CN204549476U - A kind of mechanical arm of two-way robot palletizer - Google Patents
A kind of mechanical arm of two-way robot palletizer Download PDFInfo
- Publication number
- CN204549476U CN204549476U CN201520221775.1U CN201520221775U CN204549476U CN 204549476 U CN204549476 U CN 204549476U CN 201520221775 U CN201520221775 U CN 201520221775U CN 204549476 U CN204549476 U CN 204549476U
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- connecting rod
- driven gear
- stripe board
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- mechanical arm
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Abstract
The mechanical arm of a kind of two-way robot palletizer of the present utility model, comprise flexible transverse arm, flexible transverse arm one end is provided with counterweight, flexible transverse arm is arranged with translation slide rail and translation leading screw in parallel, translation threads of lead screw is combined with the slide block that can slide along translation slide rail, slip front is connected with supporting plate, the driving gear I supporting plate being rotatably connected to driven gear I and being meshed with driven gear I, be fixedly connected with full wind-up above driven gear I, the front end of full wind-up is provided with clamper.The beneficial effects of the utility model are: can not only realize mechanical piling to section bar, but also can rotate, thus according to certain row of customer requirement and the number of plies, square crossing piling can be carried out to section bar, not only save piling space like this, and packing effect is also very firm.The not landing of article grasping stability, achieves the crawl function of high-precision high-reliability, has easy and simple to handle and that work efficiency is high advantage.
Description
Technical field
The utility model relates to a kind of mechanical arm of two-way robot palletizer.
Background technology
Robot palletizer is used in industrial process the class industrial robot of the task such as crawl, carrying, piling, de-stacking performing workpiece in enormous quantities, package, is the high-new electronic product integrating the subjects such as machinery, electronics, information, intellectual technology, computer science.Along with the development of China's robot industry, technology and field of research reach certain level, and robot palletizer technical merit have also been obtained fast development.In industrial production line normal use robot to replace manpower by load-carrying carrying and proper alignment on goods plate.Now general robot palletizer only can complete the piling in a workpiece direction, and piling efficiency is low, takes up room larger.
Along with the development of technology, robot transport palletizing technology importance in the industry more and more highlights.The vitals of palletizing mechanical equipment is clamper, and different clampers can produce different efficiency and reliability in the application.In prior art, traditional clamper, by arranging friction shoe at cleat surface, by servomotor and retarder setting clamping dynamics, makes the friction shoe on clamping plate increase the friction force of article and both sides clamping plate, make article stablize not landing, the safety and reliability of piling are low.
More existing mechanical arm complex structures, volume is large, although commonality is large, specific aim is not good, and when piling meets the tendency, programming control is complicated, manufactures, tooling cost is high; Its balancing device is heavier, and institute takes up space large; Installation difficulty is comparatively large, needs repeatedly to debug.Therefore be necessary to be improved.
Summary of the invention
For solving above technical deficiency, it is simple that the utility model provides a kind of structure, the mechanical arm of the two-way robot palletizer that work efficiency is high.
The utility model is realized by following measures:
The mechanical arm of a kind of two-way robot palletizer of the present utility model, comprises flexible transverse arm, described in stretch
Contracting transverse arm one end is provided with counterweight, flexible transverse arm is arranged with translation slide rail and translation leading screw in parallel, described translation threads of lead screw is combined with the slide block that can slide along translation slide rail, described slip front is connected with supporting plate, the driving gear I described supporting plate being rotatably connected to driven gear I and being meshed with driven gear I, be fixedly connected with full wind-up above described driven gear I, the front end of described full wind-up is provided with clamper.
Above-mentioned clamper comprises two symmetrical connecting rod mechanisms, described connecting rod mechanism comprises main connecting rod and auxiliary connecting rod, described main connecting rod and auxiliary connecting rod include two stripe board side by side, Connection Block is rotatably connected between two stripe board upper ends of main connecting rod, described Connection Block is fixedly connected on the bottom of full wind-up, grip block is connected with between two stripe board lower ends of main connecting rod, rotating shaft is connected with between two stripe board upper ends of auxiliary connecting rod, and auxiliary connecting rod is connected between two stripe board tops of main connecting rod by axis of rotation, tractive seat is rotatably connected between two stripe board lower ends of auxiliary connecting rod, described tractive seat is rotatably connected between the auxiliary connecting rod of two connecting rod mechanisms, tractive seat center screw thread is installed with tractive screw rod.
Above-mentioned grip block is strip shape, and be connected to the middle part of grip block between two stripe board lower ends of main connecting rod by binding bolt, grip block bottom is outwardly clamping boss, and the surface of described clamping boss is provided with anti-slip veins.
The activity of above-mentioned tractive screw tip passes full wind-up and is connected with driven gear II, and described driven gear II is engaged with driving gear II, and described driving gear II drives and is connected with the clamping motor be connected with controller signals.
The beneficial effects of the utility model are: can not only realize mechanical piling to section bar, but also can rotate, thus according to certain row of customer requirement and the number of plies, square crossing piling can be carried out to section bar, not only save piling space like this, and packing effect is also very firm.The not landing of article grasping stability, achieves the crawl function of high-precision high-reliability, has easy and simple to handle and that work efficiency is high advantage.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of gripper part of the present utility model.
Wherein: 1 flexible transverse arm, 2 translation leading screws, 3 slide blocks, 4 supporting plates, 5 full wind-ups, 6 driven gear II, 7 driving gear II, 8 clampers, 8-1 main connecting rod, 8-2 auxiliary connecting rod, 8-3 grip block, 8-4 tractive seat, 8-5 tractive screw rod, 8-6 Connection Block, 8-7 clamps boss.
Detailed description of the invention
Below in conjunction with accompanying drawing, further detailed description is done to the utility model:
As shown in Figure 1, the mechanical arm of a kind of two-way robot palletizer of the present utility model, comprise flexible transverse arm 1, flexible transverse arm 1 one end is provided with counterweight, flexible transverse arm 1 is arranged with translation slide rail and translation leading screw 2 in parallel, translation leading screw 2 screw thread fit has the slide block 3 that can slide along translation slide rail, slide block 3 front end is connected with supporting plate 4, the driving gear I supporting plate 4 being rotatably connected to driven gear I and being meshed with driven gear I, be fixedly connected with full wind-up 5 above driven gear I, the front end of full wind-up 5 is provided with clamper 8.
As shown in Figure 2, clamper 8 comprises two symmetrical connecting rod mechanisms, connecting rod mechanism comprises main connecting rod 8-1 and auxiliary connecting rod 8-2, described main connecting rod 8-1 and auxiliary connecting rod 8-2 includes two stripe board side by side, Connection Block 8-6 is rotatably connected between two stripe board upper ends of main connecting rod 8-1, Connection Block 8-6 is fixedly connected on the bottom of full wind-up 5, grip block 8-3 is connected with between two stripe board lower ends of main connecting rod 8-1, rotating shaft is connected with between two stripe board upper ends of auxiliary connecting rod 8-2, and auxiliary connecting rod 8-2 is connected between two stripe board tops of main connecting rod 8-1 by axis of rotation, tractive seat 8-4 is rotatably connected between two stripe board lower ends of auxiliary connecting rod 8-2, described tractive seat 8-4 is rotatably connected between the auxiliary connecting rod 8-2 of two connecting rod mechanisms, tractive seat 8-4 center screw thread is installed with tractive screw rod 8-5.Grip block 8-3 is strip shape, is connected to the middle part of grip block 8-3 between two stripe board lower ends of main connecting rod 8-1 by binding bolt, and grip block 8-3 bottom is outwardly clamping boss 8-7, and the surface of described clamping boss 8-7 is provided with anti-slip veins.Tractive screw rod 8-5 top movable passes full wind-up 5 and is connected with driven gear II 6, and driven gear II 6 is engaged with driving gear II 7, and driving gear II 7 drives and is connected with the clamping motor be connected with controller signals.
During use, after robot palletizer starts, flexible transverse arm 1 one aspect can own level half-twist, and the full wind-up 5 on simultaneous retractable transverse arm 1 also can horizontally rotate 90 °, thus just can complete square crossing piling.The top of main connecting rod 8-1 is rotatably connected on the Connection Block 8-6 of stacker mechanical arm, tractive screw rod 8-5 motor drives, when motor drives tractive screw rod 8-5 to rotate, tractive seat 8-4 can rise or decline, when tractive seat 8-4 rises, pull auxiliary connecting rod 8-2 lower end to upwarp, thus increase the distance between tractive seat 8-4 and main connecting rod 8-1, force main connecting rod 8-1 to open to both sides, grip block 8-3 also just and then opens.When tractive seat 8-4 declines, pull auxiliary connecting rod 8-2 lower end to move down, thus shorten the distance between tractive seat 8-4 and main connecting rod 8-1, force main connecting rod 8-1 to tighten up to the inside, grip block 8-3 also just and then closes.The rotation of tractive screw rod 8-5 is realized by driven gear II 6 and driving gear II 7 transmission.The rotation of full wind-up 5 is realized by driven gear I and driving gear I transmission.
The above is only preferred implementation of the present utility model; should be understood that; for those skilled in the art; under the prerequisite not departing from the utility model know-why; can also make some improvement and replacement, these improve and replace and also should be considered as protection domain of the present utility model.
Claims (4)
1. a mechanical arm for two-way robot palletizer, is characterized in that: comprise flexible transverse arm, described in stretch
Contracting transverse arm one end is provided with counterweight, flexible transverse arm is arranged with translation slide rail and translation leading screw in parallel, described translation threads of lead screw is combined with the slide block that can slide along translation slide rail, described slip front is connected with supporting plate, the driving gear I described supporting plate being rotatably connected to driven gear I and being meshed with driven gear I, be fixedly connected with full wind-up above described driven gear I, the front end of described full wind-up is provided with clamper.
2. the mechanical arm of two-way robot palletizer according to claim 1, it is characterized in that: described clamper comprises two symmetrical connecting rod mechanisms, described connecting rod mechanism comprises main connecting rod and auxiliary connecting rod, described main connecting rod and auxiliary connecting rod include two stripe board side by side, Connection Block is rotatably connected between two stripe board upper ends of main connecting rod, described Connection Block is fixedly connected on the bottom of full wind-up, grip block is connected with between two stripe board lower ends of main connecting rod, rotating shaft is connected with between two stripe board upper ends of auxiliary connecting rod, and auxiliary connecting rod is connected between two stripe board tops of main connecting rod by axis of rotation, tractive seat is rotatably connected between two stripe board lower ends of auxiliary connecting rod, described tractive seat is rotatably connected between the auxiliary connecting rod of two connecting rod mechanisms, tractive seat center screw thread is installed with tractive screw rod.
3. the mechanical arm of two-way robot palletizer according to claim 2, it is characterized in that: described grip block is strip shape, be connected to the middle part of grip block by binding bolt between two stripe board lower ends of main connecting rod, grip block bottom is outwardly clamping boss, and the surface of described clamping boss is provided with anti-slip veins.
4. the mechanical arm of two-way robot palletizer according to claim 2, it is characterized in that: the activity of described tractive screw tip passes full wind-up and is connected with driven gear II, described driven gear II is engaged with driving gear II, and described driving gear II drives and is connected with the clamping motor be connected with controller signals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520221775.1U CN204549476U (en) | 2015-04-14 | 2015-04-14 | A kind of mechanical arm of two-way robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520221775.1U CN204549476U (en) | 2015-04-14 | 2015-04-14 | A kind of mechanical arm of two-way robot palletizer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204549476U true CN204549476U (en) | 2015-08-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520221775.1U Expired - Fee Related CN204549476U (en) | 2015-04-14 | 2015-04-14 | A kind of mechanical arm of two-way robot palletizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204549476U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105690415A (en) * | 2016-04-06 | 2016-06-22 | 江苏金铁人自动化科技有限公司 | Mechanical hand mechanism for gripping PCB boards |
| CN110524571A (en) * | 2019-08-30 | 2019-12-03 | 南京斯杩克机器人技术有限公司 | A kind of transfer robot arm of force |
| CN111761578A (en) * | 2020-06-28 | 2020-10-13 | 江苏工程职业技术学院 | Stacking robot and control method thereof |
-
2015
- 2015-04-14 CN CN201520221775.1U patent/CN204549476U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105690415A (en) * | 2016-04-06 | 2016-06-22 | 江苏金铁人自动化科技有限公司 | Mechanical hand mechanism for gripping PCB boards |
| CN110524571A (en) * | 2019-08-30 | 2019-12-03 | 南京斯杩克机器人技术有限公司 | A kind of transfer robot arm of force |
| CN111761578A (en) * | 2020-06-28 | 2020-10-13 | 江苏工程职业技术学院 | Stacking robot and control method thereof |
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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: 20150812 Termination date: 20160414 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |