CN108238453A - A kind of efficient palletizing mechanical arm - Google Patents
A kind of efficient palletizing mechanical arm Download PDFInfo
- Publication number
- CN108238453A CN108238453A CN201611206267.1A CN201611206267A CN108238453A CN 108238453 A CN108238453 A CN 108238453A CN 201611206267 A CN201611206267 A CN 201611206267A CN 108238453 A CN108238453 A CN 108238453A
- Authority
- CN
- China
- Prior art keywords
- motor
- fixedly connected
- lifting
- pedestal
- transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The invention discloses a kind of efficient palletizing mechanical arms,The pedestal is fixedly connected by riser with load-bearing axle,The load-bearing axle is equipped with upper sprocket wheel,The upper sprocket wheel is sequentially connected by transmission chain and lower sprocket,The lower sprocket is arranged on the middle part of transmission shaft,The transmission shaft is fixedly connected with lifting motor,The lifting motor is set on the base,The transmission chain is fixedly connected by link block with lifting arm,The lifting arm is flexibly connected with lead,The guiding column bottom is fixedly connected with pedestal,The lifting arm end is equipped with and grabs object motor,The object motor of grabbing is sequentially connected by mechanical transmissioning piece and handgrip,The base bottom is equipped with mobile motor,The mobile motor is sequentially connected by transmission parts and wheel shaft,The wheel shaft is fixedly connected with movable pulley,It is described to grab object motor,Lifting motor,Mobile motor is electrically connected by conducting wire and controller.Invention stacking speed is fast, intelligence degree is high for this, energy conservation and environmental protection, easy to operate, is worthy to be popularized.
Description
Technical field
The invention belongs to automatic producing technology fields, and in particular to a kind of efficient palletizing mechanical arm.
Background technology
Palletizing mechanical arm can be by the Bale Cargo of different appearance and sizes, neat, automatically code（Or it tears open）On pallet（It is or raw
Producing line is first-class）.To make full use of the area of pallet and the stability of code heap material, robot has material stacking sequence, arrangement
Setting apparatus.It can meet from low speed to high speed, from packaging bag to carton, from a kind of product of stacking to a variety of different products of stacking.It should
For product carrying, stacking etc., it is widely used in the different fields such as automobile, logistics, household electrical appliances, medicine, food and drink.Stacking machine
One of the important component of tool hand for robot palletizer, it is the working performance of palletizing mechanical arm (also referred to as end effector), reliable
The parameters such as property, structure, quality and appearance and size have very important significance to the integral working of robot palletizer.
Traditional palletizing mechanical arm is driven using air pressure, and passes through fingers opening-closing mechanism, side plate clamp system and bag pressing machine
Structure, the actions such as reliable packet capturing, carrying and stacking to realize packaging bag, and fingers opening-closing mechanism uses translating cam mechanism and company
The combined mechanism of linkage realizes that this robot manipulator structure is complicated, and the air-tightness of raising component is needed using pneumatic mode, increases
Production and the maintenance cost of equipment are added.Therefore, a kind of efficient palletizing mechanical arm is invented, goes solution drawbacks described above necessary.
Invention content
The purpose of the present invention is to provide a kind of efficient palletizing mechanical arm, to solve mentioned above in the background art ask
Topic.
To achieve the above object, the present invention provides following technical solution：A kind of efficient palletizing mechanical arm, including pedestal, institute
Pedestal is stated to be fixedly connected with load-bearing axle by riser, the load-bearing axle be equipped with upper sprocket wheel, the upper sprocket wheel by transmission chain with
Lower sprocket is sequentially connected, and the lower sprocket is arranged on the middle part of transmission shaft, and the transmission shaft is fixedly connected with lifting motor, described
Lifting motor is set on the base, and the transmission chain is fixedly connected by link block with lifting arm, the lifting arm and lead
Flexible connection, the guiding column bottom are fixedly connected with pedestal, and the lifting arm end is equipped with and grabs object motor, described to grab object motor
It is sequentially connected by mechanical transmissioning piece and handgrip, the base bottom is equipped with mobile motor, and the mobile motor passes through driving section
Part is sequentially connected with wheel shaft, and the wheel shaft is fixedly connected with movable pulley, and object motor, lifting motor, the mobile motor of grabbing passes through
Conducting wire is electrically connected with controller.
