CN216545423U

CN216545423U - Automatic throw local arm

Info

Publication number: CN216545423U
Application number: CN202121862752.0U
Authority: CN
Inventors: 石瑞芳; 李金龙; 陈亚军
Original assignee: Gansu Institute of Mechanical and Electrical Engineering
Current assignee: Gansu Institute of Mechanical and Electrical Engineering
Priority date: 2021-08-10
Filing date: 2021-08-10
Publication date: 2022-05-17
Anticipated expiration: 2031-08-10

Abstract

The utility model relates to the technical field of book wrapping machines, and discloses an automatic throwing mechanical arm which comprises a base, a lifting arm, a telescopic arm, a four-axial arm, a clamp holder, a driving device and a controller, wherein the lifting arm is arranged on the base; the lifting arm can rise or descend, the stiff end of lifting arm with the top fixed connection of base, the other end with the one end of flexible arm is passed through hinge structure and is articulated. The telescopic arm can rotate along the hinged part under the action of the driving device. One end of the four-axial arm is connected with one end, far away from the hinged part, of the telescopic arm, the other end of the four-axial arm is connected with the fixed end of the holder, and the movable end of the holder can be opened and closed. The automatic feeding mechanical arm can transfer the book block from the automatic assembly line port to the book wrapping machine clamping port to perform the next working procedure by sending an instruction through the controller, so that the automatic and accurate operation is realized, the working efficiency is improved, the working time is saved, and the paper loss is reduced.

Description

Automatic throw local arm

Technical Field

The utility model relates to the technical field of book wrapping machines, in particular to an automatic book throwing mechanical arm.

Background

The book covering machine is a common device used in gluing and stapling, can effectively glue and staple books, and the books are not easy to fall off after being glued and stapled. At present, book blocks need to be put in manually to most package local on the market, and this operation of throwing of high frequency makes operating personnel produce fatigue easily, appears throwing errors such as this reversal, dislocation to cause the paper extravagant, and manual operation can not keep high-efficient the input for a long time, and efficiency is lower, influences man-hour.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an automatic delivery mechanical arm, which solves the problems that errors are easy to occur and the efficiency is low when a book block is manually delivered in the prior art.

In order to achieve the above object, the present invention provides an automatic casting robot arm, which includes a base, a lifting arm, a telescopic arm, a four-axis arm, a gripper, a driving device, and a controller;

the lifting arm can ascend or descend, the fixed end of the lifting arm is fixedly connected with the top of the base, and the other end of the lifting arm is hinged with one end of the telescopic arm through a hinge structure;

the telescopic arm can be extended or contracted, and can rotate along the hinged part under the action of the driving device;

one end of the four-axial arm is connected with one end of the telescopic arm far away from the hinged part, the other end of the four-axial arm is connected with the fixed end of the holder, and the movable end of the holder can perform opening and closing movement to clamp or release an object to be held;

the controller is respectively electrically connected with the lifting arm, the telescopic arm, the four-axial arm, the clamp holder and the driving device.

The automatic feeding mechanical arm can transfer the book block from the automatic assembly line port to the book wrapping machine clamping port to perform the next working procedure by sending an instruction through the controller, so that the automatic and accurate operation is realized, the working efficiency is improved, the working time is saved, and the paper loss is reduced.

Further, the hinge structure comprises a first channel, a second channel and a rotating shaft; the first passageway link up the both sides wall of lifing arm, the second passageway link up the both sides wall of flexible arm, the pivot is worn to locate the first passageway with in the second passageway, the pivot with the lifing arm rotates to be connected, and with flexible arm fixed connection.

Further, the driving device comprises a first motor, and a driving end of the first motor is fixedly connected with the rotating shaft.

Furthermore, the base comprises an upper base and a lower base, the upper base is a cylindrical base, the top of the upper base is connected with the fixed end of the lifting arm, and the other end of the upper base is rotatably connected with the lower base; the upper base is characterized in that a first gear is sleeved on the circumferential side wall of the upper base, a second motor is arranged at the top of the lower base, a second gear is arranged on an output shaft of the second motor, and the second gear is meshed with the first gear.

