Stacking mechanical arm with gripper anti-skid structure

Abstract

The utility model discloses a kind of pile up neatly mechanical arm with gripper antiskid structure, including mechanical arm main body and mounting seat.The utility model can be effectively clamped operation to the side of the article that needs to be piled up and transferred, and on the basis of clamping plate, the bottom of article can be supported and limited by the load-bearing strip of bottom, avoid falling down, while both sides can be effectively blocked by longitudinal baffle, to avoid the article from falling off due to moving inertia when shifting and piling up, by the structure design of multiple groups of different positions, article can be blocked simultaneously front and back, left and right and bottom, realize multidimensional limit, and rubber pad is equipped on each group of blocking structure to increase friction, so it can better limit the article that needs to be piled up, to avoid falling off and deviation when shifting and piling up, it is convenient to better and more stably use, with good gripping anti-drop effect, multidimensional limit, the advantages such as strong gripping stability.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to a palletizing robotic arm with an anti-slip gripper structure. Background Technology

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines designed for industrial applications. They can perform tasks automatically and rely on their own power and control capabilities to achieve various functions. They can be commanded by humans or run according to pre-programmed procedures. Modern industrial robots can also act according to principles and guidelines established by artificial intelligence technology. When using industrial robots for production and processing activities, it is often necessary to use grippers to pick up products for palletizing operations.

[0003] Currently, most grippers used in industrial robots are made of alloy materials with relatively smooth surfaces. During product picking, the friction between the alloy gripper and the product is small, which can easily cause the product to become unstable and fall. In addition, the gripping range of alloy grippers is limited, and they can only grip a local surface. This can easily cause the product to fall off from the ungripped area when transferring and palletizing, resulting in product damage. The anti-fall effect and gripping stability are not ideal, and there is room for improvement.

[0004] There are currently no effective solutions to the problems in the relevant technologies. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a palletizing robotic arm with an anti-slip gripper structure, which has the advantages of good gripping and anti-detachment effect, multi-dimensional positioning, and strong gripping stability, thereby solving the problems mentioned in the background technology.

[0006] To achieve the advantages of good gripping and anti-detachment effect, multi-dimensional positioning, and strong gripping stability, the specific technical solution adopted by this utility model is as follows: A palletizing robotic arm with an anti-slip gripper structure includes a robotic arm body and a mounting base. The robotic arm body has a flange connecting a connecting rod at one end, and a mounting base welded to one end of the connecting rod. A sliding rod and a bidirectional lead screw are respectively mounted on the bottom of the mounting base, with two sets of sliding rods located on either side of the bidirectional lead screw. A moving strip is threaded onto both the sliding rod and the bidirectional lead screw. A clamping plate is welded to the bottom of the moving strip, and two support rods are symmetrically welded to the bottom of the outer surface of the clamping plate. A mounting strip is slidably connected between the two support rods, allowing it to slide on the support rods. Several sets of bearing strips are evenly installed on the inner surface of the mounting strip, with one end of each bearing strip penetrating one side of the clamping plate. Longitudinal baffles are symmetrically slidably connected to the top center of the mounting base on both sides, allowing the longitudinal baffles to move up and down. Rubber pads are affixed to the inner surface of the longitudinal baffles, the inner surface of the clamping plate, and the top of the bearing strips.

[0007] Furthermore, one end of the bidirectional lead screw passes through one side of the clamping plate and is connected to the drive assembly.

[0008] Furthermore, a fixing block is integrally formed at the top center of the mounting strip, and a second electric cylinder is installed between the fixing block and the outer surface of the clamping plate.

[0009] Furthermore, a first electric cylinder is installed between the top side of the longitudinal baffle and the top surface of the mounting base.

[0010] Furthermore, the first electric cylinder, the second electric cylinder, and the drive assembly are all electrically connected to an external control device via wires.

[0011] Furthermore, the surfaces of the clamping plate and the mounting base are respectively pre-cut with slots for the movement of the bearing strip and the longitudinal baffle.

[0012] Furthermore, the surface of the moving bar is pre-set with slots for connecting with the slide bar and the bidirectional lead screw.

[0013] Furthermore, several sets of reinforcing ribs are welded between the moving strip and the clamping plate.

