CN210968948U

CN210968948U - Mechanical arm for palletizing robot

Info

Publication number: CN210968948U
Application number: CN201921858934.3U
Authority: CN
Inventors: 郎英彤
Original assignee: Jilin University of Architecture and Technology
Current assignee: Jilin University of Architecture and Technology
Priority date: 2019-10-31
Filing date: 2019-10-31
Publication date: 2020-07-10
Anticipated expiration: 2029-10-31

Abstract

The utility model discloses an arm for a palletizing robot, which relates to the field of mechanical palletizing and comprises a gripper system and an adjusting system for lifting the gripper system; the lower end of a stabilizing frame of the gripper system is fixedly provided with an inverted Y-shaped hinged frame, two ends of the inverted Y-shaped hinged frame are respectively provided with a gripper arm, one end of the rod part of each gripper arm is hinged with a connecting rod, the joint of the rod part and the bending part of each gripper arm is hinged with the hinged frame, the other ends of the two connecting rods are respectively hinged with the end part of an inverted T-shaped lifting frame, and one end of each lifting frame, which is far away from the connecting rods, is connected with a vertical rod and penetrates through the stabilizing frame and is rotatably connected with the; the upper end of steady rest is fixed with electric putter cylinder body, and electric putter's top is fixed with first revolving stage, and first revolving stage links to each other with governing system, and electric putter's push rod is fixed with the pole setting, and drives the pole setting and move about from top to bottom. The mechanical arm is easy and convenient to operate and grasp, labor force can be greatly reduced, labor intensity of workers is reduced, and working efficiency is improved.

Description

Mechanical arm for palletizing robot

Technical Field

The utility model relates to a machinery pile up neatly field specifically is an arm for pile up neatly machine people.

Background

Along with the continuous development of industry, the degree of mechanization is also more and more ripe, machinery begins to apply to each field, many enterprises all begin to use efficient machine to carry out work, and can use the hacking machine to arrange the loading often when carrying great article, ordinary hacking machine is generally bulky, and can't carry out nimble transport work moreover, if adopt artifical transport, relatively waste manpower and materials and financial resources like this, and also time-consuming is more, be unfavorable for the cost control of construction. In order to solve the problem of piling of some materials in a carrying field, a mechanical arm for a palletizing robot is designed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art not enough, provide a pile up neatly machine arm for robot, this arm has easy and simple to handle easily masters, labour that can significantly reduce and reduction workman's intensity of labour have improved work efficiency.

The purpose of the utility model is realized through the following technical scheme:

a mechanical arm for a palletizing robot comprises a gripper system and an adjusting system used for rotating the gripper system; the gripper system comprises gripper arms, a lifting frame and a stabilizing frame, wherein the lifting frame and the stabilizing frame are in an inverted T shape, the lower end of the stabilizing frame is fixedly provided with a hinged frame in an inverted Y shape, the two ends of the inverted Y shape of the hinged frame are respectively provided with the gripper arms, each gripper arm comprises a rod part and a bent part, one end of each rod part of each gripper arm is hinged with a connecting rod, the joint of the rod part and the bent part of each gripper arm is hinged with the hinged frame, the other ends of the two connecting rods are respectively hinged with the end parts of the lifting frame in the inverted T shape, the top end of each lifting frame is provided with a vertical rod, and each vertical rod penetrates through the stabilizing frame and is; the upper end of steady rest and electric putter's cylinder body fixed connection, electric putter's top is fixed with first revolving stage, first revolving stage with governing system links to each other, electric putter's push rod pole setting fixed connection, and drive the pole setting is movable from top to bottom.

By adopting the technical scheme, the gripper system of the mechanical arm comprises a gripper arm, a lifting frame and a stabilizing frame, wherein the lifting frame and the stabilizing frame are in an inverted T shape, an electric push rod is fixed at the upper end of the stabilizing frame, the push rod of the electric push rod can drive a vertical rod to move up and down to realize lifting and downward adjustment of the gripper arm, and a first rotating table is connected between the stabilizing frame and an adjusting system and used for rotating the gripper system of the mechanical arm so as to meet the requirement of realizing stacking by the gripper arm at multiple angles; the mechanical arm is easy and convenient to operate and grasp, labor force can be greatly reduced, labor intensity of workers is reduced, and working efficiency is improved.

