Full-automatic packing manipulator for lawn mower

Abstract

The utility model discloses a full -automatic boxing manipulator of mower, including base, multi -shaft mechanical arm, fixture subassembly. Fixture subassembly includes: an installation frame for with the end of multi -shaft mechanical arm is connected, at least three clamping arms, every clamping arm is through a slip piece and forms the slip connection with installation frame, and its slip direction is along the radial of a preset circle, a synchronous mechanism, and the synchronous mechanism includes a rotatable synchronous turntable of setting on installation frame and the connecting rod equal to the number of clamping arm, one end of every connecting rod is hinged with the outer edge of synchronous turntable, and the other end is hinged with a corresponding slip piece, at least one drive mechanism, and drive mechanism sets up on installation frame, and the output is connected with one of slip pieces, is used for driving all clamping arms and is along the radial of installation frame synchronous close or away. The structure can realize the accurate synchronous radial motion of all clamping arms automatically, ensures the stable, accurate and efficient of the process of packing clamping.

Description

Technical Field

[0001] This utility model relates to the field of packaging production line technology, and in particular to a fully automatic packing robot for lawnmowers. Background Technology

[0002] On production lines for medium-sized products such as lawnmowers, the final packing process is still mostly done manually or assisted by semi-automatic lifting equipment with poor positioning accuracy. This method is inefficient, labor-intensive, and poses safety hazards. To overcome these problems, the adoption of fully automated packing robots has become a clear trend.

[0003] However, the performance of the end effector of existing robotic arms, especially the synchronization and stability of gripping, severely restricts the overall operating efficiency and reliability of the machine. Existing grippers generally suffer from asynchronous gripping and poor stability. Specifically, their multiple gripping arms are typically driven separately by independent drive sources (such as multiple cylinders) or use simple non-concentric linkage mechanisms. This approach cannot guarantee precise synchronization of the movement of all gripping arms, resulting in uneven force on the lawnmower during gripping, causing tilting or wobbling. This not only directly affects the positioning accuracy of the robotic arm but also poses a risk of product falling during high-speed movement, preventing the entire robotic arm system from achieving high-speed, efficient, and continuous operation while ensuring safety. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the above-mentioned problems and provide a fully automatic packing robot for lawnmowers that has stable clamping, good synchronization, and a compact structure.

[0005] The technical solution of this utility model is as follows: The fully automatic packing robot for lawnmowers described in this utility model includes a base, a multi-axis robotic arm mounted on the base, and a gripper assembly mounted at the end of the multi-axis robotic arm, characterized in that: The clamp assembly includes: A mounting bracket for connection to the end effector of the multi-axis robotic arm; At least three clamping arms, each of which is slidably connected to the mounting bracket via a sliding member, and the sliding direction of the clamping arm is radial along a predetermined circle; A synchronization mechanism comprising a synchronization turntable rotatably mounted on a mounting frame and a number of links equal to the number of clamping arms; one end of each link is hinged to the outer edge of the synchronization turntable, and the other end is hinged to a corresponding sliding member. At least one drive mechanism is provided on the mounting frame, the output of which is connected to one of the sliding members for driving all clamping arms to move synchronously toward or away from the mounting frame radially.

[0006] Furthermore, in the fully automatic packing manipulator for lawnmowers described in this utility model, the drive mechanism is a linear drive mechanism, and the direction of movement at its output end is parallel to the sliding direction of the clamping arm. The driving force can be directly applied to the sliding direction, the force flow transmission path is highly efficient, there is no lateral force component, and energy loss and mechanism wear are reduced.

[0007] Furthermore, in the fully automatic packing manipulator for lawnmowers described in this utility model, the linear drive mechanism consists of two cylinders, with the piston rods of the two cylinders extending and retracting in opposite directions and arranged on the same straight line. This opposing drive layout enables the driving force to self-balance, effectively counteracting the internal stress of the mechanism and greatly enhancing the clamping rigidity and stability.

[0008] Furthermore, in the fully automatic packing manipulator for lawnmowers described in this utility model, the number of clamping arms is four, and they are symmetrically arranged about the rotation center of the synchronous turntable. This four-point symmetrical clamping ensures even distribution of clamping force, providing optimal mechanical support and stability for the lawnmower and effectively preventing it from swaying or rotating in the air.