[0014] Compared with the prior art, this utility model provides a palletizing robotic arm with an anti-slip gripper structure, which has the following beneficial effects: This invention utilizes clamps to effectively hold items that need to be stacked and transferred from the sides. Furthermore, a bottom support strip on top of the clamps provides support and limits the bottom of the items, preventing them from falling. Simultaneously, longitudinal baffles on both sides effectively block the items, preventing them from falling off due to inertia during stacking. The multi-stage structural design allows items to be simultaneously blocked from the front, back, left, right, and bottom, achieving multi-dimensional restraint. Each set of blocking structures is equipped with rubber pads to increase friction, thus better restraining the items to be stacked and preventing them from falling off or shifting during transfer and stacking. This ensures the quality of the device and facilitates better and more stable use. It boasts advantages such as excellent gripping and anti-falling effect, multi-dimensional restraint, and strong gripping stability. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of a palletizing robotic arm with an anti-slip gripper structure proposed in this utility model; Figure 2 This is a schematic diagram of the mounting base of this utility model; Figure 3 This is a schematic diagram of the connection structure between the mounting base and the clamping plate of this utility model; Figure 4 This is a schematic diagram of the structure of the clamping plate of this utility model.

[0017] In the picture: 1. Main body of the robotic arm; 2. Connecting rod; 3. Longitudinal baffle; 4. Mounting base; 5. Moving bar; 6. Slide bar; 7. Two-way lead screw; 8. Clamping plate; 9. Rubber pad; 10. Support rod; 11. Mounting bar; 12. Bearing bar; 13. Fixing block; 14. Drive assembly; 15. First electric cylinder; 16. Second electric cylinder. Detailed Implementation

[0018] To further illustrate the various embodiments, the present invention provides accompanying drawings, which are part of the disclosure of the present invention. These drawings are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, those skilled in the art should be able to understand other possible implementation methods and the advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are usually used to represent similar components.

[0019] According to an embodiment of the present invention, a palletizing robotic arm with an anti-slip gripper structure is provided.

[0020] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments, such as... Figure 1-4 As shown, a palletizing robotic arm with an anti-slip gripper structure according to an embodiment of the present invention includes a robotic arm body 1 and a mounting base 4. A connecting rod 2 is flanged to one end of the robotic arm body 1, and a mounting base 4 is welded to one end of the connecting rod 2. A sliding rod 6 and a bidirectional lead screw 7 are respectively installed at the bottom of the mounting base 4. There are two sets of sliding rods 6, located on both sides of the bidirectional lead screw 7. A moving strip 5 is sleeved on both the sliding rod 6 and the bidirectional lead screw 7. The moving strip 5 is threaded to the bidirectional lead screw 7. A clamping plate 8 is welded to the bottom of the moving strip 5. Two support rods 10 are symmetrically welded to the bottom of the outer surface of the clamping plate 8. An mounting strip 11 is slidably connected between the two support rods 10. The mounting strip 11 can slide on the support rods 10. Several sets of bearing caps are evenly installed on the inner surface of the mounting strip 11. The support bar 12 extends through one side of the clamping plate 8. A longitudinal baffle 3 is symmetrically slidably connected to the top center of the mounting base 4 on both sides. The longitudinal baffle 3 can move up and down and has an L-shaped structure. Rubber pads 9 are attached to the inner surface of the longitudinal baffle 3, the inner surface of the clamping plate 8, and the top of the support bar 12. The main body 1 of the robotic arm is a standard industrial robot arm, with a connecting rod 2 connected to its end via a flange. The connecting rod 2 is a solid steel rod, with one end fastened to the robotic arm flange by bolts and the other end fully welded to the top of the mounting base 4, ensuring that the mounting base 4 moves flexibly with the robotic arm. High-elasticity rubber pads 9 are attached to the inner side of the clamping plate 8, the top of the support bar 12, and the inner side of the longitudinal baffle 3. The surface of the rubber pads 9 is pressed with anti-slip textures to increase friction with objects and prevent slippage at the contact surface.

[0021] like Figure 1 and Figure 2As shown, one end of the bidirectional lead screw 7 passes through one side of the clamping plate 8 and is connected to the drive assembly 14. The mounting base 4 is a rectangular steel plate, with two sets of slide rods 6 and one set of bidirectional lead screw 7 installed parallel to each other along the length of the bottom. The slide rods 6 are solid steel rods, and both ends are welded and fixed to the mounting base 4 through bearing seats. The bidirectional lead screw 7 is a ball screw, with both ends rotatably connected to the mounting base 4 through bearings, and one end passes through the side wall of the mounting base 4 and is connected to the drive assembly 14 through a coupling. The drive assembly 14 includes a servo motor and a reducer. The left and right halves of the bidirectional lead screw 7 have opposite thread directions. The system ensures that the two sets of moving bars 5 move synchronously relative to each other, and that the clamping plate 8 applies uniform force when holding items. The guide cooperation between the slide bar 6 and the moving bar 5 restricts the moving bar 5 to slide only along the axial direction, without rotational offset, so that there is no risk of items tipping over when clamped. The bidirectional lead screw 7 enables the clamping distance of the clamping plate 8 to be adjustable, and the rubber pad 9 increases the friction to prevent items from sliding laterally, solving the "slippage" problem of traditional metal clamping plates 8. The bidirectional lead screw 7 driven by the servo motor has a fast response speed, and the guide of the slide bar 6 ensures clamping accuracy. It is suitable for items of different materials such as cardboard boxes, wooden boxes, and metal parts, improving its versatility.