Further, governing system includes big swinging boom and little swinging boom, the one end of little swinging boom with first revolving stage is connected, its other end with big swinging boom top is articulated, the bottom of big swinging boom articulates on the base, the base bottom surface is equipped with rotating system.

By adopting the technical scheme, the adjusting system of the mechanical arm comprises the large rotating arm and the small rotating arm, wherein the large rotating arm is connected with the first rotating platform and is used for connecting the whole gripper system, the gripper system is convenient to control, the small rotating arm provides a support for the mechanical arm, the whole gripper system and the adjusting system are convenient to stabilize, and meanwhile, the rotating system is arranged on the bottom surface of the base and is convenient to adjust and control the mechanical arm.

Further, the rotating system comprises a second rotating platform and a base, the base is fixed on the second rotating platform, and the bottom of the second rotating platform is fixed on the base.

By adopting the technical scheme, the rotating system comprises the second rotating platform and the base, the second rotating platform can be used for rotatably adjusting the upper gripper system and the upper adjusting system, and the effect of multi-directional stacking of the gripper arms is realized; the second rotating platform is fixedly connected with the base, and the base provides a supporting platform for the second rotating platform and is used for supporting and stabilizing the upper gripper system and the upper adjusting system.

Furthermore, four corners of the bottom surface of the base are provided with rollers.

Through adopting above-mentioned technical scheme, the bottom surface four corners of base is equipped with the gyro wheel, conveniently realizes the removal of this tongs arm, save time.

Further, little swinging boom is kept away from the one end of grabbing arm articulates there is the back hydraulic stem of pneumatic cylinder, the bottom of back hydraulic stem articulates the middle part of big swinging boom, the opposite side of big swinging boom is equipped with the preceding hydraulic stem of pneumatic cylinder, the top of preceding hydraulic stem with the upper end of big swinging boom is articulated, the bottom of preceding hydraulic stem with the base is articulated, the top of big swinging boom articulates little swinging boom bottom, and the pin joint is located between grabbing hand system and the back hydraulic stem.

Through adopting above-mentioned technical scheme, the one side that back hydraulic stem was kept away from to big swinging boom is equipped with preceding hydraulic stem, and the top and the big swinging boom of preceding hydraulic stem are articulated, the bottom of preceding hydraulic stem with base fixed connection, the purpose of design like this is that the skew of big swinging boom can be controlled to preceding hydraulic stem to control little swinging boom together with back hydraulic stem.

Furthermore, one end of the small rotating arm is connected with a connecting seat, and the bottom surface of the connecting seat is fixedly connected with the first rotating table.

Through adopting above-mentioned technical scheme, the one end that big swinging boom was kept away from to little swinging boom is connected with the connecting seat, the bottom surface and the first revolving stage fixed connection of connecting seat to first revolving stage when rotatory, can not take place the conflict with little swinging boom, can realize free rotation.

The utility model has the advantages that:

1. the gripper system of the mechanical arm comprises a gripper arm, a lifting frame and a stabilizing frame, wherein the lifting frame and the stabilizing frame are in an inverted T shape, an electric push rod is fixed at the upper end of the stabilizing frame, a screw rod of the electric push rod can drive a vertical rod to move up and down to lift and lower the gripper arm, and a first rotating table is connected between the stabilizing frame and an adjusting system and used for rotating the gripper system of the mechanical arm so as to meet the requirement of stacking by using the gripper arm at multiple angles; the mechanical arm is easy and convenient to operate and grasp, labor force can be greatly reduced, labor intensity of workers is reduced, and working efficiency is improved.

2. The adjusting system of the mechanical arm comprises a large rotating arm and a small rotating arm, wherein the large rotating arm is connected with a first rotating platform and used for being connected with the whole gripper system, the gripper system is convenient to control, the small rotating arm provides a support for the mechanical arm, the whole gripper system and the adjusting system are convenient to stabilize, and meanwhile, the rotating system is arranged on the bottom surface of the base and is convenient to adjust and control the mechanical arm.

3. The rotating system comprises a second rotating platform and a base, the second rotating platform can be used for rotatably adjusting the upper gripper system and the upper adjusting system, and the effect of multi-azimuth stacking of the gripper arms is achieved; the second rotating platform is fixedly connected with the base, and the base provides a supporting platform for the second rotating platform and is used for supporting and stabilizing the upper gripper system and the upper adjusting system; the four corners of the bottom surface of the base are provided with the rollers, so that the gripper arm can move conveniently, and the time is saved; the big swinging boom is the circular arc form, and the purpose satisfies the pile up neatly effect of this arm, conveniently provides a supporting platform for little swinging boom.

4. The rear hydraulic rod is hinged to one end, away from the grabbing arm, of the small rotating arm, and the bottom end of the rear hydraulic rod is hinged to the outer side of the arc bending point of the large rotating arm; one side that back hydraulic stem was kept away from to big swinging boom is equipped with preceding hydraulic stem, and the top and the big swinging boom of preceding hydraulic stem are articulated, the bottom of preceding hydraulic stem with base fixed connection, the purpose of design like this is, and the skew of big swinging boom can be controlled to preceding hydraulic stem to control little swinging boom together with back hydraulic stem.

5. The one end that big swinging boom was kept away from to little swinging boom is connected with the connecting seat, the bottom surface and the first revolving stage fixed connection of connecting seat to first revolving stage when rotatory, can not take place the conflict with little swinging boom, can realize free rotation.

Drawings

Fig. 1 is a schematic structural view of a mechanical arm for a palletizing robot according to the present invention;

fig. 2 is a schematic structural view of a gripper system of a mechanical arm for a palletizing robot according to the present invention;

fig. 3 is a schematic structural view of an adjusting system of a mechanical arm for a palletizing robot according to the present invention;

fig. 4 is the utility model relates to a rotational system schematic diagram of mechanical arm for palletizing robot.

In the figure, 1-a gripper system, 2-a regulating system, 3-a rotating system, 4-a base, 5-a connecting seat, 11-a gripper arm, 12-a lifting frame, 13-a stabilizing frame, 14-an electric push rod, 15-a first rotating table, 16-a hinged frame, 17-a connecting rod, 21-a small rotating arm, 22-a large rotating arm, 23-a rear hydraulic rod, 24-a front hydraulic rod, 31-a second rotating table and 32-a base.

Detailed Description

The technical solution of the present invention is described in further detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following description.

As shown in fig. 1 to 4, a robot arm for a palletizing robot comprises a gripper system 1 and an adjusting system 2 for rotating the gripper system 1; the gripper system 1 comprises gripper arms 11, lifting frames 12 and stabilizing frames 13 which are in an inverted T shape, a hinged frame 16 which is in an inverted Y shape is fixed at the lower end of the stabilizing frame 13, the gripper arms 11 are respectively arranged at two ends of the inverted Y shape of the hinged frame 16, each gripper arm 11 comprises a rod part and a bent part, one end of each rod part of each gripper arm 11 is hinged with a connecting rod 17, the joint of the rod part and the bent part of each gripper arm 11 is hinged with the hinged frame 16, the other ends of the two connecting rods 17 are respectively hinged with the end parts of the lifting frames 12 which are in the inverted T shape, the top ends, far away from the connecting rods 11, of the lifting frames 12 are provided with vertical rods, and the vertical; the upper end of the stabilizing frame 13 is fixedly connected with the cylinder body of the electric push rod 14, the top end of the electric push rod 14 is fixed with a first rotating platform 15, the first rotating platform 15 is connected with the adjusting system 2, and the push rod vertical rod of the electric push rod 14 is fixedly connected and drives the vertical rod to move up and down. The gripper system 1 of the mechanical arm comprises a gripper arm 11, a lifting frame 12 and a stabilizing frame 13, wherein the lifting frame 12 and the stabilizing frame 13 are in an inverted T shape, an electric push rod 14 is fixed at the upper end of the stabilizing frame 13, a screw of the electric push rod 14 can drive a vertical rod to move up and down to lift and lower the gripper arm 11, and a first rotating table 15 is connected between the stabilizing frame 13 and an adjusting system 2 and used for rotating the gripper system 1 of the mechanical arm so as to meet the requirement of realizing stacking by the gripper arm 11 at multiple angles; the mechanical arm is easy and convenient to operate and grasp, labor force can be greatly reduced, labor intensity of workers is reduced, and working efficiency is improved.

