Stacking mechanical arm with buffering and damping functions

Abstract

The utility model provides a kind of buffering shock-absorbing function's stacking mechanical arm, it is related to stacking mechanical man technical field, mechanical arm includes adjusting box and the mechanical arm main body installed on adjusting box, the adjusting box outside is fixedly installed with the installation ring of horizontal arrangement, the installation ring outside side is hinged with several shock-absorbing springs that swing up and down and are distributed in annular array around adjusting box, by being provided with blocking net, blocking net forms safety protection distance around mechanical arm, and external collision is blocked in advance, impact force is multi-stage transferred to shock-absorbing spring by connecting rod and connecting seat, and spring absorbs vibration energy by telescopic deformation, avoid vibration to be directly transmitted to adjusting box and mechanical arm main body, reduce the influence of vibration on mechanical arm accurate control.

Description

Technical Field

[0001] This utility model relates to the field of palletizing robot technology, and in particular to a palletizing robot arm with buffering and shock absorption function. Background Technology

[0002] A palletizing robot is an automated device capable of automatically completing the task of palletizing goods, widely used in logistics warehousing and industrial production. For example, a palletizing robotic arm with publication number CN222683687U moves the entire device to a designated position. A worm gear drives two worm wheels to rotate in opposite directions, which in turn drives two adjusting rods to rotate in opposite directions. This, in turn, causes two sets of gears on the outer surfaces of the two adjusting rods to rotate in opposite directions, thus causing four toothed plates to move in the same direction. This, in turn, moves the adjusting plates and casters. The guide slider follows the toothed plates along the guide groove until the casters move through the adjusting holes into the adjusting box. At this point, the lower surface of the adjusting box can contact the ground, increasing the contact area between the device and the ground, thereby increasing friction and making the device more stable and fixed in the designated position.

[0003] However, when using existing technology, if the arm vibrates due to a collision, the palletizing work requires the robotic arm to precisely control the stacking position of the goods. Vibration will damage the movement precision of the robotic arm, causing misalignment or tilting when the goods are stacked. In severe cases, it can cause the entire stack of goods to collapse, directly affecting the quality and efficiency of palletizing. Utility Model Content

[0004] The purpose of this invention is to solve the problems existing in the prior art by proposing a palletizing robotic arm with buffering and shock absorption function.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a palletizing robotic arm with buffering and shock absorption function, the robotic arm including an adjustment box and a robotic arm body mounted on the adjustment box, a horizontally arranged mounting ring fixedly installed on the outside of the adjustment box, a plurality of shock-absorbing springs that are arranged in a circular array around the adjustment box and swing up and down are hinged to the outer side of the mounting ring, the telescopic ends of the shock-absorbing springs are arranged facing away from the adjustment box and fixedly installed with a connecting seat, a rotating block that swings up and down is hinged inside the connecting seat, a worm gear is fixedly installed through one of the hinge points of the rotating block and a worm gear is rotatably connected to the outside of the connecting seat and meshes with the worm gear, a vertical rod is fixedly installed at the swing end of the rotating block, and a barrier net fixedly connected to the plurality of vertical rods is also provided outside the adjustment box.

[0006] Preferably, the worm gear and the damping spring are arranged parallel to each other, and a coaxially distributed insert is fixedly installed at the end of the worm gear facing the adjustment box. The insert is rotatably connected to the top edge of the damping spring cylinder.

[0007] Preferably, the bottom edge of the shock-absorbing spring cylinder is rotatably connected to a rectangular rod driven by a motor and coaxially distributed with the insert, and the rectangular rod is inserted into the inner wall of the insert on the same shock-absorbing spring.

[0008] Preferably, a winch is installed on the upper surface of the mounting ring near each shock-absorbing spring, and a pull wire is wound on the winch. One end of the pull wire passes through the bottom and top edges of the shock-absorbing spring cylinder and extends along the extension and contraction direction of the shock-absorbing spring to be fixedly connected to the connecting seat.

[0009] Preferably, the inner winding spool of the winch points to the central axis of the mounting ring, and a bevel gear is fixedly installed at one end of the winding spool of the winch, and a plurality of the bevel gears are distributed in a ring array around the central axis of the mounting ring.