[0022] like Figure 1-4 As shown, a fixing block 13 is integrally formed at the top center of the mounting strip 11. A second electric cylinder 16 is installed between the fixing block 13 and the outer surface of the clamping plate 8. The fixing block 13 is a rectangular steel block. The second electric cylinder 16 is fixed to the clamping plate 8, and the piston rod is hinged to the fixing block 13, driving the mounting strip 11 to extend and retract the bearing strip 12. When the second electric cylinder 16 drives the mounting strip 11 to slide, the two sets of support rods 10 ensure that the mounting strip 11 is not tilted. Multiple sets of bearing strips 12 extend synchronously, evenly distributing the weight of the item and avoiding excessive local stress. This prevents the item from deforming; after the support bar 12 extends, the top of the horizontal section contacts the bottom of the item, and together with the lateral clamping of the clamping plate 8, it forms a double fixation of "side clamp + bottom support", eliminating the risk of the item's bottom falling; the slot of the clamping plate 8 provides extension and retraction space for the support bar 12 without affecting the clamping action of the clamping plate 8; the support bar 12 can extend into the bottom of the item to form a rigid support, solving the problem of "bottom suspension and easy fall" caused by traditional clamping only the side; the second electric cylinder 16 drives the support bar 12 to extend and retract, and the extension length can be adjusted according to the gap at the bottom of the item, without the need for manual adjustment, adapting to different specifications of items and improving operating efficiency.

[0023] like Figure 1 and Figure 3As shown, a first electric cylinder 15 is installed between the top side of the longitudinal baffle 3 and the top surface of the mounting base 4. Two sets of longitudinal baffles 3 are symmetrically slidably connected on both sides of the top middle of the mounting base 4. The longitudinal baffles 3 are L-shaped steel plates. Rubber pads 9 are pasted on the inner side of the vertical section of the longitudinal baffle 3, which are in contact with the front and rear sides of the item. The first electric cylinder 15 is installed between the top side of the longitudinal baffle 3 and the top surface of the mounting base 4. The cylinder body of the electric cylinder is hinged to the mounting base 4, and the piston rod is hinged to the top of the longitudinal baffle 3, driving the two sets of longitudinal baffles 3 to move up and down, thereby limiting the front and rear direction of the item. The first electric cylinder 15 drives the longitudinal baffle 3 to move. The synchronization and control of multiple sets of electric cylinders can be achieved through encoders, PID controllers, etc., which will not be elaborated on here. The vertical section of the L-shaped structure can completely cover the front and rear sides of the item, limiting the front and rear sway of the item. The elastic deformation of the rubber pad 9 can buffer the clamping force and avoid damaging the surface of the item, such as cardboard boxes and plastic parts. The front and rear limit of the longitudinal baffle 3, the left and right clamping of the clamping plate 8, and the bearing bar 12 The bottom support forms a "three-dimensional limiting" structure, ensuring that the item has no displacement space in the three-dimensional direction. Even if the robotic arm moves quickly or turns, the item will not deviate. The longitudinal baffle 3 can prevent the item from sliding back and forth due to the inertia of the robotic arm, solving the problem of "items falling off when turning or stopping suddenly" caused by the lack of longitudinal limiting in traditional systems. This is suitable for high-speed palletizing scenarios and improves stability. The flexible contact of the rubber pad 9 prevents the metal baffle from directly impacting the item, reducing surface scratches. This is suitable for fragile items or items with high surface precision requirements, such as appliance casings and precision parts. To avoid contact with the bidirectional lead screw 7, operators can choose to design the top support structure, such as the support bar 12, symmetrically. This would involve setting a support bar 12 at the top of the clamping plate 8 to block the item from contacting the bidirectional lead screw 7, or directly installing a baffle below the bidirectional lead screw 7, or increasing the height of the clamping plate 8 to increase the distance between the item and the bidirectional lead screw 7. Corresponding slots also need to be set at the designated locations. These details are not elaborated here, and operators can choose the appropriate method.

