CN203112153U - Stacking mechanical arm - Google Patents
Stacking mechanical arm Download PDFInfo
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- CN203112153U CN203112153U CN 201320128326 CN201320128326U CN203112153U CN 203112153 U CN203112153 U CN 203112153U CN 201320128326 CN201320128326 CN 201320128326 CN 201320128326 U CN201320128326 U CN 201320128326U CN 203112153 U CN203112153 U CN 203112153U
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- forearm
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Abstract
The utility model provides a stacking mechanical arm and belongs to the technical field of automation equipment. The stacking mechanical arm solves the problem that an existing stacking device is poor in accuracy. The stacking mechanical arm comprises a base, a rack, an arm mechanism and a grabbing hand. A driving mechanism driving the arm mechanism to move is arranged in the rack. The arm mechanism comprises a front arm, a rear arm and a parallel arm parallel to the rear arm. The stacking mechanical arm further comprises a maintaining mechanism controlling the gesture of the grabbing hand. The maintaining mechanism comprises a rotary disc, a front draw bar and a rear draw bar. The rotary disc is arranged on the turning joint portion of the parallel arm and the front arm through a rotary shaft in a rotary mode. The other end of the front draw bar and the other end of the rear draw bar are connected with the grabbing hand and a maintaining driving device respectively. According to the stacking mechanical arm, the maintaining mechanism used for controlling the gesture of the grabbing hand is additionally arranged so that the grabbing hand can maintain the fixed direction in the process of work and the accuracy of bag grabbing and stacking can be improved. A whole machine is controlled through a programmable logic controller (PLC), operation is fully automatic, automatic degree is high, and work efficiency is greatly improved.
Description
Technical field
The utility model belongs to technical field of automation equipment, relates to a kind of palletizing mechanical arm, is applicable to industries such as food medicine, light industry, tobacco, petrochemical complex, logistics, storage, is used for piling band packaged products.
Background technology
In above-mentioned industry, all to relate to piling to its product, before be to get from carrying out piling again in one from manufacturing line or from a certain ad-hoc location by manual packaging bag one by one or packing chest, deficiency is that the manpower that drops into is many, working strength of workers is big.Mechanical stacker has just been arranged thereafter, existing finding in Chinese patent literature, for example CN2552880Y and CN2547698Y disclose program control stacker and stacker respectively, and the former is also inapplicable for the packing material of bag, case class mainly for the manufacture of particularly brickmaking industry of building materials; The latter is only applicable to the casing piling of light industries such as tobacco, food, and just helpless for bag class packing.The spy is that above-mentioned two kinds of structures all do not belong to the technology category matched with the paw of puma manipulator stacker fully, because the stacking system that they all need specific stacking rack, lifting table, pickup device to wait to be combined as to have a style of one's own, if with the terminal of such matched with devices at manufacturing line, constitute influence then can for the finite space of production scene.
In recent years, dapper Intelligentized manipulator stacker generally used abroad, and also quietly used in China.Various manipulator generally is made up of forearm and postbrachium, and forearm is provided with handgrip, and the motion by control forearm and postbrachium makes handgrip accurately grasp packaging bag, and at the relevant position piling.But, because handgrip can realize lifting and decline with forearm rotation, cause handgrip towards also changing constantly with forearm, the accuracy of bag and piling is grabbed in influence, in the prior art also less than the research at this respect.
Summary of the invention
The purpose of this utility model is at the existing the problems referred to above of existing intelligent stacking equipment, and has proposed a kind of handgrip attitude of can adjusting constantly, guarantees to grab bag and piling manipulator accurately.
The purpose of this utility model can realize by following technical proposal: a kind of palletizing mechanical arm, comprise base, frame, arm mechanism and handgrip, be provided with the driver train that drives the arm mechanism action in the frame, frame is rotated and is arranged on the base, described arm mechanism comprises forearm, postbrachium and the parallel arms parallel with postbrachium, one end of postbrachium and parallel arms is rotatably connected on the tail end of forearm at interval, handgrip is rotatably connected on the forearm front end by the P axle, it is characterized in that, described palletizing mechanical arm also includes the mechanism that keeps of control handgrip attitude, keep mechanism and comprise rotating disk, front tension bar and back stay, rotating disk rotates the transit point place that is arranged on parallel arms and forearm by a rotating shaft, one end of front tension bar and back stay is rotatably connected on the rotating disk respectively, the point of connection branch is located at the rotating shaft both sides, and the other end of front tension bar and back stay is connected handgrip respectively and keeps actuating device.