[0010] Preferably, a double-sided toothed ring is rotatably connected to the outside of the regulating box and meshes with several bevel gears. One side of the double-sided toothed ring is an annular straight tooth surface, and the other side is an annular bevel tooth surface and meshes with several bevel gears. A spur gear driven by a motor and meshing with the straight tooth surface of the double-sided toothed ring is installed outside the regulating box.

[0011] Preferably, a plurality of electric push rods are fixedly installed on the adjustment box, and the telescopic ends of the plurality of electric push rods are upward and fixedly installed with lifting rings distributed coaxially with the mounting rings. The sides of the lifting rings are hinged to the surface of each shock-absorbing spring cylinder with diagonal tie rods.

[0012] Compared with the prior art, the advantages and positive effects of this utility model are as follows: 1. In this utility model, by setting up a barrier net, a safe protective distance is formed around the robotic arm, which blocks external collisions in advance. The impact force is transmitted to the shock-absorbing spring through the connecting rod and connecting seat in multiple stages. The spring absorbs the vibration energy through the expansion and contraction deformation, avoiding the vibration from being directly transmitted to the adjustment box and the main body of the robotic arm, thus reducing the impact of vibration on the precise control of the robotic arm.

[0013] 2. In this utility model, the lifting ring, in conjunction with the electric push rod, can switch between the horizontal and vertical states of the shock-absorbing spring. Furthermore, the winch can adjust the preload and extension range of the shock-absorbing spring by winding or releasing the pull line. This not only adapts to the buffering requirements of different collision intensities but also adjusts the protection range according to the placement of the adjustment box, thereby improving the versatility of the equipment. Attached Figure Description

[0014] Figure 1 A three-dimensional structural diagram of a palletizing robotic arm with buffer and shock absorption function is provided for this utility model. Figure 2 This utility model provides a structural schematic diagram of a shock-absorbing spring for a palletizing robotic arm with buffering and shock absorption functions; Figure 3 for Figure 1 Enlarged view of point A in the middle; Figure 4 for Figure 2 Enlarged view of point B in the middle.

[0015] Legend: 1. Main body of the robotic arm; 2. Adjustment box; 3. Barrier net; 4. Upright pole; 5. Shock-absorbing spring; 6. Pull cable; 7. Lifting ring; 8. Diagonal tie rod; 9. Spur gear; 10. Double-sided gear ring; 11. Winch; 12. Bevel gear; 13. Mounting ring; 14. Rectangular rod; 15. Insert cylinder; 16. Rotating block; 17. Connecting seat; 18. Worm gear; 19. Worm wheel; 20. Electric push rod. Detailed Implementation

[0016] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0017] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0018] like Figures 1-4 As shown, a palletizing robotic arm with buffering and shock absorption function is provided. The robotic arm includes an adjustment box 2 and a robotic arm body 1 mounted on the adjustment box 2. The structure and working principle of the adjustment box 2 and the robotic arm body 1 are existing technologies. For details, please refer to the palletizing robotic arm with publication number CN222683687U. A horizontally mounted mounting ring 13 is fixedly installed on the outside of the regulating box 2. Several shock-absorbing springs 5 ​​are hinged to the outer side of the mounting ring 13, which are arranged in a ring array around the regulating box 2 and swing up and down. Several electric push rods 20 are fixedly installed on the regulating box 2. The telescopic ends of the electric push rods 20 are upward and fixedly mounted with lifting rings 7 distributed coaxially with the mounting ring 13. The side of the lifting ring 7 is hinged to the cylinder surface of each shock-absorbing spring 5. In actual operation, the lifting ring 7 is raised and lowered by telescopic extension of the electric push rods 20. Under the connecting traction of the inclined rods 8, the corresponding shock-absorbing springs 5 ​​swing up and down. This ensures that when the regulating box 2 moves, the shock-absorbing springs 5 ​​can swing up to the vertical state, reducing the space required for the regulating box 2 to move. When the shock-absorbing springs 5 ​​swing down to the horizontal state, they absorb the impact force from the outside. The shock-absorbing spring 5 has a connecting seat 17 fixedly installed on its telescopic end facing away from the adjustment box 2. A rotating block 16 that swings up and down is hinged inside the connecting seat 17. A worm gear 19 is fixedly installed through one of the hinge points of the rotating block 16, passing through the connecting seat 17. A worm 18 that meshes with the worm gear 19 is rotatably connected to the outside of the connecting seat 17. A vertical rod 4 is fixedly installed on the swing end of the rotating block 16. A barrier net 3 fixedly connected to several vertical rods 4 is also provided outside the adjustment box 2. In use, the rotating block 16 moves as... Figure 4 As shown, the upright 4 is in a vertical state at this time, and the edge of the barrier net 3 is opened. The barrier net 3 is used to block the flow, that is, to keep a safe distance around the adjustment box 2. The upright 4 is set to make it easy to make the barrier net 3 fully open. When the barrier net 3 is impacted, the impact force is transmitted through the upright 4, the rotating block 16 and the connecting seat 17 to the corresponding shock-absorbing spring 5, so as to absorb the impact force. The significance of setting the worm gear 18 is that before the shock-absorbing spring 5 swings up, the worm gear 18 rotates to make the worm wheel 19 mesh with it and drive the rotating block 16 to rotate, so that the upright 4 can be changed from a vertical state to a horizontal state. In addition, the barrier net 3 used in this solution is made of elastic material, so the upright 4 in the horizontal state will not contact or interfere with the main body of the robotic arm 1 during the process of the shock-absorbing spring 5 swinging to the vertical state.

