CN216731818U

CN216731818U - Suction nozzle type mechanical arm

Info

Publication number: CN216731818U
Application number: CN202123008885.4U
Authority: CN
Inventors: 张明泽
Original assignee: Shanghai Chuanhe Packaging Container Co ltd
Current assignee: Shanghai Chuanhe Packaging Container Co ltd
Priority date: 2020-12-24
Filing date: 2021-12-02
Publication date: 2022-06-14
Anticipated expiration: 2031-12-02

Abstract

The utility model discloses a robotic arm of suction nozzle formula belongs to robotic arm's technical field. The automatic feeding device comprises a driving mechanism, a suction nozzle mechanism, a conveying belt and a transmission plate, wherein the driving mechanism comprises a belt pulley positioned on one side of the conveying belt, a small synchronizing wheel, two large synchronizing wheels, a base fixing plate, a transmission connecting plate, a sliding plate, a guide rod sliding plate connecting plate and a guide rod end plate, a transmission rod is arranged on the belt pulley, the large synchronizing wheels comprise driving wheels and driven wheels, the transmission rod penetrates through the driving wheels and is connected with the transmission connecting plate, a rotating shaft is arranged on the driven wheels and is connected with the conveying belt after penetrating through the transmission connecting plate, a long-strip-shaped through hole is formed in the sliding plate, a threaded hole corresponding to the long-strip-shaped through hole is formed in the guide rod sliding plate connecting plate, a screw is arranged in the long-strip-shaped through hole, and the screw penetrates through the long-strip-shaped through hole and is in threaded connection with the threaded hole. The suction nozzle type mechanical arm achieves the purpose that the suction nozzle mechanism can be adjusted according to the size of conveyed objects.

Description

Suction nozzle type mechanical arm

Technical Field

The utility model relates to a robotic arm of suction nozzle formula belongs to robotic arm technical field.

Background

The robot arm is an automated mechanical device which is widely applied in the technical field of robots, and is generally applied in the fields of industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration and the like, but all of them have a common characteristic of being capable of receiving an instruction and accurately positioning to a certain point on a three-dimensional or two-dimensional space for operation.

In a chinese patent with publication number CN208729796U, a robot arm for carrying a nozzle mechanism of an automatic packaging machine is described, which comprises a fixed frame, one side of the fixed frame is provided with a speed reducing motor driving mechanism, one end of the speed reducing motor driving mechanism is fixed at the lower end of a rotating block through a coupler, the upper end of the rotating block is provided with a waist-shaped hole, a cylindrical connecting block is movably arranged in the waist-shaped hole and is positioned at one side of the rotating block, a pair of L-shaped guide blocks with the same structure and symmetrical arrangement are fixed on the fixing frame, an L-shaped guide groove is arranged on the end surface of each L-shaped guide block, the pair of L-shaped guide grooves form a U-shaped guide groove, one end part of the cylindrical connecting block is movably clamped in the U-shaped guide groove, the other end of the cylindrical connecting block is connected with a vertical guide rail, and the lower end of the vertical guide rail can be used for connecting a suction nozzle mechanism. The mechanical arm has compact structure, single motion track and reliable performance.

Similar mechanical arms are common in the market at present, but the mechanical arms are inconvenient for fine adjustment of the suction nozzle mechanism back and forth and up and down according to the size of an object to be transported, and inconvenient places exist in actual transportation.

Disclosure of Invention

The utility model discloses the technical problem that will solve lies in: the utility model provides a robotic arm of suction nozzle formula, it has solved the problem that the suction nozzle mechanism is not convenient for adjust the removal in three-dimensional space among the prior art.

The utility model discloses the technical problem that will solve takes following technical scheme to realize:

a suction nozzle type mechanical arm comprises a driving mechanism, a suction nozzle mechanism, a conveying belt and a transfer plate;

the driving mechanism comprises a belt pulley, a small synchronizing wheel, two large synchronizing wheels, a base fixing plate, a transmission connecting plate, a sliding plate, a guide rod sliding plate connecting plate and a guide rod end plate, wherein the belt pulley is provided with a transmission rod;

the suction nozzle mechanism comprises a main body, a sucker seat, a sucker and an air pipe, the sucker seat is fixed on the main body, the sucker is fixed on the sucker seat, one end of the air pipe is connected with the sucker seat to order the sucker to adsorb objects, the main body is provided with a waist-shaped hole along the length direction of the main body, the top of the main body is provided with a through hole, the through hole is communicated with the waist-shaped hole, a stud is arranged in the through hole, a nut is arranged on the stud, and the stud is connected with the nut in a threaded manner after sequentially passing through the through hole and the waist-shaped hole.

As a preferable example, the guide rod sliding plate connecting plate is provided with a limiting groove, the sliding plate is positioned in the limiting groove, and the guide rod sliding plate connecting plate slides along the height direction of the sliding plate.

As a preferred example, the guide rod end plate is detachably arranged at one end of the guide rod.

As a preferred example, a flat pad is arranged in the through hole.

As a preferred example, the transfer plate is positioned at one end of the conveying belt and the upper end is provided with saw teeth.

The utility model has the advantages that:

1. through adjusting the screw on the guide rod slide connecting plate, the guide rod slide connecting plate can be adjusted along the direction of height of slide, and through adjusting the double-screw bolt in the main part, the main part is adjusted along the length direction of guide rod to realize that suction nozzle mechanism can carry out the purpose of adjusting according to the size of carrying the thing.

2. The guide rod end plate is detachably arranged at one end of the guide rod, so that the main body can be detached from the guide rod, and the suction nozzle mechanism is convenient to replace parts or maintain.