Preferably, the upper sprocket wheel, transmission chain and lower sprocket are set as 2 groups.
Preferably, the mechanical transmissioning piece includes sleeve, connecting rod, connecting bar disk, pin and screw rod, and is equipped in the middle part of connecting bar disk
Screw hole.
Preferably, the transmission parts include transmission belt, the small pulley being fixedly connected with mobile motor and are fixed with wheel shaft
The big belt wheel of connection.
Preferably, the handgrip is set as 3.
The technique effect and advantage of the present invention：The efficient palletizing mechanical arm, setting lifting motor are driven down by transmission shaft
Sprocket wheel rotates, thus lower sprocket can impart power to the synchronous rotation of upper sprocket wheel, lower sprocket and upper sprocket wheel by transmission chain
Link block can be driven to move up and down by transmission chain, and then lifting arm is driven to realize elevating movement by transmission chain, by setting
The accuracy of lifting arm elevating movement can be improved by putting lead, and increase the stability of integral device structure, be grabbed by setting
Object motor can capture object for manipulator and provide power, and mechanical transmissioning piece can will grab the power transmission of object motor to handgrip
On, it by setting mobile motor, can be rotated by transmission parts drive shaft, and then drive movable pulley rotation, pass through movement
Wheel realizes that pedestal moves freely, and broadens the scope of work, this invention stacking speed is fast, intelligence degree is high, energy conservation and environmental protection, operation
Simply, it is worthy to be popularized.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the front view of the present invention.
In figure：1 pedestal, 2 risers, 3 load-bearing axles, 4 upper sprocket wheels, 5 transmission chains, 6 link blocks, 7 lower sprockets, 8 transmission shafts, 9 are led
Xiang Zhu, 10 lifting arms, 11 grab object motor, 12 mechanical transmissioning pieces, 13 handgrips, 14 movable pulleys, 15 wheel shafts, 16 transmission parts, 17 liters
Motor, 18 mobile motors, 19 controllers drop.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
The present invention provides a kind of efficient palletizing mechanical arms as shown in Figs. 1-2, and including pedestal 1, the pedestal 1 passes through vertical
Plate 2 is fixedly connected with load-bearing axle 3, and the load-bearing axle 3 is equipped with upper sprocket wheel 4, and the upper sprocket wheel 4 passes through transmission chain 5 and lower sprocket 7
It is sequentially connected, the lower sprocket 7 is arranged on the middle part of transmission shaft 8, and the transmission shaft 8 is fixedly connected with lifting motor 17, described
Lifting motor 17 is arranged on pedestal 1, and the transmission chain 5 is fixedly connected by link block 6 with lifting arm 10, the lifting arm 10
It is flexibly connected with lead 9,9 bottom of lead is fixedly connected with pedestal 1, and 10 end of lifting arm is equipped with and grabs object motor
11, the object motor 11 of grabbing is sequentially connected by mechanical transmissioning piece 12 and handgrip 13, and 1 bottom of pedestal is equipped with mobile motor
18, the mobile motor 18 is sequentially connected by transmission parts 16 and wheel shaft 15, and the wheel shaft 15 is fixedly connected with movable pulley 14,
Object motor 11, lifting motor 17, the mobile motor 18 of grabbing is electrically connected by conducting wire and controller 19, and the upper sprocket wheel 4 passes
Dynamic chain 5 and lower sprocket 7 are set as 2 groups, and the mechanical transmissioning piece 12 includes sleeve, connecting rod, connecting bar disk, pin and screw rod, and connecting rod
Screw hole, the small pulley and and wheel shaft that the transmission parts 16 include transmission belt, are fixedly connected with mobile motor 18 are equipped in the middle part of disk
15 big belt wheels being fixedly connected, the handgrip 13 are set as 3.
