limiting the movement range of the support frame 5 and preventing collisions between the support frame 5 and the first sprocket 4. A second reduction motor 7 is installed inside the support frame 5. The output end of the second reduction motor 7 is fixedly connected to a second sprocket 8. A third sprocket 9 is installed on the same horizontal plane as the second sprocket 8. The third sprocket 9 is rotatably connected to the support frame 5 through bearings and bearing seats. The second sprocket 8 and the third sprocket 9 are connected by a drive chain 10. A first drive gear 11 is coaxially installed above the third sprocket 9. The first drive gear 11 is horizontally meshed with a reduction gear 12. The reduction gear 12 is also rotatably connected to the upper part of the support frame 5 through bearings and bearing seats. Through the transmission process of the second sprocket 8, the third sprocket 9, the drive chain 10, the first drive gear, and the reduction gear 12, the speed of the second reduction motor 7 is further reduced to achieve smooth rotation. A rotary support platform 13 is fixed on the reduction gear 12.

[0031] In this embodiment, the second linear movement mechanism includes an outer frame 14, on which a rotary mounting plate 15 is provided, as shown in the attached figure. Figure 5As shown, both the slewing support platform 13 and the slewing mounting plate 15 are provided with several corresponding threaded holes, which are fixedly connected by screws. The slewing mounting plate 15 drives the outer frame 14 to rotate on the support frame 5. The outer frame 14 is a rectangular frame structure, and its two sides are also provided with channel steel track structures. The front end of the outer frame 14 is equipped with a drive motor 16. The sprocket transmission assembly connected to the drive motor 16 includes two transmission sprockets and a transmission chain. One transmission sprocket is fixedly connected to the output end of the drive motor 16, and the other transmission sprocket is fixed on the transmission rod 17. The rear end of the outer frame 14 is also equipped with a transmission rod 17. The two transmission rods 17 are arranged in parallel. Both ends of the two transmission rods 17 are rotatably connected to the outer frame 14 through a bearing and bearing seat structure. Both ends of the transmission rods 17 are equipped with a fourth sprocket 18, which rotates synchronously with the transmission rods 17. The four fourth sprockets 18 on the two transmission rods 17 are connected by an inner frame chain 19. The inner frame chain 19 is driven by the drive motor 16 and the transmission sprocket to achieve linear motion between the two transmission rods 17. An inner frame 20 is provided on the outer frame 14. The width of the inner frame 20 is slightly narrower than that of the outer frame 14. Channel steel rollers 21 are provided on both sides of the inner frame 20, which are fitted on the channel steel rails on the outer frame 14. The two sides of the inner frame 20 are fixedly connected to the inner frame chains 19 on both sides of the outer frame 14 through chain fixing seats 22, so as to realize the linear movement of the inner frame 20 on the outer frame 14. Similarly, the drive motor 16 can control the running status through an external controller and limit the movement range of the inner frame 20. Preferably, the channel steel rails on the outer frame 14 are closed at the top and bottom to prevent the inner frame 20 from tipping over. At the same time, a limit stop is provided at the end of the channel steel rail to further prevent the inner frame 20 from detaching from the outer frame 14 during movement.

[0032] In this embodiment, a mounting base 23 is provided at the rear end of the inner frame 20 and extends beyond the rear end of the outer frame 14. The rotation mechanism includes a third geared motor 24, which is fixed to one side of the mounting base 23 by screw fasteners. The output end of the third geared motor 24 is vertically arranged, and a second drive gear 25 is fixedly connected to the output end through a transmission shaft. The second drive gear 25 is meshed with a rotary gear 26, which is rotatably connected to the mounting base 23 through bearings and bearing seats. A small rotary support is fixedly connected to the rotary gear 26. The third geared motor 24 is selected as a servo motor, which can precisely control the rotation angle to achieve precise angle adjustment.

[0033] In this embodiment, the steel gripper includes two symmetrically arranged steel support frames 27 on both sides of the small slewing support, which can rotate with the small slewing support. Sufficient distance is left between the steel support frame 27 and the mounting base 23 to ensure that the steel gripper will not collide with the mounting base 23 when the angle is precisely adjusted. The steel support frame 27 is provided with a second synchronous telescopic cylinder 30, the output end of which faces downward and is connected to a slide block. A vertical slide rail is provided on the steel support, and the slide block and the slide rail are slidably connected. The slide block is provided with a first synchronous telescopic cylinder 29 and a steel limiting block 28. The output end of the first synchronous telescopic cylinder 29 is arranged horizontally and faces the steel limiting block 28. The steel is placed between the output end of the first synchronous telescopic cylinder 29 and the steel limiting block 28. The steel is clamped by the extension of the first synchronous telescopic cylinder 29. The telescopic movements of the two second synchronous telescopic cylinders 30 can achieve synchronous movement, and the telescopic movements of the two first synchronous telescopic cylinders 29 can also achieve synchronous movement.

[0034] The working process of this utility model is to achieve automatic operation by pre-setting a control program. First, the steel gripper is moved to the bottom of the steel produced by the front-end production line. The second synchronous telescopic cylinder 30 drives it to move upward, supporting the steel next to the steel limiting block 28. Then, the first synchronous telescopic cylinder 29 extends to clamp the steel between it and the steel limiting block 28, completing the steel receiving. Then, the first chain 3 moves linearly to the designated position. The angle is adjusted by the rotation of the reduction gear 12. The inner frame chain 19 moves linearly to approach the storage rack, which is used to store the steel. After the angle is precisely adjusted by the rotary gear 26, the second synchronous telescopic cylinder 30 moves downward so that the steel contacts the storage rack. The first synchronous telescopic cylinder 29 retracts to unlock the steel, completing the steel discharge.

[0035] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural or procedural transformations made based on the content of the present utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present utility model.

Claims

1. A rotatable robotic arm suitable for loading and unloading steel materials, characterized in that: It includes a first linear motion mechanism, a rotary mechanism, a second linear motion mechanism, a slewing mechanism, and a steel gripper; the steel gripper is connected to the slewing mechanism, driving the steel gripper to perform slewing motion for fine angle adjustment; the second linear motion mechanism is connected to the slewing mechanism, driving the slewing mechanism to perform linear motion; the rotary mechanism is connected to the second linear motion mechanism, driving the second linear motion mechanism to perform slewing motion for coarse angle adjustment; the first linear motion mechanism is connected to the rotary mechanism, driving the rotary mechanism to perform linear motion.

2. The rotatable robotic arm for steel material handling and loading according to claim 1, characterized in that: The first linear motion mechanism includes a ground rail panel (1), a first geared motor (2), a first chain (3) and two first sprockets (4); the first geared motor (2) is fixed at one end of the ground rail panel (1), and its output end is connected to one of the first sprockets (4), while the other first sprocket (4) is rotatably mounted at the other end of the ground rail panel (1); the first chain (3) is connected to the two first sprockets (4).

3. A rotatable robotic arm suitable for steel material handling and loading according to claim 2, characterized in that: The rotating mechanism includes a support frame (5); the support frame (5) has several sets of pulleys symmetrically arranged on both sides of its bottom, which cooperate with the ground rail panel (1); the support frame (5) has a chain rod (6) at its bottom, which is fixedly connected to the first chain (3), and moves with the first chain (3) to drive the support frame (5) to slide on the ground rail panel (1).

4. A rotatable robotic arm suitable for steel material handling and loading according to claim 3, characterized in that: The rotating mechanism further includes a second reduction motor (7) and a reduction gear (12) transmission assembly; the reduction gear (12) assembly includes a second sprocket (8), a third sprocket (9), a drive chain (10), a first drive gear (11), and a reduction gear (12); the output end of the second reduction motor (7) is coaxially and fixedly connected to the second sprocket (8); the third sprocket (9) is rotatably connected in the support frame (5) and arranged parallel to the second sprocket (8), and is connected to the second sprocket (8) and the third sprocket (9) through the drive chain (10); the first drive gear (11) is coaxially and fixedly connected to the third sprocket (9) and is located above the third sprocket (9); the reduction gear (12) meshes with the first drive gear (11); a rotary support platform (13) is fixedly provided on the reduction gear (12).

5. A rotatable robotic arm suitable for steel material handling and loading according to claim 4, characterized in that: The second linear motion mechanism includes an outer frame (14); a rotary mounting plate (15) is provided on the outer frame (14), which is fixedly connected to the rotary support platform (13); a drive motor (16) is provided at one end of the outer frame (14); two parallel transmission rods (17) are rotatably connected to both ends of the outer frame (14); the drive motor (16) is connected to the middle of one transmission rod (17) through a sprocket transmission assembly; a fourth sprocket (18) is provided at both ends of the two transmission rods (17), and the two transmission rods (17) rotate synchronously through an inner frame chain (19) that is fitted on the fourth sprocket (18).

6. A rotatable robotic arm suitable for steel material handling and loading according to claim 5, characterized in that: The second linear movement mechanism also includes an inner frame (20) disposed on the outer frame (14); the inner frame (20) is provided with channel steel rollers (21) on both sides, which are fitted on the outer frame (14) and can slide on the outer frame (14); the inner frame (20) is also provided with chain fixing seats (22) on both sides, which are fixedly connected to the inner frame chain (19) on the outer frame (14).

7. A rotatable robotic arm for steel material handling and loading according to claim 6, characterized in that: One end of the inner frame (20) is provided with a mounting base (23) extending beyond the outer frame (14); the rotary mechanism includes a third geared motor (24) fixed on the mounting base (23); the output end of the third geared motor (24) is fixedly connected to a second drive gear (25) via a transmission shaft; the second drive gear (25) is meshed with a rotary gear (26); the rotary gear (26) is provided with a small rotary support for connecting a steel gripper.

8. A rotatable robotic arm for steel material handling and loading according to claim 7, characterized in that: The steel gripper includes two sets of steel support frames (27) arranged in parallel on the small slewing support; the steel support frames (27) are provided with steel limiting blocks (28).

9. A rotatable robotic arm for steel material handling and loading according to claim 8, characterized in that: Each of the steel support frames (27) is equipped with a first synchronous telescopic cylinder (29); the output end of the first synchronous telescopic cylinder (29) faces the steel limiting block (28) and cooperates with the steel limiting block (28) to clamp the steel.

10. A rotatable robotic arm for steel material handling and loading according to claim 9, characterized in that: The steel support frame (27) is also provided with a second synchronous telescopic cylinder (30); the output end of the second synchronous telescopic cylinder (30) is connected to the first synchronous telescopic cylinder (29) to drive the first synchronous telescopic cylinder (29) to move up and down.

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