[0009] Furthermore, in the fully automatic packing manipulator for lawnmowers described in this utility model, the mounting frame includes an upper support and a lower base plate arranged parallel to each other, together forming an installation space. The drive mechanism and the synchronization mechanism are both housed within this installation space. The clamping arm is located below the lower base plate and is slidably connected to the lower base plate via a sliding member. This structure integrates and encapsulates the entire power and transmission system, forming a compact modular unit that is not only aesthetically pleasing but also possesses excellent rigidity and protection.

[0010] Furthermore, in the fully automatic packing machine for lawnmowers described in this utility model, the sliding component is a slide table, the upper surface of the lower base plate is provided with a slide rail that cooperates with the slide table, and a radial guide groove is provided for the slide table to slide back and forth; the upper part of the slide table passes through the guide groove and slides in cooperation with the slide rail.

[0011] Furthermore, in the fully automatic packing robot arm for lawnmowers described in this utility model, the lower end of the clamping arm is bent inward into an L-shape. The L-shaped end forms a reliable supporting hook that can hold the lawnmower chassis from below, achieving a combination of "clamping" and "lifting" to prevent the product from slipping during the lifting process.

[0012] Furthermore, in the fully automatic packing manipulator for lawnmowers described in this utility model, the outer edge of the synchronous turntable is integrally formed with multiple radially extending connecting arms; the connecting rod is arc-shaped, and its two ends are respectively hinged to the ends of the connecting arms and the sliding member. The connecting arms increase the lever arm, making rotation easier.

[0013] Furthermore, in the fully automatic packing manipulator for lawnmowers described in this utility model, the sliding component has multiple adjustment holes, and the connecting rod can be selectively hinged to one of the adjustment holes. By changing the hinge point, the stroke and clamping force of the clamping arm can be finely adjusted, allowing one set of clamps to flexibly adapt to products of different specifications and sizes, greatly enhancing the versatility and application value of the equipment.

[0014] The beneficial effects of this utility model are: 1. This utility model achieves precise synchronous radial movement of all clamping arms through a synchronous mechanism consisting of a synchronous turntable and multiple linkages, ensuring that the clamping center remains constant. This effectively prevents the lawnmower from tilting, shaking, or rotating during the grabbing and moving process, thus ensuring the stability, accuracy, and efficiency of the packing process.

[0015] 2. This utility model has a compact and highly integrated structure by accommodating and fixing the drive mechanism and synchronization mechanism within the installation space formed by the upper and lower base plates. It can also provide a reliable protective space, effectively avoiding accidental collisions or interference with external objects, and improving the service life and operational reliability of the equipment. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model.

[0017] Figure 2 This is a partial three-dimensional structural diagram of the present invention.

[0018] Figure 3 A three-dimensional structural diagram of the fixture assembly after removing the upper support and cylinder. Detailed Implementation

[0019] The present invention will now be further described with reference to the accompanying drawings: Reference Figure 1 , Figure 2 As shown in the figure, the fully automatic packing robot for lawnmowers described in this embodiment consists of a base 1, a six-axis robotic arm 2, and a clamping assembly 3. The clamping assembly 3 includes a mounting frame 4, four clamping arms 5, a synchronization mechanism 7, and two cylinders 8.

[0020] The clamp assembly 3 is connected to the end of the robotic arm 2 via a mounting frame 4. The mounting frame 4 includes an upper support 41 and a lower base plate 42 arranged parallel to each other. The upper support 41 is fixedly connected to the lower base plate 42 via a connector, so that an installation space is formed between the two.

[0021] Reference Figure 3The synchronization mechanism 7 is housed within the installation space and includes a synchronization turntable 71 rotatably supported at the center of the lower base plate 42 and four arc-shaped connecting rods 72. Four radial connecting arms 711 extend integrally from the outer edge of the synchronization turntable 71.

[0022] Four clamping arms 5 are arranged symmetrically about the rotation center of the synchronous turntable 71. The upper end of each clamping arm 5 is slidably connected to the lower base plate 42 via a sliding member. The sliding direction of each clamping arm 5 is radial along the rotation center, thereby achieving synchronous radial contraction and opening. Specifically, the sliding member is a slide table 6. A linear slide rail 421 is fixed to the upper surface of the lower base plate 42, and a radial guide groove 422 is provided. The upper part of the slide table 6 passes through the guide groove 422 and forms a sliding fit with the slide rail 421. The lower part of the slide table 6 is located below the lower base plate 42 and is fixedly connected to the upper end of the clamping arm 5 by bolts. The lower end of the clamping arm 5 is bent inward into an L-shape to support the lawnmower from below.

[0023] One end of each of the four arc-shaped connecting rods 72 is hinged to the end of the connecting arm 711 via a first pin, and the other end is hinged to the corresponding slide table 6 via a second pin. Each slide table 6 has multiple adjustment holes 61, and the second pin can be selectively installed in different adjustment holes 61 to change the connection position of the arc-shaped connecting rods 72, thereby adjusting the clamping stroke and force.

[0024] Two cylinders 8 serve as the drive mechanism, fixed to the upper bracket 41 via their cylinder bodies and located within the installation space. The piston rods of the two cylinders 8 are in opposite directions and aligned on the same straight line, with the end of the piston rod of each cylinder 8 fixedly connected to a slide 6. Furthermore, the direction of extension and retraction of the piston rods is parallel to the sliding direction of the clamping arm 5.

[0025] Working process: When the robotic arm 2 moves the clamping assembly 3 above the conveyor line of the lawnmower, the piston rods of the two cylinders 8 extend simultaneously, pushing the two connected slides 6 to move. These two driven slides 6 drive the synchronous turntable 71 to rotate through the connecting rods 72 they are connected to. The rotation of the synchronous turntable 71 then drives the remaining two slides 6 to move inward synchronously through the other two connecting rods 72. Finally, the four clamping arms 5 close synchronously, hugging and lifting the lawnmower from all sides. Then the robotic arm 2 lifts, moves, and places the lawnmower into the packaging box. The cylinders 8 retract, and the clamping arms 5 open synchronously, completing the packing action.

[0026] The specific embodiments described herein are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model are still covered by the claims of this utility model.

Claims

1. A fully automatic packing robot for lawnmowers, comprising a base, a multi-axis robotic arm mounted on the base, and a gripper assembly disposed at the end of the multi-axis robotic arm, characterized in that: The clamp assembly includes: A mounting bracket for connection to the end effector of the multi-axis robotic arm; At least three clamping arms, each of which is slidably connected to the mounting bracket via a sliding member, and the sliding direction of the clamping arm is radial along a predetermined circle; A synchronization mechanism comprising a synchronization turntable rotatably mounted on a mounting frame and a number of links equal to the number of clamping arms; one end of each link is hinged to the outer edge of the synchronization turntable, and the other end is hinged to a corresponding sliding member. At least one drive mechanism, which is mounted on the mounting frame and whose output end is connected to one of the sliding members, is used to drive all the clamping arms to move synchronously closer to or further away from the mounting frame in a radial direction.

2. The fully automatic packing robot for lawnmowers according to claim 1, characterized in that: The drive mechanism is a linear drive mechanism, and the direction of motion of its output end is parallel to the sliding direction of the clamping arm.

3. The fully automatic packing robot for lawnmowers according to claim 2, characterized in that: The linear drive mechanism consists of two cylinders, with the piston rods of the two cylinders extending and retracting in opposite directions and arranged on the same straight line.

4. The fully automatic packing robot for lawnmowers according to claim 1, characterized in that: The clamping arms are four in number and are arranged symmetrically about the rotation center of the synchronous turntable.

5. The fully automatic packing robot for lawnmowers according to claim 1, characterized in that: The mounting frame includes an upper support and a lower base plate arranged in parallel, which together form an installation space. The driving mechanism and the synchronization mechanism are both housed in this installation space. The clamping arm is located below the lower base plate and is slidably connected to the lower base plate through a sliding member.

6. The fully automatic packing robot for lawnmowers according to claim 5, characterized in that: The sliding component is a sliding table. The upper surface of the lower base plate is provided with a slide rail that mates with the sliding table, and a radial guide groove is provided for the sliding table to slide back and forth. The upper part of the sliding table passes through the guide groove and slides in mates with the slide rail.

7. The fully automatic packing robot for lawnmowers according to claim 1, characterized in that: The lower end of the clamping arm is bent inward into an L-shape.

8. The fully automatic packing robot for lawnmowers according to claim 1, characterized in that: The outer edge of the synchronous turntable is integrally formed with multiple radially extending connecting arms; the connecting rod is arc-shaped, and its two ends are respectively hinged to the ends of the connecting arms and the sliding member.

9. The fully automatic packing robot for lawnmowers according to claim 1, characterized in that: The sliding member has multiple adjustment holes, and the connecting rod can be hinged to one of the adjustment holes.

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