In above-mentioned a kind of palletizing mechanical arm, described rotating disk is triangular in shape, and above-mentioned front tension bar, back stay and parallel arms are connected to three ends of rotating disk.
In above-mentioned a kind of palletizing mechanical arm, the described actuating device of keeping is cylinder, and the piston rod of cylinder is connected with back stay.
In above-mentioned a kind of palletizing mechanical arm, described driver train comprises vertical component and horizontal component, both include motor, driving wheel, flower wheel, be with synchronously, ball-screw and shifting sledge, driving wheel is connected with motor, band is set on driving wheel and the flower wheel synchronously, flower wheel is connected with ball-screw is coaxial, shifting sledge is threaded with ball-screw, the ball-screw of vertical component vertically arranges, and the shifting sledge that is mated and the drive end of postbrachium are rotationally connected, the ball-screw of horizontal component is horizontally disposed with, and the drive end of the shifting sledge that is mated and parallel arms is rotationally connected.
Compared with prior art, this palletizing mechanical arm has attached the mechanism that keeps that is used for control handgrip attitude, makes handgrip in the course of the work, can keep all the time fixing towards, improve the accuracy of grabbing bag and piling.Manipulator also can turn round around base except can controlling handgrip front and back, up-and-down movement, has enlarged the scope of work of palletizing mechanical arm.Complete machine PLC control, fully automatic operation, the degree of automation height has improved work efficiency greatly.
Description of drawings
Fig. 1 is the structural representation of this palletizing mechanical arm.
Among the figure, 1, base; 2, frame; 3, handgrip; 4, θ axle; 5, motor; 6, driving wheel; 7, flower wheel; 8, be with synchronously; 9, ball-screw; 10, shifting sledge; 11, forearm; 12, postbrachium; 13, parallel arms; 14, J axle; 15, Z axle; 16, R axle; 17, cylinder; 18, front tension bar; 19, back stay; 20, rotating disk; 21, rotating shaft; 22, P axle.
The specific embodiment
Below be specific embodiment of the utility model and by reference to the accompanying drawings, the technical solution of the utility model is further described, but the utility model be not limited to these embodiment.
As shown in Figure 1, this palletizing mechanical arm comprises base 1, frame 2, arm mechanism and handgrip 3, be provided with the driver train that drives the arm mechanism action in the frame 2, frame 2 is rotated by θ axle 4 and is arranged on the base 1, is equipped with AC servomotor and reductor and realizes that complete machine is around the rotation of θ axle 4.
Driver train comprises vertical component and horizontal component, both include motor 5, driving wheel 6, flower wheel 7, be with 8 synchronously, ball-screw 9 and shifting sledge 10, driving wheel 6 is connected with motor 5, be with 8 to be set on driving wheel 6 and the flower wheel 7 synchronously, flower wheel 7 and ball-screw 9 coaxial being connected, shifting sledge 10 is threaded with ball-screw 9.The ball-screw 9 of vertical component vertically arranges, and the ball-screw 9 of horizontal component is horizontally disposed with, above-mentioned motor 5, driving wheel 6, flower wheel 7 and be with also corresponding layout the thereupon of annexes such as 8 synchronously.
Arm mechanism comprises forearm 11, postbrachium 12 and the parallel arms 13 parallel with postbrachium 12, the front end of forearm 11 is rotationally connected by P axle 22 and handgrip 3, the end, rear end is rotationally connected by J axle 14 and postbrachium 12, and the other end of postbrachium 12 is rotationally connected by the shifting sledge 10 of Z axle 15 with vertical component.The upper end of parallel arms 13 is rotationally connected by rotating shaft 21 and forearm 11, and the lower end is rotationally connected by the shifting sledge 10 of R axle 16 with horizontal component.Also be rotatably connected to rotating disk 20 in the rotating shaft 21, rotating disk 20 is triangular in shape, rotating shaft 21 is arranged on a wherein end of rotating disk 20, and the other two ends of rotating disk 20 are rotatably connected to front tension bar 18 and back stay 19 respectively, and the other end of front tension bar 18 and back stay 19 then is connected with cylinder 17 with handgrip 3 respectively.
During use, this manipulator is installed in the end of load-transfer device, packaging bag to be palletized is carried along load-transfer device, when arriving the piling station, inductor sends induced signal to control system, motor 5 work of control system control AC servomotor, horizontal component and vertical component, postbrachium 12 and parallel arms 13 actions, cooperate the rotation of frame 2, forearm 11 and handgrip 3 are turned round to piling station top, handgrip 3 falls and finishes grabs bag.After grabbing bag, motor 5 work of control system control AC servomotor, horizontal component and vertical component are turned round to the piling district forearm 11 and handgrip 3, according to current piling height, regulate the height of handgrip 3, and handgrip 3 unclamps, and packaging bag falls, and finishes piling.During the manipulator continuous working, control system need be regulated bag position of putting of handgrip 3 constantly, realizes orderly piling.
Forearm 11 in the 21 rotation operation processes, is grabbed bag and is put a bag effect for preventing that handgrip 3 from rotating influence with forearm 11 around the shaft, can utilize the action of front tension bar 18, back stay 19, rotating disk 20 and cylinder 17 cooperation forearms 11 this moment and handgrip 3 is remained on hold position.When forearm 11 rotated, the piston rod of cylinder 17 shrank, and steeved with respect to P axle 22 by back stay 19, rotating disk 20 and front tension bar 18 pulling handgrips 3 successively, made handgrip 3 still can keep horizontality in falling process.Otherwise when forearm 11 upwards rotated, the piston rod of cylinder 17 stretched out, and promoted handgrip 3 by back stay 19, rotating disk 20 and front tension bar 18 successively and rotated with respect to P axle 22, made handgrip 3 still can keep horizontality equally in uphill process.
When the packaging bag delivery speed is slower than the piling speed of manipulator, can controls handgrip 3 earlier and move to the piling station, bag to be packaged can be grabbed bag after carrying and putting in place at once, and compression is grabbed bag at interval, increases work efficiency.
Should be appreciated that, in claims of the present utility model, specification sheets, all " comprising ... " all are interpreted as open implication, and just its implication is equal to " containing at least ... ", and should not be construed as enclosed implication, namely its implication should not be construed " only comprising ... ".
Specific embodiment described herein only is that the utility model spirit is made casehistory.The utility model person of ordinary skill in the field can make various modifications or replenishes or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present utility model or surmount the defined scope of appended claims.
Claims (4)
1. palletizing mechanical arm, comprise base (1), frame (2), arm mechanism and handgrip (3), be provided with the driver train that drives the arm mechanism action in the frame (2), frame (2) is rotated and is arranged on the base (1), described arm mechanism comprises forearm (11), postbrachium (12) and the parallel arms (13) parallel with postbrachium (12), one end of postbrachium (12) and parallel arms (13) is rotatably connected on the tail end of forearm (11) at interval, handgrip (3) is rotatably connected on forearm (11) front end by P axle (22), it is characterized in that, described palletizing mechanical arm also includes the mechanism that keeps of control handgrip (3) attitude, keep mechanism and comprise rotating disk (20), front tension bar (18) and back stay (19), rotating disk (20) rotates the transit point place that is arranged on parallel arms (13) and forearm (11) by a rotating shaft (21), one end of front tension bar (18) and back stay (19) is rotatably connected on respectively on the rotating disk (20), the point of connection branch is located at rotating shaft (21) both sides, and the other end of front tension bar (18) and back stay (19) is connected handgrip (3) respectively and keeps actuating device.
2. a kind of palletizing mechanical arm according to claim 1 is characterized in that, described rotating disk (20) is triangular in shape, and above-mentioned front tension bar (18), back stay (19) and parallel arms (13) are connected to three ends of rotating disk (20).
3. a kind of palletizing mechanical arm according to claim 1 and 2 is characterized in that, the described actuating device of keeping is cylinder (17), and the piston rod of cylinder (17) is connected with back stay (19).