Furthermore, a third channel penetrating through two side walls of the lower base is arranged on the lower base, a first ball screw penetrates through the third channel, a first nut and a first nut seat are sleeved on the first ball screw, the first nut seat is fixedly connected with the inner wall of the third channel, and the lower base is in sliding connection with the first ball screw through the first nut seat; one end of the first ball screw is connected with a third motor, and the output end of the third motor is fixedly connected with one end of the first ball screw.

Further, the two ends of the first ball screw are sleeved with supporting seats, through holes are formed in the supporting seats, and the two ends of the first ball screw penetrate through the through holes and are connected with the supporting seats in a rotating mode.

Further, the clamp comprises a connecting column, a lower clamping part, an upper clamping part, a second ball screw and a fourth motor; one end of the connecting column is connected with the four-axial arm, and the other end of the connecting column is connected with the lower clamping part; one end of the second ball screw is rotatably connected with the top of the lower clamping part, the other end of the second ball screw is connected with an output shaft of the fourth motor, and a second nut seat are sleeved on the second ball screw; the upper clamping part is provided with a fourth channel running through two side walls of the upper clamping part, the upper clamping part is sleeved on the second nut seat through the fourth channel, and the inner wall of the upper clamping part is fixedly connected with the second nut seat; the upper clamping part can ascend or descend along the second ball screw under the action of a fourth motor.

Further, the shape of clamping part is the U type down, and the both sides at its top all are equipped with the second ball with go up the clamping part, be located clamping part top both sides down all the cover is equipped with the belt pulley on the second ball, the cover is equipped with the belt on the belt pulley.

Furthermore, a layer of flexible material is arranged on the clamping surface of the upper clamping part and the lower clamping part.

Furthermore, one end of the lower clamping part, which is far away from the connecting column, is provided with a slope.

Additional features and advantages of the utility model will be set forth in the detailed description which follows.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is another angular view of FIG. 1;

fig. 3 is an enlarged schematic view of a portion a in fig. 2.

Description of the reference numerals

1, a base; 11, an upper base; 12 a lower base; 13 a first gear; 14 a second gear; 15 a first ball screw; 16, a support seat; 17 universal wheels; 2, lifting arms; 3, a telescopic arm; 4 four axial arms; 5 a clamp holder; 51 connecting column; 52 a lower clamping portion; 53 an upper clamping part; 54 a second ball screw; 55 a belt pulley; 56 belts; 61 a first motor; 62 a second motor; 63 a third motor; 64 fourth motor.

Detailed Description

The following describes the embodiments of the present invention in detail. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation. In the present invention, the use of the terms of orientation such as "upper and lower" in the case where no description is made to the contrary generally means the orientation in the assembled and used state. "inner and outer" refer to the inner and outer contours of the respective component itself.

In order to achieve the above object, the present invention provides an automatic-loading robot arm, as shown in fig. 1 to 3, including a base 1, a lift arm 2, a telescopic arm 3, a four-axis arm 4, a gripper 5, a driving device, and a controller. The lifting arm 2 can ascend or descend, the fixed end of the lifting arm 2 is fixedly connected with the top of the base 1, and the other end of the lifting arm is hinged to one end of the telescopic arm 3 through a hinge structure. The telescopic arm 3 can be extended or contracted, and the telescopic arm 3 can rotate along the hinged part under the action of a driving device. The one end of quadriaxial arm 4 with flexible arm 3 keeps away from the one end of articulated department is connected, the other end with the stiff end of holder 5 is connected, the expansion end of holder 5 can carry out the motion of opening and shutting, makes it will be pressed from both sides tightly or loosen by the centre gripping thing. The controller is respectively electrically connected with the lifting arm 2, the telescopic arm 3, the four-axial arm 4, the clamp holder 5 and the driving device through leads.

The controller is a PLC controller. And installing and setting instructions to run when the equipment runs through the programming input operation step.

The lifting arm 2 and the telescopic arm 3 can adopt electric telescopic rods.

In an alternative embodiment, the hinge structure includes a first channel, a second channel, and a shaft. The first passageway link up the both sides wall of lifing arm 2, the second passageway link up the both sides wall of flexible arm 3, the pivot is worn to locate the first passageway with in the second passageway, the pivot with lifing arm 2 rotates to be connected, and with flexible arm 3 fixed connection.

