A palletizing robot

Abstract

The utility model provides a kind of stacking mechanical arm, belong to mechanical arm technical field, including base, drive assembly and stacking assembly, drive assembly includes the fixed support of being arranged in the bottom one side of rotating seat inner wall, the one end of fixed support is provided with torque motor, the bottom of torque motor is provided with two-axis motor plate, the output shaft end head of torque motor is provided with motor wheel and is penetrated two-axis motor plate, the utility model has beneficial effect: by the torque motor of being provided with, it is convenient to open torque motor in use controller, torque motor is rotated by motor wheel, motor wheel rotation will be driven by belt reduction gear rotation, reduction gear rotation will drive rotating platform rotation, rotating platform rotation will drive rotating seat rotation, in turn drive rotating seat top structure to rotate, realize the adjustment of direction, and with the structure in big arm and small arm mutual cooperation, in turn realize to each part drive, realize the purpose of driving.

Description

Technical Field

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

[0002] Palletizing robots are automated equipment used for product handling and palletizing processes. They can neatly stack or unpack packaged goods onto pallets and production lines, and are compatible with various specifications of products such as bags, cartons, cans, and drums. A search reveals that application number "CN201520824293.5" discloses "a palletizing robot arm," which describes how "by fixing the base at the required work position, cooperating with the sequentially connected large and small arms, and the transmission device moving on a rotating shaft in a direction perpendicular to the plane of the small arm, palletizing can be achieved even in confined spaces, and it has a wide range of applications and is flexible and mobile." While it is true that fixing the base at the required work position, cooperating with the sequentially connected large and small arms, and the transmission device moving on a rotating shaft in a direction perpendicular to the plane of the small arm, achieves palletizing even in confined spaces and has a wide range of applications and is flexible and mobile, the above-mentioned document still has the following problems in actual use:

[0003] In actual use, it is inconvenient to drive it to adjust its angle, the driving is difficult, and it is inconvenient to stack during use.

[0004] Therefore, providing a robotic arm that can be easily driven and conveniently palletized is of great practical value. Utility Model Content

[0005] The purpose of this invention is to provide a palletizing robotic arm to solve the aforementioned technical problems.

[0006] This utility model provides a palletizing robotic arm, including a base, a drive assembly, and a palletizing assembly.

[0007] The base has a rotating seat on its top.

[0008] The drive assembly includes a fixed bracket disposed on one side of the bottom of the inner wall of the rotary seat. A torque motor is disposed at one end of the fixed bracket. A two-axis motor plate is disposed at the bottom of the torque motor. A motor wheel is disposed through the output shaft end of the torque motor and passes through the two-axis motor plate. A belt is driven to the outer wall of the motor wheel. A reduction wheel is driven to the inner end of one end of the belt. A rotating platform is disposed at the bottom of the reduction wheel. The interior of the rotating platform is rotatably connected to the rotary seat.

[0009] The palletizing assembly includes a large arm located at one end of a turntable. A support frame is hinged to the top end of the large arm. A connecting column is provided inside the support frame. A turntable is rotatably connected to one side of the connecting column. A wrist body is provided on one side of the turntable. A forearm is provided at the top of the wrist body. A five-axis large pulley is rotatably connected to the inner wall of one side of the forearm. A wrist is provided on the outer wall of the five-axis large pulley. A gripper is provided at the bottom of the wrist.

[0010] A six-axis motor is installed on one side of the inner wall of the forearm. A six-axis small pulley is installed at the end of the output shaft of the six-axis motor. A connecting belt is connected to the outer wall of the five-axis large pulley and the six-axis small pulley.

[0011] In one embodiment of this utility model, a servo motor is installed inside the connecting column, and the output shaft end of the servo motor passes through the connecting column and is fixedly connected to the turntable. A motor side cover is provided at one end of the connecting column.

[0012] In one embodiment of this utility model, an auxiliary groove is provided on one side of the forearm, the outer wall of the wrist is movably connected to the auxiliary groove, a four-axis motor is provided inside the upper arm, and the output shaft end of the four-axis motor passes through one end of the inner wall of the upper arm and is fixedly connected to one end of the inner wall of the rotating seat.