When the mechanical arm is concretely implemented, when the mechanical arm is used for stacking, firstly, the gripper system 1 of the mechanical arm is controlled, the gripper system 1 comprises a gripper arm 11, a lifting frame 12 and a stabilizing frame 13 which are in an inverted T shape, the upper end of the stabilizing frame 13 is fixedly connected with a cylinder body of an electric push rod 14, a first rotating table 15 is fixed at the top end of the electric push rod 14, the first rotating table 15 is connected with an adjusting system 2, a push rod vertical rod of the electric push rod 14 is fixedly connected and drives the vertical rod to move up and down, when a push rod of the electric push rod 14 descends, the lifting frame 12 also descends along with the vertical rod fixedly connected with the push rod of the electric push rod 14, the lifting frame 12 is in the inverted T shape, two ends of the lifting frame 12 are respectively hinged with a connecting rod 17, meanwhile, a hinged frame 16 which is in the inverted Y shape is fixed at the lower end of the stabilizing frame 13, two ends of the inverted, the grabbing arm 11 comprises a rod part and a bent part, one end of the rod part of the grabbing arm 11 is hinged with a connecting rod 17, the combination part of the rod part and the bent part of the grabbing arm 11 is hinged with a hinged frame 16, the lifting frame 12 descends to drive the connecting rod 17 hinged with the lifting frame to move together, the grabbing arm 11 is driven to move, one end of the grabbing arm 11 needs to be designed into a folding type or an arc bending type when being designed, objects needing to be stacked can be conveniently grabbed, meanwhile, the middle position of the grabbing arm 11 is hinged with the hinged frame 16 in an inverted Y shape, the connecting rod 17 descends along with the lifting frame 12, the grabbing arm 11 is opened, the shape of the arm end of the grabbing arm 11 and the number of the installed grabbing arm can be designed according to the needs. After the grabbing arm 11 is opened, if the position of an object to be stacked is not well matched with the grabbing arm 11, the first rotating table 15 needs to be adjusted, when the first rotating table 15 is controlled to rotate, the circular truncated cone inside the first rotating table 15 rotates to drive the whole grabbing system 1 to rotate, so that the object to be stacked is grabbed at multiple angles under the control of the first rotating table 15, and the working efficiency is improved. After the objects needing to be stacked are extracted by the gripper arms 11, the motor on the electric push rod 14 is controlled, the push rod of the electric push rod 14 rises, so that the lifting frame 1 is driven to rise, the lifting frame 12 rises, the gripper arms 11 are pulled through the connecting rods 17 to firmly grip the objects needing to be stacked, and the gripping of the objects needing to be stacked is realized.

Furthermore, after the objects to be stacked are grabbed, the adjusting system 2 is controlled to stack the objects to be stacked. This governing system 2 of arm includes big swinging boom 22 and little swinging boom 21, the one end and the first revolving stage 15 of little swinging boom 21 are connected, its other end is articulated with big swinging boom 22 top, even if little swinging boom 21 is connected with the first revolving stage 15 of tongs system 1 like this, and connecting seat 5 keeps apart first revolving stage 15 and little swinging boom 21, mutual independence work relatively, so both avoided the conflict of taking place during operation of the two, can let two parts realize the rotation of freedom again. The bottom of big swinging boom 22 articulates on

base

4, 4 bottom surfaces of base are equipped with rotating system 3, the one end that grabbing arm 11 was kept away from to little swinging boom 21 simultaneously articulates there is the back hydraulic stem 23 of pneumatic cylinder, the bottom of back hydraulic stem 23 articulates at the middle part of big swinging boom 22, the opposite side of big swinging boom 22 is equipped with the preceding hydraulic stem 24 of pneumatic cylinder, the top of preceding hydraulic stem 24 is articulated with big swinging boom 22's upper end, the bottom of preceding hydraulic stem 24 is articulated with base 4, the top of big swinging boom 22 articulates in little swinging boom 21 bottom, and the pin joint is located between grabbing system 1 and the back hydraulic stem 23. In this arm is implemented, when controlling the lift of back hydraulic stem 23, can drive the swing back and forth of little swinging boom 21, hydraulic stem 24 can realize big swinging boom 22's swing back and forth before the control, uses with little swinging boom 21 mutually supporting, and the adjustment of the diversified position of realization that can be more nimble changeable lets tongs system 1 snatch the article that needs the pile up neatly. The base 4 of the robotic arm provides a support platform for the large pivot arm 22 and the front hydraulic ram 24, stabilizing the support for the adjustment system 2.

Furthermore, the mechanical arm is matched with the rotating system 3, so that the stacking efficiency of the mechanical arm can be better realized, wherein the rotating system 3 comprises a second rotating platform 31 and a base 32, the base 4 is fixed on the second rotating platform 31, the bottom of the second rotating platform 31 is fixed on the base 32, and the rotation of the second rotating platform 31 is controlled through a motor, so that the rotating displacement of the adjusting system 2 can be driven, the mechanical arm can realize multi-direction and multi-function grabbing of stacked objects, the labor force can be greatly reduced, the labor intensity of workers can be reduced, and the working efficiency can be improved; the base 32 of the robot arm provides a rotary support platform for the second rotating table 31, facilitating the use of the second rotating table 31; simultaneously, the four corners of the bottom surface of the base 32 are provided with the rollers, so that the mechanical arm is convenient to move, the effect of moving at any time can be realized, the stacking requirement is met, and the stacking efficiency is improved.

In practice, the first rotary table 15 is a small rotary table and the second rotary table 31 is a large rotary table, and both are precision electric rotary tables (worm gears): ZX110-60, the electric putter 14 is suspended, and the parameters are DTPX1000-600/25, wherein the putter can be customized for the length of the device according to the needs, and the first rotating table 15, the second rotating table 31 and the electric putter 14 in the embodiment are all the prior art and need not be described in more detail.

The foregoing is illustrative of the preferred embodiments of the present invention, and it is to be understood that the invention is not limited to the precise forms disclosed herein, and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the invention as defined by the appended claims. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention, which is to be limited only by the claims appended hereto.

Claims

1. A mechanical arm for a palletizing robot is characterized by comprising a gripper system (1) and an adjusting system (2) for rotating and lifting the gripper system (1);

the gripper system (1) comprises gripper arms (11), lifting frames (12) and stabilizing frames (13) which are in an inverted T shape, wherein the lower ends of the stabilizing frames (13) are fixedly provided with hinged frames (16) which are in an inverted Y shape, the gripper arms (11) are arranged at two ends of the inverted Y shape of the hinged frames (16) respectively, each gripper arm (11) comprises a rod part and a bent part, one end of the rod part of each gripper arm (11) is hinged with a connecting rod (17), the joint of the rod part and the bent part of each gripper arm (11) is hinged with the hinged frames (16), the other ends of the two connecting rods (17) are hinged to the end parts of the lifting frames (12) which are in the inverted T shape respectively, and the top ends of the lifting frames (12) are provided with vertical rods which penetrate through the stabilizing frames (13) and are rotatably connected with the lifting frames;

the upper end of steady rest (13) and electric putter's (14) cylinder body fixed connection, electric putter's (14) top is fixed with first revolving stage (15), first revolving stage (15) with governing system (2) link to each other, electric putter's (14) push rod pole setting fixed connection, and drive the pole setting is movable from top to bottom.

2. The robot arm for palletizers according to claim 1, characterized in that said adjusting system (2) comprises a large rotating arm (22) and a small rotating arm (21), one end of said small rotating arm (21) is connected to said first rotating table (15), the other end of said small rotating arm is hinged to the top end of said large rotating arm (22), the bottom end of said large rotating arm (22) is hinged to a base (4), and a rotating system (3) is arranged on the bottom surface of said base (4).

3. Robot arm for palletizing robots according to claim 2, characterized in that said rotation system (3) comprises a second rotating table (31) and a base (32), said base (4) being fixed to said second rotating table (31), the bottom of said second rotating table (31) being fixed to said base (32).

4. A robot arm for palletizers as in claim 3, wherein rollers are provided at four corners of the bottom surface of said base (32).

5. The mechanical arm for the palletizing robot as claimed in claim 2, wherein one end, far away from the gripper arm (11), of the small rotating arm (21) is hinged to a rear hydraulic rod (23) of a hydraulic cylinder, the bottom end of the rear hydraulic rod (23) is hinged to the middle of the large rotating arm (22), the other side of the large rotating arm (22) is provided with a front hydraulic rod (24) of the hydraulic cylinder, the top end of the front hydraulic rod (24) is hinged to the upper end of the large rotating arm (22), the bottom end of the front hydraulic rod (24) is hinged to the base (4), the top end of the large rotating arm (22) is hinged to the bottom end of the small rotating arm (21), and the hinge point is located between the gripper system (1) and the rear hydraulic rod (23).

6. The robot arm for a palletizer as claimed in claim 2, wherein a connecting seat (5) is connected to one end of the small rotating arm (21), and the bottom surface of the connecting seat (5) is fixedly connected with the first rotating table (15).