Through the setting the telescopic arm 3 can rotate in a certain angle, the moving range of the equipment is improved, and therefore the working efficiency is improved.

In an alternative embodiment, the driving device includes a first motor 61, and a driving end of the first motor 61 is fixedly connected to the rotating shaft.

In an alternative embodiment, the base 1 comprises an upper base 11 and a lower base 12, the upper base 11 is a cylindrical base, the top of the cylindrical base is connected to the fixed end of the lifting arm 2, and the other end of the cylindrical base is rotatably connected to the lower base 12. The circumference lateral wall of going up base 11 is gone up the cover and is equipped with first gear 13, the top of lower base 12 is equipped with second motor 62, be equipped with second gear 14 on the output shaft of second motor 62, second gear 14 with first gear 13 meshing.

Through the above arrangement, the upper base 11 can be driven by the second motor 62 to rotate, so that the working efficiency is further improved.

In an optional embodiment, a third channel penetrating through two side walls of the lower base 12 is provided, a first ball screw 15 penetrates through the third channel, a first nut and a first nut seat are sleeved on the first ball screw 15, the first nut seat is fixedly connected with an inner wall of the third channel, and the lower base 12 is slidably connected with the first ball screw 15 through the first nut seat. One end of the first ball screw 15 is connected with a third motor 63, and the output end of the third motor 63 is fixedly connected with one end of the first ball screw 15.

Through the above arrangement, the lower base 12 can be driven by the third motor to move back and forth on the first ball screw 15, so that the moving range is enlarged, the working efficiency is further improved, and the equipment has more selectivity in the installation stage.

In an optional embodiment, two ends of the first ball screw 15 are sleeved with a support seat 16, a through hole is formed in the support seat 16, and two ends of the first ball screw 15 are inserted into the through hole and rotatably connected with the support seat 16.

The stability of the device can be further enhanced by the above arrangement.

In an alternative embodiment, as shown in fig. 1, the bottom of the base 1 is provided with universal wheels 17, and the device can be further supported by the arrangement, so that the stability is improved, friction can be reduced, and the running speed of the device is increased.

In an alternative embodiment, the gripper 5 comprises a connection post 51, a lower gripper portion 52, an upper gripper portion 53, a second ball screw 54, and a fourth motor 64. One end of the connecting column 51 is connected to the four-axis arm 4, and the other end is connected to the lower clamping portion 52. One end of the second ball screw 54 is rotatably connected to the top of the lower clamping portion 52, the other end of the second ball screw is connected to an output shaft of the fourth motor 64, and a second nut seat are sleeved on the second ball screw 54. And a fourth channel penetrating through two side walls of the upper clamping part 53 is arranged on the upper clamping part 53, the upper clamping part 53 is sleeved on the second nut seat through the fourth channel, and the inner wall of the upper clamping part is fixedly connected with the second nut seat. The upper clamp 53 can be moved up and down along the second ball screw 54 by the fourth motor 64.

In an alternative embodiment, the lower clamping portion 52 is U-shaped, the second ball screw 54 and the upper clamping portion 53 are disposed on both sides of the top of the lower clamping portion 52, a belt pulley 55 is sleeved on the second ball screw 54 on both sides of the top of the lower clamping portion 52, and a belt 56 is sleeved on the belt pulley 55.

The device can have linkage through the arrangement, the fourth motor 64 drives one second ball screw 54 to rotate, so that the two upper clamping parts 53 can be driven to ascend or descend simultaneously, the driving links are reduced, and the cost is saved.

In an alternative embodiment, the clamping surfaces of the upper clamping portion 53 and the lower clamping portion 52 are provided with a layer of flexible material, such as rubber, sponge, etc.

Through the arrangement, the abrasion of the book block in the clamping process can be further reduced.

In an alternative embodiment, the lower clamping portion 52 has a bevel on the end remote from the connecting stud 51.

The lower clamping portion 52 can better extend into the bottom of the book block through the inclined surface by the arrangement.

The preferred embodiments of the present invention have been described in detail, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the utility model. The utility model is not described in detail in order to avoid unnecessary repetition.

In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.