Operation principle：During work, setting lifting motor 17 drives lower sprocket 7 to rotate by transmission shaft 8, thus lower sprocket 7
Upper sprocket wheel 4 can be imparted power to by transmission chain 5, the synchronous rotation of lower sprocket 7 and upper sprocket wheel 4 can pass through transmission chain 5
Link block 6 is driven to move up and down, and then lifting arm 10 is driven to realize elevating movement by transmission chain 5, by setting lead 9 can
To improve the accuracy of 10 elevating movement of lifting arm, and increase the stability of integral device structure, object motor 11 is grabbed by setting
Object being captured for manipulator and power being provided, mechanical transmissioning piece 12 can will grab the power transmission of object motor 11 to handgrip 13
On, it by setting mobile motor 18, can be rotated by 16 drive shaft 15 of transmission parts, and then movable pulley 14 is driven to rotate,
Moving freely for pedestal 1 is realized by movable pulley 14, is broadened the scope of work, stacking speed is fast, intelligence degree is high, energy-saving ring
It protects, is easy to operate, being worthy to be popularized.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify to the technical solution recorded in foregoing embodiments or carry out equivalent replacement to which part technical characteristic,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (5)
1. a kind of efficient palletizing mechanical arm, including pedestal（1）, it is characterised in that：The pedestal（1）Pass through riser（2）With load-bearing
Axis（3）It is fixedly connected, the load-bearing axle（3）It is equipped with upper sprocket wheel（4）, the upper sprocket wheel（4）Pass through transmission chain（5）With lower sprocket
（7）It is sequentially connected, the lower sprocket（7）It is arranged on transmission shaft（8）Middle part, the transmission shaft（8）With lifting motor（17）Gu
Fixed connection, the lifting motor（17）It is arranged on pedestal（1）On, the transmission chain（5）Pass through link block（6）With lifting arm（10）
It is fixedly connected, the lifting arm（10）With lead（9）Flexible connection, the lead（9）Bottom and pedestal（1）It is fixed to connect
It connects, the lifting arm（10）End is equipped with and grabs object motor（11）, it is described to grab object motor（11）Pass through mechanical transmissioning piece（12）With grabbing
Hand（13）It is sequentially connected, the pedestal（1）Bottom is equipped with mobile motor（18）, the mobile motor（18）Pass through transmission parts
（16）With wheel shaft（15）It is sequentially connected, the wheel shaft（15）With movable pulley（14）It is fixedly connected, it is described to grab object motor（11）, lifting
Motor（17）, mobile motor（18）Pass through conducting wire and controller（19）It is electrically connected.
2. a kind of efficient palletizing mechanical arm according to claim 1, it is characterised in that：The upper sprocket wheel（4）, transmission chain
（5）And lower sprocket（7）It is set as 2 groups.
3. a kind of efficient palletizing mechanical arm according to claim 1, it is characterised in that：The mechanical transmissioning piece（12）Including
Sleeve, connecting rod, connecting bar disk, pin and screw rod, and screw hole is equipped in the middle part of connecting bar disk.
4. a kind of efficient palletizing mechanical arm according to claim 1, it is characterised in that：The transmission parts（16）Including passing
Dynamic band and mobile motor（18）The small pulley and and wheel shaft being fixedly connected（15）The big belt wheel being fixedly connected.
5. a kind of efficient palletizing mechanical arm according to claim 1, it is characterised in that：The handgrip（13）It is set as 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611206267.1A CN108238453A (en) | 2016-12-23 | 2016-12-23 | A kind of efficient palletizing mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611206267.1A CN108238453A (en) | 2016-12-23 | 2016-12-23 | A kind of efficient palletizing mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108238453A true CN108238453A (en) | 2018-07-03 |
Family
ID=62704164
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611206267.1A Withdrawn CN108238453A (en) | 2016-12-23 | 2016-12-23 | A kind of efficient palletizing mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108238453A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108820903A (en) * | 2018-07-21 | 2018-11-16 | 辽宁鑫硕智能机械有限公司 | Color steel plate stacking machine |
-
2016
- 2016-12-23 CN CN201611206267.1A patent/CN108238453A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108820903A (en) * | 2018-07-21 | 2018-11-16 | 辽宁鑫硕智能机械有限公司 | Color steel plate stacking machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180703 |