[0013] In one embodiment of this utility model, an auxiliary motor is provided at one end of the top inner wall of the boom, and the outer wall of the output shaft end of the auxiliary motor is fixedly connected to the support frame.

[0014] In one embodiment of this utility model, a battery is fixedly connected to the inner wall of the base via a battery bracket and a battery fixing plate, an installer is provided on one side of the base, and a controller is provided at the top corner of the base.

[0015] In one embodiment of this utility model, the torque motor, clamp, six-axis motor, servo motor, four-axis motor, and auxiliary motor are all electrically connected to the controller, and the controller is electrically connected to the battery.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] 1) The torque motor is conveniently activated by the controller during use, causing the motor wheel to rotate. The rotation of the motor wheel will drive the reduction gear to rotate via the belt. The rotation of the reduction gear will drive the turntable to rotate. The rotation of the turntable will drive the rotating base to rotate, which in turn will drive the structure on top of the rotating base to rotate, thereby achieving directional adjustment. It also works in conjunction with the structures inside the boom and forearm to drive each part and achieve the driving purpose.

[0018] 2) The five-axis large pulley allows the controller to easily turn on the six-axis motor during use. The six-axis motor drives the six-axis small pulley to rotate, which in turn drives the five-axis large pulley to rotate via a connecting belt. The rotation of the five-axis large pulley drives the wrist to rotate, which in turn drives the gripper to rotate. The gripper then holds the goods in place for stacking, thus achieving the purpose of stacking. Attached Figure Description

[0019] 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:

[0020] Figure 1 This is a schematic diagram of the structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the inner wall structure of the forearm of this utility model;

[0022] Figure 3 This is a schematic diagram of the planar structure of the inner wall of the boom of this utility model;

[0023] Figure 4 This is a schematic diagram of the top planar structure of the boom of this utility model;

[0024] Figure 5 This is a schematic diagram of the disassembled structure of the base of this utility model;

[0025] Figure 6 This is a schematic diagram of the disassembled structure of the rotary seat of this utility model.

[0026] In the diagram: 100, base; 110, swivel; 200, drive assembly; 210, fixed bracket; 220, torque motor; 230, two-axis motor plate; 240, motor wheel; 250, belt; 260, reduction wheel; 270, rotating table; 300, palletizing assembly; 310, upper arm; 320, support frame; 330, connecting column; 340, wrist body; 350, forearm; 360, five-axis large pulley; 370, wrist; 380, gripper; 400, six-axis motor; 500, six-axis small pulley; 600, connecting belt; 700, servo motor; 800, motor side cover; 900, four-axis motor; 1000, auxiliary motor; 1100, battery bracket; 1200, battery fixing plate; 1300, installer. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0028] Example

[0029] Please see Figure 1-6 A palletizing robotic arm includes a base 100, a drive assembly 200, and a palletizing assembly 300.

[0030] Please refer to the details. Figure 1 A swivel base 110 is provided on the top of the base 100.

[0031] Please see Figure 6 The drive assembly 200 includes a fixed bracket 210 disposed on one side of the bottom of the inner wall of the rotary base 110. A torque motor 220 is disposed at one end of the fixed bracket 210. A two-axis motor plate 230 is disposed at the bottom of the torque motor 220. A motor wheel 240 is disposed through the output shaft end of the torque motor 220 and passes through the two-axis motor plate 230. A belt 250 is driven to the outer wall of the motor wheel 240. A reduction wheel 260 is driven to the inside of one end of the belt 250. A rotating platform 270 is disposed at the bottom of the reduction wheel 260. The interior of the rotating platform 270 is rotatably connected to the rotary base 110.

[0032] In one specific embodiment, the torque motor 220 is provided so that the controller can easily turn on the torque motor 220 during use, causing the torque motor 220 to drive the motor wheel 240 to rotate. The rotation of the motor wheel 240 will drive the reduction wheel 260 to rotate via the belt 250. The rotation of the reduction wheel 260 will drive the rotating table 270 to rotate. The rotation of the rotating table 270 will drive the rotating seat 110 to rotate, which in turn will drive the structure on the top of the rotating seat 110 to rotate, thereby achieving directional adjustment. It also cooperates with the structures inside the upper arm 310 and the lower arm 350 to drive each part and achieve the driving purpose.