Claims

1. The automatic throwing mechanical arm is characterized by comprising a base (1), a lifting arm (2), a telescopic arm (3), a four-axial arm (4), a clamp holder (5), a driving device and a controller;

the lifting arm (2) can ascend or descend, the fixed end of the lifting arm (2) is fixedly connected with the top of the base (1), and the other end of the lifting arm is hinged with one end of the telescopic arm (3) through a hinge structure;

the telescopic arm (3) can be extended or contracted, and the telescopic arm (3) can rotate along the hinged part under the action of a driving device;

one end of the four-axial arm (4) is connected with one end of the telescopic arm (3) far away from the hinged part, the other end of the four-axial arm is connected with the fixed end of the holder (5), and the movable end of the holder (5) can be opened and closed to clamp or release an object to be clamped;

the controller is respectively electrically connected with the lifting arm (2), the telescopic arm (3), the four-axial arm (4), the clamp holder (5) and the driving device.

2. The robotic arm of claim 1, wherein the hinge structure comprises a first channel, a second channel, and a shaft; the first passageway link up the both sides wall of lifing arm (2), the second passageway link up the both sides wall of flexible arm (3), the pivot is worn to locate the first passageway with in the second passageway, the pivot with lifing arm (2) rotate to be connected, and with flexible arm (3) fixed connection.

3. The robot arm of claim 2, wherein the driving device comprises a first motor (61), and a driving end of the first motor (61) is fixedly connected with the rotating shaft.

4. The automatic picking robot arm according to claim 1, characterized in that the base (1) comprises an upper base (11) and a lower base (12), the upper base (11) is a cylindrical base, the top of the cylindrical base is connected with the fixed end of the lifting arm (2), and the other end of the cylindrical base is rotatably connected with the lower base (12); go up the cover and be equipped with first gear (13) on the circumference lateral wall of base (11), the top of lower base (12) is equipped with second motor (62), be equipped with second gear (14) on the output shaft of second motor (62), second gear (14) with first gear (13) meshing.

5. The automatic feeding mechanical arm according to claim 4, wherein a third channel penetrating through two side walls of the lower base (12) is formed in the lower base, a first ball screw (15) penetrates through the third channel, a first nut and a first nut seat are sleeved on the first ball screw (15), the first nut seat is fixedly connected with the inner wall of the third channel, and the lower base (12) is connected with the first ball screw (15) in a sliding manner through the first nut seat; one end of the first ball screw (15) is connected with a third motor (63), and the output end of the third motor (63) is fixedly connected with one end of the first ball screw (15).

6. The automatic projection mechanical arm according to claim 5, wherein a support seat (16) is sleeved on each end of the first ball screw (15), a through hole is formed in each support seat (16), and each end of the first ball screw (15) is inserted into the through hole and rotatably connected with each support seat (16).

7. The robotic arm of claim 1, wherein the gripper (5) comprises a connection column (51), a lower gripper portion (52), an upper gripper portion (53), a second ball screw (54), and a fourth motor (64); one end of the connecting column (51) is connected with the four-axial arm (4), and the other end of the connecting column is connected with the lower clamping part (52); one end of the second ball screw (54) is rotatably connected with the top of the lower clamping part (52), the other end of the second ball screw is connected with an output shaft of the fourth motor (64), and a second nut seat are sleeved on the second ball screw (54); a fourth channel penetrating through two side walls of the upper clamping part (53) is arranged on the upper clamping part (53), the upper clamping part (53) is sleeved on the second nut seat through the fourth channel, and the inner wall of the upper clamping part is fixedly connected with the second nut seat; the upper clamp part (53) can ascend or descend along the second ball screw (54) under the action of a fourth motor (64).

8. The robot arm of claim 7, wherein the lower clamp (52) is U-shaped, the second ball screw (54) and the upper clamp (53) are disposed on both sides of the top of the lower clamp (52), a belt pulley (55) is sleeved on the second ball screw (54) on both sides of the top of the lower clamp (52), and a belt (56) is sleeved on the belt pulley (55).

9. The robot arm of claim 7, wherein the upper gripping portion (53) and the lower gripping portion (52) have a layer of flexible material on their gripping surfaces.

10. The robot arm of claim 7, wherein the lower gripping portion (52) has a bevel on the end remote from the connecting column (51).