[0024] like Figure 1 As shown, the first electric cylinder 15, the second electric cylinder 16, and the drive assembly 14 are all electrically connected to external control equipment via wires. The first electric cylinder 15, the second electric cylinder 16, and the drive assembly 14 are all connected to external control equipment, such as a PLC or robot control cabinet, via wires to achieve action linkage: the robotic arm moves above the item → the clamping plate 8 moves relative to the item to clamp it → the support bar 12 extends to lift it → the longitudinal baffle 3 moves to limit the movement → the robotic arm transfers → after reaching the target position, it reverses the action to release the item. The whole process is automated and requires no manual intervention. The linkage of the control components realizes the full automation of the "grabbing-limiting-transfer-release" process, replacing manual palletizing and improving efficiency.

[0025] like Figure 1-4As shown, the surfaces of the clamping plate 8 and the mounting base 4 are respectively pre-cut with slots for the movement of the support strips 12 and the longitudinal baffles 3. Two sets of support rods 10 are symmetrically welded to the bottom of the outer surface of the clamping plate 8. The support rods 10 are solid steel rods, parallel to the ground, and polished. The mounting strips 11 are slidably connected between the two sets of support rods 10. The mounting strips 11 are rectangular steel plates with pre-cut sliding holes on the surface that are compatible with the support rods 10, allowing them to slide back and forth along the support rods 10. Several sets of support strips 12 are evenly welded to the side of the mounting strips 11 facing the clamping plate 8. The support strips 12 are steel strips with bevels, used to support the bottom of the items. One end passes through the pre-cut slots on the surface of the clamping plate 8. The width of the slot is slightly larger than the diameter of the support strip 12, allowing it to slide out or retract into the inner side of the clamping plate 8 with the mounting strips 11. Rubber pads 9 are attached to the top of the support strips 12. The rubber pads 9 are made of the same material as the rubber pads 9 of the clamping plate 8 to avoid scratching the items and increase the support friction.

[0026] like Figure 1 and Figure 4 As shown, the surface of the moving bar 5 is pre-set with slots for connecting with the slide rod 6 and the bidirectional lead screw 7. The slide rod 6 and the bidirectional lead screw 7 are together sleeved on the moving bar 5. The moving bar 5 is a rectangular steel block with a smooth hole that matches the slide rod 6 and a threaded hole that matches the bidirectional lead screw 7 on its surface, forming a "lead screw drive + slide rod 6 guide" structure. When the drive assembly 14 drives the bidirectional lead screw 7 to rotate, the two sets of moving bars 5 slide relative to or in opposite directions along the slide rod 6.

[0027] like Figure 1-4 As shown, several sets of reinforcing ribs are welded between the moving strip 5 and the clamping plate 8. The bottom of the moving strip 5 is fully welded to the clamping plate 8, which is a rectangular steel plate with a height adapted to the height of the item. Several sets of triangular reinforcing ribs are welded between the moving strip 5 and the clamping plate 8 to enhance the bending resistance and prevent the clamping plate 8 from deforming when clamping heavy objects. Rubber pads 9 are pasted on the inner surface of the clamping plate 8 to increase the friction with the item. The triangular structure of the reinforcing ribs distributes the clamping force borne by the clamping plate 8 to the moving strip 5 and the mounting base 4, thereby improving the load-bearing capacity. Positioning and gripping: The robotic arm moves the mounting base 4 to above the item, and the drive component 14 drives the bidirectional lead screw 7 to rotate. The two sets of clamping plates 8 move relative to each other, clamping the two sides of the item. Bottom support: The second electric cylinder 16 drives the mounting strip 11 to slide, and the bearing strip 12 extends to the bottom of the item to form a lifting effect; Longitudinal limiting: The first electric cylinder 15 drives the longitudinal baffle 3 to move, clamping the front and rear sides of the item to complete the three-dimensional limiting; Transfer and stacking: The robotic arm moves the item to the target position and releases the item in the order of "releasing the longitudinal baffle 3 → retracting the bearing strip 12 → releasing the clamp 8" to complete the stacking; Good gripping and anti-drop effect: Three-dimensional limiting + full anti-slip rubber pads 9 reduce the item drop rate and solve the pain points of "slipping and falling" of traditional grippers; Multi-dimensional limiting and strong stability: Three-dimensional fixation in front, back, left, right and bottom, adaptable to high-speed movement and complex movements.

[0028] Working Principle: In actual use, the operator can install the main body 1 of the robotic arm at the designated working position, and then connect the connecting rod 2 to the flange reserved on the surface of the robotic arm through the flange at the end. This facilitates the subsequent operation of the gripper component by the robotic arm. When gripping an object, the mounting base 4 can move to the top position of the object. Then, the operation of the drive assembly 14 can drive the bidirectional lead screw 7 to rotate, thereby causing the two sets of clamping plates 8 connected to it to move relative to each other, thus clamping the side of the object. After the clamping plates 8 have finished clamping, the operation of the robotic arm can drive the mounting base 4 to move. At this time, the second electric cylinder 16 at the bottom side of the clamping plate 8 can be activated, thereby driving the mounting strip 11 along the support rod. 10 moves stably, allowing the support bar 12 to pass through the pre-reserved opening in the clamping plate 8 and move to the bottom of the item, thus enabling the support operation of the item. At the same time, the first electric cylinder 15 on the top of the mounting base 4 will also operate, thereby driving the longitudinal baffles 3 on both sides to move down, thereby blocking the longitudinal position of the item. At this time, the item can be blocked from the front, back, left, right and bottom at the same time, which can achieve multi-dimensional limiting. Each set of blocking structures is equipped with rubber pads 9 to increase friction, so it can better limit the items that need to be stacked, thereby avoiding falling off or shifting during transfer and stacking, ensuring the quality of the device, and facilitating better and more stable use. The device as a whole has the advantages of good gripping and anti-falling effect, multi-dimensional limiting, and strong gripping stability.

[0029] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "setting", "connection", "fixing", "screw connection", etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0030] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A palletizing robotic arm with an anti-slip gripper structure, comprising a robotic arm body (1) and a mounting base (4), characterized in that, The main body (1) of the robotic arm is connected to a connecting rod (2) by a flange at one end. A mounting base (4) is welded to one end of the connecting rod (2). A sliding rod (6) and a double-acting screw (7) are respectively installed at the bottom of the mounting base (4). There are two sets of sliding rods (6) located on both sides of the double-acting screw (7). The sliding rod (6) and the double-acting screw (7) are connected together by a moving strip (5). The moving strip (5) is threaded to the double-acting screw (7). A clamping plate (8) is welded to the bottom of the moving strip (5). Two supports are symmetrically welded to the bottom of the outer surface of the clamping plate (8). A rod (10) is slidably connected between two support rods (10). The installation strip (11) can slide on the support rod (10). Several sets of bearing strips (12) are evenly installed on the inner surface of the installation strip (11). One end of the bearing strip (12) passes through one side of the clamp (8). The top middle of the mounting base (4) is symmetrically connected to longitudinal baffles (3). The longitudinal baffles (3) can move up and down. Rubber pads (9) are pasted on the inner surface of the longitudinal baffles (3), the inner surface of the clamp (8), and the top of the bearing strips (12).

2. A palletizing robotic arm with an anti-slip gripper structure according to claim 1, characterized in that, One end of the bidirectional lead screw (7) passes through one side of the clamping plate (8) and is connected to the drive assembly (14).

3. A palletizing robotic arm with an anti-slip gripper structure according to claim 1, characterized in that, A fixing block (13) is integrally formed at the top middle position of the mounting strip (11), and a second electric cylinder (16) is installed between the fixing block (13) and the outer surface of the clamp (8).

4. A palletizing robotic arm with an anti-slip gripper structure according to claim 1, characterized in that, A first electric cylinder (15) is installed between the top side of the longitudinal baffle (3) and the top surface of the mounting base (4).

5. A palletizing robotic arm with an anti-slip gripper structure according to claim 4, characterized in that, The first electric cylinder (15), the second electric cylinder (16), and the drive assembly (14) are all electrically connected to an external control device via wires.

6. A palletizing robotic arm with an anti-slip gripper structure according to claim 1, characterized in that, The surfaces of the clamp (8) and the mounting base (4) are respectively provided with slots for the movement of the bearing strip (12) and the longitudinal baffle (3).

7. A palletizing robotic arm with an anti-slip gripper structure according to claim 1, characterized in that, The surface of the moving bar (5) is pre-set with slots for connecting with the slide bar (6) and the bidirectional lead screw (7).

8. A palletizing robotic arm with an anti-slip gripper structure according to claim 1, characterized in that, Several sets of reinforcing ribs are welded between the moving strip (5) and the clamping plate (8).

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