[0033] Please see Figure 1-4The palletizing assembly 300 includes a large arm 310 disposed at one end of a turntable 110. A support frame 320 is hinged to the top end of the large arm 310. A connecting column 330 is disposed inside the support frame 320. A turntable is rotatably connected to one side of the connecting column 330. A wrist body 340 is disposed on one side of the turntable. A forearm 350 is disposed at the top of the wrist body 340. A five-axis large pulley 360 is rotatably connected to the inner wall of one side of the forearm 350. A wrist 370 is disposed on the outer wall of the five-axis large pulley 360. A gripper 380 is disposed at the bottom of the wrist 370.

[0034] In one specific embodiment, the five-axis large pulley 360 facilitates the controller to activate the six-axis motor 400 during use. The six-axis motor 400 drives the six-axis small pulley 500 to rotate, which in turn drives the five-axis large pulley 360 to rotate via the connecting belt 600. The rotation of the five-axis large pulley 360 drives the wrist 370 to rotate, which in turn drives the gripper 380 to rotate. The gripper 380 clamps the goods and then performs stacking, thereby achieving the purpose of stacking.

[0035] Please see Figure 2 A six-axis motor 400 is installed on one side of the inner wall of the forearm 350. A six-axis small pulley 500 is installed at the end of the output shaft of the six-axis motor 400. A connecting belt 600 is connected to the outer wall of the five-axis large pulley 360 and the six-axis small pulley 500.

[0036] In one specific embodiment, the provided six-axis motor 400 facilitates the rotation of the six-axis small pulley 500 during use, which in turn causes the six-axis small pulley 500 to drive other parts to rotate via the connecting belt 600, thereby improving stability.

[0037] Please see Figure 2 The connecting column 330 is equipped with a servo motor 700. The output shaft end of the servo motor 700 passes through the connecting column 330 and is fixedly connected to the turntable. One end of the connecting column 330 is equipped with a motor side cover 800.

[0038] In one specific embodiment, the motor side cover 800 is provided to protect the servo motor 700 during use. The servo motor 700 is also used to enable the controller to turn on the servo motor 700 to drive the connecting column 330 to rotate, which in turn drives the turntable to rotate, and the turntable drives the forearm 350 on one side to rotate.

[0039] Please see Figure 3 An auxiliary groove is provided on one side of the forearm 350, and the outer wall of the wrist 370 is movably connected to the auxiliary groove. A four-axis motor 900 is installed inside the upper arm 310. The output shaft end of the four-axis motor 900 passes through one end of the inner wall of the upper arm 310 and is fixedly connected to one end of the inner wall of the rotary seat 110.

[0040] In one specific embodiment, the four-axis motor 900 is provided so that the controller can turn on the four-axis motor 900 during use, so that the four-axis motor 900 rotates itself through the output shaft and the fixed lug of the rotator 110, thereby driving the boom 310 to rotate, thus realizing the driving of the boom 310.

[0041] Please see Figure 4 An auxiliary motor 1000 is installed at one end of the top inner wall of the boom 310, and the outer wall of the output shaft end of the auxiliary motor 1000 is fixedly connected to the support frame 320.

[0042] In one specific embodiment, the auxiliary motor 1000 is provided so that the output shaft of the auxiliary motor 1000 can drive the support frame 320 to rotate during use, thereby causing the support frame 320 to drive the top part of its rotation up and down for adjustment.

[0043] Please see Figure 5 The inner wall of the base 100 is fixedly connected to a battery via a battery bracket 1100 and a battery fixing plate 1200. An installer 1300 is provided on one side of the base 100, and a controller is provided at the top corner of the base 100.

[0044] In one specific embodiment, the included installer 1300 facilitates installation on other devices during use, improving stability and increasing convenience.

[0045] Please see Figure 1-6 The torque motor 220, the gripper 380, the six-axis motor 400, the servo motor 700, the four-axis motor 900, and the auxiliary motor 1000 are all electrically connected to the controller, which is electrically connected to the battery.

[0046] In one specific embodiment, the included controller facilitates power control of the electrical equipment during use, ensuring that the equipment is powered on when needed, thus avoiding situations where power cannot be supplied when required.