4. a kind of palletizing mechanical arm according to claim 1 and 2, it is characterized in that, described driver train comprises vertical component and horizontal component, both include motor (5), driving wheel (6), flower wheel (7), be with synchronously (8), ball-screw (9) and shifting sledge (10), driving wheel (6) is connected with motor (5), band (8) is set on driving wheel (6) and the flower wheel (7) synchronously, flower wheel (7) and coaxial being connected of ball-screw (9), shifting sledge (10) is threaded with ball-screw (9), the ball-screw of vertical component (9) vertically arranges, and the shifting sledge that is mated (10) is rotationally connected with the drive end of postbrachium (12), the ball-screw of horizontal component (9) is horizontally disposed with, and the drive end of the shifting sledge that is mated (10) and parallel arms (13) is rotationally connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320128326 CN203112153U (en) | 2013-03-20 | 2013-03-20 | Stacking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320128326 CN203112153U (en) | 2013-03-20 | 2013-03-20 | Stacking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203112153U true CN203112153U (en) | 2013-08-07 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320128326 Expired - Fee Related CN203112153U (en) | 2013-03-20 | 2013-03-20 | Stacking mechanical arm |
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| Country | Link |
|---|---|
| CN (1) | CN203112153U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103449189A (en) * | 2013-08-09 | 2013-12-18 | 舟山弘业环保材料有限公司 | Stacking method of autoclaved flyash-lime bricks or autoclaved sand-lime bricks |
| CN104858861A (en) * | 2015-06-09 | 2015-08-26 | 洛阳理工学院 | Stacking mechanical arm |
| CN104908032A (en) * | 2014-03-10 | 2015-09-16 | 珠海格力电器股份有限公司 | Integrated manipulator structure |
| CN105144939A (en) * | 2015-07-03 | 2015-12-16 | 华南农业大学 | Big seedling rice transplanting robotic hand |
| CN105883424A (en) * | 2016-05-03 | 2016-08-24 | 上海交通大学 | AGV device capable of achieving automatic stacking |
| CN107381022A (en) * | 2017-07-25 | 2017-11-24 | 芜湖超源力工业设计有限公司 | A kind of robot palletizer with six joint Manipulators |
| CN107378925A (en) * | 2016-05-17 | 2017-11-24 | 湖南工业大学 | A kind of mechanical arm for shield machine tool changing |
| CN107673067A (en) * | 2017-10-13 | 2018-02-09 | 江苏双双高新科技有限公司 | A kind of robot palletizer |
| CN111302075A (en) * | 2019-12-12 | 2020-06-19 | 江苏昱博自动化设备有限公司 | Pile up neatly with grabbing bag manipulator |
| CN115215107A (en) * | 2022-07-13 | 2022-10-21 | 泉州市科盛包装机械有限公司 | Automatic stacking method |
-
2013
- 2013-03-20 CN CN 201320128326 patent/CN203112153U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103449189A (en) * | 2013-08-09 | 2013-12-18 | 舟山弘业环保材料有限公司 | Stacking method of autoclaved flyash-lime bricks or autoclaved sand-lime bricks |
| CN104908032A (en) * | 2014-03-10 | 2015-09-16 | 珠海格力电器股份有限公司 | Integrated manipulator structure |
| CN104858861A (en) * | 2015-06-09 | 2015-08-26 | 洛阳理工学院 | Stacking mechanical arm |
| CN105144939A (en) * | 2015-07-03 | 2015-12-16 | 华南农业大学 | Big seedling rice transplanting robotic hand |
| CN105883424A (en) * | 2016-05-03 | 2016-08-24 | 上海交通大学 | AGV device capable of achieving automatic stacking |
| CN105883424B (en) * | 2016-05-03 | 2018-08-17 | 上海交通大学 | Can autonomous stacking AGV devices |
| CN107378925A (en) * | 2016-05-17 | 2017-11-24 | 湖南工业大学 | A kind of mechanical arm for shield machine tool changing |
| CN107381022A (en) * | 2017-07-25 | 2017-11-24 | 芜湖超源力工业设计有限公司 | A kind of robot palletizer with six joint Manipulators |
| CN107673067A (en) * | 2017-10-13 | 2018-02-09 | 江苏双双高新科技有限公司 | A kind of robot palletizer |
| CN111302075A (en) * | 2019-12-12 | 2020-06-19 | 江苏昱博自动化设备有限公司 | Pile up neatly with grabbing bag manipulator |
| CN115215107A (en) * | 2022-07-13 | 2022-10-21 | 泉州市科盛包装机械有限公司 | Automatic stacking method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130807 Termination date: 20200320 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |