CN210678712U

CN210678712U - Grabbing mechanical arm for article classification

Info

Publication number: CN210678712U
Application number: CN201921623698.7U
Authority: CN
Inventors: 肖武艺
Original assignee: Dongguan University of Technology
Current assignee: Dongguan University of Technology
Priority date: 2019-09-27
Filing date: 2019-09-27
Publication date: 2020-06-05
Anticipated expiration: 2029-09-27

Abstract

The utility model discloses a be used for categorised arm of snatching of article, including supporting mechanism, snatch mechanism, drive mechanism, be used for fixed other parts base, transmission case, rotation motor, the base top is provided with the transmission case, be provided with in the transmission case drive mechanism, the transmission case top is provided with supporting mechanism with rotate the motor, supporting mechanism is located rotate motor one side position. The utility model discloses an ultrasonic sensor comes to detect arm activity area, in case the discovery someone then equipment does not start the operation in this region, prevents that arm activity in-process from causing personnel's injury, utilizes four motors to drive the arm and moves about, makes the structure of arm more simple and convenient in maintenance and maintenance to can not set up the isolated column around this arm and saved the space.

Description

Grabbing mechanical arm for article classification

Technical Field

The utility model relates to an arm production field especially relates to a be used for article classification's arm that snatchs.

Background

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. The mechanical arm is a complex system and has uncertainties such as parameter perturbation, external interference, unmodeled dynamics and the like. Therefore, uncertainty exists in a modeling model of the mechanical arm, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the tail end pose is formed by cascading.

Generally, isolation fences are arranged in a mechanical arm moving area, and the purpose is to prevent an operator from entering the area and colliding with a mechanical arm in the mechanical arm moving process, so that personnel injury is prevented, and accidents are reduced; however, the area occupied by the isolation fence is large, and the area cannot be used very much, which is wasted;

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a be used for article classification's arm of snatching in order to solve above-mentioned problem.

The utility model discloses a following technical scheme realizes above-mentioned purpose:

a grabbing mechanical arm for article classification comprises a supporting mechanism, a grabbing mechanism, a transmission mechanism, a base for fixing other parts, a transmission case and a rotating motor, the transmission case is arranged above the base, the transmission mechanism is arranged in the transmission case, the supporting mechanism and the rotating motor are arranged above the transmission case, the supporting mechanism is positioned at one side of the rotating motor, the upper end of the supporting mechanism is provided with the grabbing mechanism and also comprises a control mechanism for detecting obstacles, the control mechanism comprises a control cabinet and an ultrasonic sensor, the control cabinet is connected above the base through a bolt, the control cabinet adopts FX2N type PLC controller, five ultrasonic sensors are connected above the base through bolts, the model of the ultrasonic sensor is HC-SR04, and the ultrasonic sensor is electrically connected with the control cabinet.

Preferably: the transmission mechanism comprises a first gear and a second gear, the first gear is connected with the supporting mechanism, and the second gear is connected with the rotating part of the rotating motor through a key.

So set up, the rotation motor through first gear with the transmission is carried out to the second gear, and then can drive supporting mechanism rotates.

Preferably: drive mechanism includes drive sprocket, drive chain, is located base one side drive sprocket connects supporting mechanism is located the base opposite side drive sprocket passes through the key-type connection and is in rotate the motor rotation portion.

So set up, the rotation motor passes through drive chain and two drive sprocket carries out the transmission, and then can drive supporting mechanism rotates.

Preferably: the supporting mechanism comprises a first supporting arm, a second supporting arm, a third supporting arm, a first motor, a second motor and a third motor, the first motor is connected with the upper end of the first supporting arm through a bolt, the lower end of the second supporting arm is connected with the first motor in a rotating part through a key, the second motor is connected with the upper end of the second supporting arm through a bolt, one end of the third supporting arm is connected with the second motor in a rotating part through a key, and the third motor is connected with the other end of the third supporting arm through a bolt.

According to the arrangement, the first motor drives the second supporting arm to rotate, the second motor drives the third supporting arm to rotate, so that the mechanical arm can move in space, and the angle of the grabbing mechanism is adjusted through the third motor.

Preferably: snatch the mechanism including snatching the mount, snatching the cylinder, snatch the fixed plate, it connects to snatch the mount the supporting mechanism, it passes through bolted connection to snatch the cylinder fixed part and is in snatch the mount inboard, it passes through welded connection to snatch the fixed plate and is in snatch the cylinder pars contractilis.

According to the arrangement, the grabbing fixing frame is used for fixing the grabbing cylinder, and the grabbing fixing plate is driven to grab an article through the change of the telescopic part of the grabbing cylinder.

Preferably: the transmission case passes through bolted connection on the base, it passes through bolted connection to rotate the motor pass through bolted connection the transmission case top other side position.

So set up, utilize the base will the transmission case supports fixedly, the rotation motor passes through the transmission case drives supporting mechanism rotates.

Compared with the prior art, the beneficial effects of the utility model are as follows:

1. the moving area of the mechanical arm is detected through the ultrasonic sensor, once people are found in the area, the equipment is not started to operate, and personnel injury in the moving process of the mechanical arm is prevented;

2. the four motors are used for driving the mechanical arm to move, so that the structure of the mechanical arm is simpler and more convenient to maintain and repair, and the space is saved without arranging a barrier around the mechanical arm.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a grabbing mechanical arm for article classification according to the present invention;

fig. 2 is a left side view of a grasping robot arm for sorting articles according to the present invention;

fig. 3 is a top view of a grasping robot arm for sorting articles according to the present invention;

fig. 4 is a partial part view of a grabbing mechanism of a grabbing mechanical arm for sorting articles according to the present invention;

fig. 5 is a schematic structural view of an embodiment 1 of a transmission mechanism of a grabbing mechanical arm for sorting articles according to the present invention;

fig. 6 is a schematic structural view of an embodiment 2 of a transmission mechanism of a grabbing mechanical arm for article classification according to the present invention;

fig. 7 is a circuit flow diagram of a grabbing mechanical arm for article classification according to the present invention.

The reference numerals are explained below:

1. a support mechanism; 2. a grabbing mechanism; 3. a transmission mechanism; 4. a control mechanism; 5. a base; 6. a transmission case; 7. rotating the motor; 11. a first support arm; 12. a second support arm; 13. a third support arm; 14. a first motor; 15. a second motor; 16. a third motor; 21. grabbing the fixed frame; 22. a grabbing cylinder; 23. grabbing a fixed plate; 31. a first gear; 32. a second gear; 311. a drive sprocket; 312. a drive chain; 41. a control cabinet; 42. an ultrasonic sensor.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be further explained with reference to the accompanying drawings:

the utility model provides a snatch arm for article classification, including supporting mechanism 1, snatch mechanism 2, drive mechanism 3, a base 5 for fixing other parts, transmission case 6, rotate motor 7, base 5 top is provided with transmission case 6, be provided with drive mechanism 3 in the transmission case 6, 6 tops of transmission case are provided with supporting mechanism 1 and rotate motor 7, supporting mechanism 1 is located rotation motor 7 one side position, supporting mechanism 1 upper end is provided with snatchs mechanism 2, still including the control mechanism 4 who is used for detecting the barrier, control mechanism 4 includes switch board 41, ultrasonic sensor 42, switch board 41 passes through bolted connection in base 5 top, five ultrasonic sensor 42 pass through bolted connection in base 5 top, ultrasonic sensor 42 passes through the electricity with switch board 41 and is connected.

Example 1

As shown in fig. 1, 2, 3, 4, 5, and 7, the transmission mechanism 3 includes a first gear 31 and a second gear 32, the first gear 31 is connected to the lower end of the first support arm 11 by welding, the second gear 32 is connected to the rotating part of the rotating motor 7 by a key, and the rotating motor 7 transmits through the first gear 31 and the second gear 32, so as to drive the support mechanism 1 to rotate; the supporting mechanism 1 comprises a first supporting arm 11, a second supporting arm 12, a third supporting arm 13, a first motor 14, a second motor 15 and a third motor 16, wherein the first motor 14 is connected to the upper end of the first supporting arm 11 through a bolt, the lower end of the second supporting arm 12 is connected to a rotating part of the first motor 14 through a key, the second motor 15 is connected to the upper end of the second supporting arm 12 through a bolt, one end of the third supporting arm 13 is connected to the rotating part of the second motor 15 through a key, the third motor 16 is connected to the other end of the third supporting arm 13 through a bolt, the second supporting arm 12 is driven to rotate through the first motor 14, the third supporting arm 13 is driven to rotate through the second motor 15, and therefore the movement of the mechanical arm in the space can be realized, and the angle of the grabbing mechanism 2 is adjusted through the third motor 16; the grabbing mechanism 2 comprises a grabbing fixing frame 21, a grabbing cylinder 22 and a grabbing fixing plate 23, the grabbing fixing frame 21 is connected to the rotating part of the third motor 16 through a key, the fixing part of the grabbing cylinder 22 is connected to the inner side of the grabbing fixing frame 21 through a bolt, the grabbing fixing plate 23 is connected to the telescopic part of the grabbing cylinder 22 through welding, the grabbing cylinder 22 is fixed by the grabbing fixing frame 21, and the grabbing fixing plate 23 is driven by the change of the telescopic part of the grabbing cylinder 22 to grab an article; the transmission case 6 is connected to the base 5 through a bolt, the rotating motor 7 is connected to the other side of the upper portion of the transmission case 6 through a bolt, the transmission case 6 is supported and fixed through the base 5, and the rotating motor 7 drives the supporting mechanism 1 to rotate through the transmission case 6.

The working principle is as follows: when the mechanical arm starts to work, the rotating part of the rotating motor 7 is rotated to drive the second gear 32 to rotate, the first supporting arm 11 is driven to rotate by the transmission of the first gear 31 and the second gear 32, so that the grabbing mechanism 2 is positioned near an object to be grabbed, the rotating parts of the first motor 14 and the second motor 15 are respectively driven to drive the second supporting arm 12 and the third supporting arm 13 to rotate, the grabbing mechanism 2 can be prevented from being positioned above the object to be grabbed by the matching of the second supporting arm 12, the third supporting arm 13, the first motor 14 and the second motor 15, the third motor 16 is used for adjusting the angle of the grabbing fixing frame 21, the four grabbing cylinders 22 respectively push the grabbing fixing plates 23 positioned at two sides to move towards two sides, so that the object to be grabbed is positioned between the two grabbing fixing plates 23, the object is grabbed by the contraction of the telescopic parts of the grabbing cylinders 22, the first supporting arm 11, the second supporting arm 32, the second support arm 12, the third support arm 13, the first motor 14 and the second motor 15 prevent the object from being in the designated position; when the mechanical arm grabs, detect around through five ultrasonic sensor 42, when someone alive other article and be located ultrasonic sensor 42 detection area, cut off the mechanical arm power through the controller in switch board 41, make it stop to remove and prevent to cause casualties and the damage of article.

Example 2

As shown in fig. 6, the difference between the embodiment 2 and the embodiment 1 is that the transmission mechanism 3 includes a transmission sprocket 311 and a transmission chain 312, the transmission sprocket 311 on one side of the base 5 is connected to the lower end of the first support arm 11 by welding, the transmission sprocket 311 on the other side of the base 5 is connected to the rotating part of the rotating motor 7 by a key, and the rotating motor 7 is driven by the transmission chain 312 and the two transmission sprockets 311, so as to drive the support mechanism 1 to rotate.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention.

Claims

1. The utility model provides a snatch arm for article classification, includes supporting mechanism (1), snatchs mechanism (2), drive mechanism (3), is used for fixed base (5), transmission case (6), rotation motor (7) of other parts, base (5) top is provided with transmission case (6), be provided with in transmission case (6) drive mechanism (3), transmission case (6) top is provided with supporting mechanism (1) with rotation motor (7), supporting mechanism (1) is located rotate motor (7) one side position, supporting mechanism (1) upper end is provided with snatch mechanism (2), its characterized in that: still including control mechanism (4) that is used for detecting the barrier, control mechanism (4) include switch board (41), ultrasonic sensor (42), switch board (41) pass through bolted connection base (5) top, five ultrasonic sensor (42) pass through bolted connection base (5) top, ultrasonic sensor (42) with switch board (41) are through the electricity and are connected.

2. The grasping robot arm for sorting articles as claimed in claim 1, wherein: the transmission mechanism (3) comprises a first gear (31) and a second gear (32), the first gear (31) is connected with the supporting mechanism (1), and the second gear (32) is connected with a rotating part of the rotating motor (7) through a key.

3. The grasping robot arm for sorting articles as claimed in claim 1, wherein: drive mechanism (3) are located including drive sprocket (311), drive chain (312) base (5) one side drive sprocket (311) are connected supporting mechanism (1), are located base (5) opposite side drive sprocket (311) pass through the key joint and are in on rotating motor (7) rotation portion.

4. The grasping robot arm for sorting articles as claimed in claim 1, wherein: support mechanism (1) includes first support arm (11), second support arm (12), third support arm (13), first motor (14), second motor (15), third motor (16), first motor (14) pass through bolted connection first support arm (11) upper end, second support arm (12) lower extreme passes through the keyed connection and is in first motor (14) rotation portion, second motor (15) pass through bolted connection and are in second support arm (12) upper end, third support arm (13) one end passes through the keyed connection and is in on second motor (15) rotation portion, third motor (16) pass through bolted connection third support arm (13) other end.

5. The grasping robot arm for sorting articles as claimed in claim 1, wherein: snatch mechanism (2) including snatching mount (21), snatching cylinder (22), snatch fixed plate (23), snatch mount (21) and connect supporting mechanism (1), it passes through bolted connection to snatch cylinder (22) fixed part snatch mount (21) inboard, it connects through welded connection to snatch fixed plate (23) snatch cylinder (22) pars contractilis.

6. The grasping robot arm for sorting articles as claimed in claim 1, wherein: the transmission case (6) is connected to the base (5) through bolts, and the rotating motor (7) is connected to the other side of the upper portion of the transmission case (6) through bolts.