[0019] The worm gear 18 is arranged parallel to the shock-absorbing spring 5, and a coaxially distributed insert 15 is fixedly installed at the end of the worm gear 18 facing the adjustment box 2. The insert 15 is rotatably connected to the top edge of the cylinder of the shock-absorbing spring 5. A rectangular rod 14, driven by a motor and coaxially distributed with the insert 15, is rotatably connected to the bottom edge of the cylinder of the shock-absorbing spring 5. The rectangular rod 14 is inserted into the inner wall of the insert 15 on the same shock-absorbing spring 5. In actual use, the inserted insert 15 drives the worm gear 18 to rotate by rotating the rectangular rod 14 driven by the motor installed at the bottom of the cylinder of the shock-absorbing spring 5. When the shock-absorbing spring 5 retracts, the connecting seat 17 drives the insert 15 to slide on the rectangular rod 14. Therefore, the insert 15 can be rotated smoothly without affecting the normal use of the shock-absorbing spring 5.

[0020] A winch 11 is installed on the upper surface of the mounting ring 13 near each damping spring 5. A pull cable 6 is wound around the winch 11, with one end of the cable passing through the bottom and top edges of the damping spring 5 cylinder and extending along the extension direction of the damping spring 5 to be fixedly connected to the connecting seat 17. The inner winding spool of the winch 11 points towards the central axis of the mounting ring 13, and a bevel gear 12 is fixedly installed at one end of the winding spool. Several bevel gears 12 are arranged in a circular array around the central axis of the mounting ring 13. A double-sided toothed ring 10 is rotatably connected to the outside of the adjusting box 2, meshing with several bevel gears 12. One side of the double-sided toothed ring 10 is a circular straight tooth surface, and the other side is a circular bevel tooth surface, meshing with several bevel gears 12. A motor-driven... When the spur gear 9, which is connected to the straight tooth surface of the double-sided gear ring 10, is in a horizontal state, the spur gear 9 can be rotated by installing another motor on the adjustment box 2. The double-sided gear ring 10 can be rotated by the meshing connection between the spur gear 9 and the straight tooth surface of the double-sided gear ring 10. The bevel gear 12 can be rotated by the meshing connection between the outer helical tooth surface of the double-sided gear ring 10. This allows the pull cable 6 to be wound or released. When the pull cable 6 is wound, the connecting seat 17 is pulled to move against the thrust of the shock-absorbing spring 5, which allows the shock-absorbing spring 5 to retract. This makes it easy to adjust the area according to the final placement position of the adjustment seat. When the shock-absorbing spring 5 is fully retracted, the required space size can be reduced during its upward swing.

[0021] The method of using this utility model is as follows: The electric push rod 20 extends and retracts, causing the lifting ring 7 to descend. The diagonal tie rod 8 pulls the shock-absorbing spring 5 to a horizontal position, preparing for shock absorption. A motor drives the rectangular rod 14 to rotate, causing the insert 15 and worm gear 18 to rotate. The meshing worm wheel 19 drives the rotating block 16 to swing, turning the upright rod 4 to a vertical position and opening the elastic barrier net 3, forming a protective barrier around the regulating box 2. When the barrier net 3 is impacted, the impact force is transmitted sequentially through the upright rod 4, rotating block 16, and connecting seat 17 to the shock-absorbing spring 5. The shock-absorbing spring 5 extends and retracts to absorb the impact force, achieving shock absorption and buffering.

[0022] The wiring diagrams of the motor and electric actuator 20 in this utility model are common knowledge in the field, and their working principles are known technologies. The appropriate model is selected according to actual use. Therefore, the control method and wiring layout of the motor and electric actuator 20 will not be explained in detail.

[0023] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A palletizing robotic arm with buffering and shock absorption function, the robotic arm comprising an adjustment box (2) and a robotic arm body (1) mounted on the adjustment box (2), characterized in that: A horizontally arranged mounting ring (13) is fixedly installed on the outside of the regulating box (2). Several shock-absorbing springs (5) are hinged to the outer side of the mounting ring (13) and are arranged in a ring array around the regulating box (2) and swing up and down. The extension end of the shock-absorbing spring (5) is set away from the regulating box (2) and is fixedly installed with a connecting seat (17). A rotating block (16) that swings up and down is hinged inside the connecting seat (17). One of the hinge points of the rotating block (16) passes through the connecting seat (17) and is fixedly installed with a worm gear (19). A worm (18) that meshes with the worm gear (19) is rotatably connected to the outside of the connecting seat (17). A vertical rod (4) is fixedly installed at the swing end of the rotating block (16). A barrier net (3) that is fixedly connected to several vertical rods (4) is also provided outside the regulating box (2).

2. The palletizing robotic arm with buffer and shock absorption function according to claim 1, characterized in that: The worm (18) is arranged parallel to the shock-absorbing spring (5), and a coaxially distributed insert (15) is fixedly installed at one end of the worm (18) facing the adjustment box (2). The insert (15) is rotatably connected to the top edge of the cylinder of the shock-absorbing spring (5).

3. The palletizing robotic arm with buffer and shock absorption function according to claim 2, characterized in that: The bottom edge of the damping spring (5) is rotatably connected to a rectangular rod (14) that is driven by a motor and coaxially distributed with the insert (15). The rectangular rod (14) is inserted into the inner wall of the insert (15) on the same damping spring (5).

4. The palletizing robotic arm with buffer and shock absorption function according to claim 1, characterized in that: A winch (11) is installed on the upper surface of the mounting ring (13) near each shock absorber spring (5). A pull wire (6) is wound on the winch (11). One end of the pull wire (6) passes through the bottom and top edges of the shock absorber spring (5) cylinder and extends along the extension and retraction direction of the shock absorber spring (5) to be fixedly connected to the connecting seat (17).

5. The palletizing robotic arm with buffer and shock absorption function according to claim 4, characterized in that: The winding spool inside the winch (11) points to the central axis of the mounting ring (13), and a bevel gear (12) is fixedly installed at one end of the winding spool of the winch (11). Several bevel gears (12) are arranged in a ring array around the central axis of the mounting ring (13).

6. The palletizing robotic arm with buffer and shock absorption function according to claim 5, characterized in that: The regulating box (2) is rotatably connected to a double-sided toothed ring (10) that meshes with several bevel gears (12). One side of the double-sided toothed ring (10) is an annular straight tooth surface, and the other side is an annular bevel tooth surface that meshes with several bevel gears (12). The regulating box (2) is equipped with a spur gear (9) that is driven by a motor and meshes with the straight tooth surface of the double-sided toothed ring (10).

7. The palletizing robotic arm with buffer and shock absorption function according to claim 1, characterized in that: Several electric push rods (20) are fixedly installed on the regulating box (2). The telescopic ends of several electric push rods (20) are upward and fixedly installed with lifting rings (7) distributed coaxially with the mounting ring (13). The side of the lifting ring (7) is hinged with a diagonal tie rod (8) between it and the cylinder surface of each shock absorber spring (5).

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