[0047] In operation, the torque motor 220 is first activated by the controller, causing the motor wheel 240 to rotate. The rotation of the motor wheel 240, via the belt 250, drives the reduction gear 260, which in turn drives the turntable 270. The turntable 270 then drives the rotary base 110, which in turn rotates the structure on top of the rotary base 110, thus achieving directional adjustment. This mechanism interacts with the structures within the boom 310 and forearm 350. In conjunction with the control system, the various components are driven to achieve the desired drive function. Then, the five-axis large pulley 360 allows the controller to activate the six-axis motor 400 during operation. The six-axis motor 400 drives the six-axis small pulley 500 to rotate, which in turn drives the five-axis large pulley 360 via the connecting belt 600. Finally, the rotation of the five-axis large pulley 360 drives the wrist 370 to rotate, which in turn drives the gripper 380 to rotate. The gripper 380 then holds the goods for stacking, thus achieving the stacking objective.

[0048] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A palletizing robotic arm, characterized in that, include: A base (100), the top of which is provided with a rotating seat (110); A drive assembly (200) includes a fixed bracket (210) disposed on one side of the bottom of the inner wall of the rotary seat (110). A torque motor (220) is disposed at one end of the fixed bracket (210). A two-axis motor plate (230) is disposed at the bottom of the torque motor (220). A motor wheel (240) is disposed through the two-axis motor plate (230) at the end of the output shaft of the torque motor (220). A belt (250) is connected to the outer wall of the motor wheel (240). A reduction wheel (260) is connected to the inside of one end of the belt (250). A rotating platform (270) is disposed at the bottom of the reduction wheel (260). The interior of the rotating platform (270) is rotatably connected to the rotary seat (110). A palletizing assembly (300) includes a large arm (310) disposed at one end of a turntable (110), a support frame (320) hinged to the top end of the large arm (310), a connecting column (330) disposed inside the support frame (320), a turntable rotatably connected to one side of the connecting column (330), a wrist body (340) disposed on one side of the turntable, a forearm (350) disposed at the top of the wrist body (340), a five-axis large pulley (360) rotatably connected to the inner wall of one side of the forearm (350), a wrist (370) disposed on the outer wall of the five-axis large pulley (360), and a gripper (380) disposed at the bottom of the wrist (370).

2. The palletizing robotic arm according to claim 1, characterized in that: A six-axis motor (400) is provided on one side of the inner wall of the forearm (350), and a six-axis small pulley (500) is provided at the end of the output shaft of the six-axis motor (400). A connecting belt (600) is connected to the outer wall of the five-axis large pulley (360) and the six-axis small pulley (500).

3. The palletizing robotic arm according to claim 1, characterized in that: A servo motor (700) is installed inside the connecting column (330). The output shaft end of the servo motor (700) passes through the connecting column (330) and is fixedly connected to the turntable. A motor side cover (800) is provided at one end of the connecting column (330).

4. A palletizing robotic arm according to claim 1, characterized in that: An auxiliary groove is provided on one side of the forearm (350), and the outer wall of the wrist (370) is movably connected to the auxiliary groove. A four-axis motor (900) is provided inside the upper arm (310), and the output shaft end of the four-axis motor (900) passes through one end of the inner wall of the upper arm (310) and is fixedly connected to one end of the inner wall of the rotary seat (110).

5. A palletizing robotic arm according to claim 4, characterized in that: An auxiliary motor (1000) is provided at one end of the top inner wall of the boom (310), and the outer wall of the output shaft end of the auxiliary motor (1000) is fixedly connected to the support frame (320).

6. A palletizing robotic arm according to claim 1, characterized in that: The inner wall of the base (100) is fixedly connected to a battery via a battery bracket (1100) and a battery fixing plate (1200). An installer (1300) is provided on one side of the base (100), and a controller is provided at the top corner of the base (100).

7. A palletizing robotic arm according to claim 6, characterized in that: The torque motor (220), gripper (380), six-axis motor (400), servo motor (700), four-axis motor (900) and auxiliary motor (1000) are all electrically connected to the controller, which is electrically connected to the battery.

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