3. The limiting groove is formed in the connecting plate of the guide rod sliding plate and used for limiting left and right deviation of the sliding plate, so that errors caused by left and right deviation of the sliding plate are prevented, and the mounting accuracy of the sliding plate is improved.

4. The upper end of the transfer plate is provided with the saw teeth, so that the friction coefficient of the transfer plate is increased, the friction force between the object and the transfer plate is increased, and the object is prevented from sliding off the transfer plate.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view of portion A of FIG. 1;

fig. 3 is an enlarged schematic view of a portion B of fig. 1.

In the figure: 1. a transmission connecting plate; 2. a guide bar; 3. a guide rod end plate; 4. a guide rod and slide plate connecting plate; 5. a slide plate; 6. a conveyor belt; 7. a main body; 8. a large synchronizing wheel; 9. a bolt; 10. a stud; 11. a base fixing plate; 12. a suction cup; 13. a sucker seat; 14. a belt pulley; 15. a transfer plate; 16. an air tube; 17. a limiting groove; 18. a strip-shaped through hole; 19. a screw; 20. a kidney-shaped hole.

Detailed Description

In order to make the technical means, the creation features, the achievement purposes and the functions of the present invention easy to understand and understand, the present invention is further explained by combining the following specific drawings.

As shown in fig. 1 to 3, a nozzle type robot arm includes a driving mechanism, a nozzle mechanism, a conveyor belt 6, and a transfer plate 15.

The driving mechanism comprises a belt pulley 14 positioned on one side of the conveying belt 6, a large synchronizing wheel 8, a base fixing plate 11, a transmission connecting plate 1, a sliding plate 5, a guide rod 2, a guide rod sliding plate connecting plate 4 and a guide rod end plate 3.

A transmission rod is arranged on the belt pulley 14, the transmission rod penetrates through and is rotatably arranged on the base fixing plate 11, and the belt pulley is externally connected with a transmission belt and a driving motor. Big synchronizing wheel 8 includes the action wheel and follows the driving wheel, the action wheel with follow and be provided with the driving chain between the driving wheel, the action wheel setting is located base fixed plate 11's both sides respectively at the other end of transfer line and with belt pulley 14, the end-to-end connection of transmission connecting plate 1 and transfer line, set up the other end at transmission connecting plate 1 from the driving wheel, be provided with the pivot from the driving wheel, the both ends of conveyer belt 6 are provided with the conveying roller, the pivot is connected with the conveying roller, thereby it rotates to drive the conveyer belt.

The synchronous wheel transmission is composed of an annular belt with equidistant teeth on the inner peripheral surface and a belt wheel with corresponding teeth, when in operation, the teeth of the belt wheel and the tooth grooves of the belt wheel are meshed to transmit motion and power, and the synchronous wheel transmission is novel belt transmission which integrates the advantages of belt transmission and chain transmission gear transmission.

The sliding plate 5 is fixed on one side of the conveying belt 6, the sliding plate 5 is provided with a long-strip-shaped through hole 18, the guide rod sliding plate connecting plate 4 is provided with a threaded hole corresponding to the long-strip-shaped through hole 18, a screw 19 is arranged in the long-strip-shaped through hole 18, the screw 19 penetrates through the long-strip-shaped through hole 18 and then is in threaded connection with the threaded hole, and the guide rod 2 is arranged on the guide rod sliding plate connecting plate 4. The guide rod sliding plate connecting plate 4 is provided with a limiting groove 17, the sliding plate 5 is positioned in the limiting groove 17, and the guide rod sliding plate connecting plate 4 slides along the height direction of the sliding plate 5.

The suction nozzle mechanism comprises a main body 7, a suction cup seat 13, a suction cup 12 and an air pipe 16, wherein the suction cup seat 13 is fixed on the main body 7, the suction cup 12 is fixed on the suction cup seat 13, and one end of the air pipe 16 is connected with the suction cup 12 to drive the suction cup 12 to adsorb objects. The main body 7 is provided with a waist-shaped hole 20 along the length direction thereof, and the top of the main body 7 is provided with a through hole which is communicated with the waist-shaped hole 20.

The through hole is internally provided with a stud 10, the through hole is also internally provided with a flat pad, the stud 10 is provided with a nut, and the stud 10 sequentially penetrates through the through hole and the kidney-shaped hole 20 and then is in threaded connection with the nut.

The flat gasket is mainly punched by an iron plate, is generally in the shape of a flat gasket, and is provided with a hole in the middle. The flat pad is used for increasing the contact area of the screw and the machine and eliminating the damage of the spring pad to the surface of the machine when the screw is unloaded. The spring washer is used on a flat washer which is close to the surface of the machine and is arranged between the flat washer and the screw cap.

The guide rod end plate 3 is screwed to one end of the guide rod 2 by a bolt 9.

The transfer plate 15 is located at one end of the conveyor belt 6 and is provided with serrations at its upper end. The upper end of the transfer plate 15 is provided with the saw teeth, so that the friction coefficient of the transfer plate 15 is increased, the friction force between the object and the transfer plate 15 is increased, and the object is prevented from sliding off the transfer plate 15.

The working principle is as follows: the driving motor drives the belt pulley 14 to rotate through a belt, the belt pulley 14 drives the large synchronous wheel 8 to transmit through the transmission rod, and the large synchronous wheel 8 drives the conveying roller to rotate, so that the conveying belt rotates; the screw 19 on the connecting plate of the sliding plate 5 of the guide rod 2 is adjusted, so that the connecting plate 4 of the guide rod sliding plate can be adjusted along the height direction of the sliding plate 5, and the adjustment of the suction nozzle mechanism in the up-and-down direction is realized; finally, the stud 10 on the main body 7 is adjusted, so that the main body 7 is adjusted along the length direction of the guide rod 2, and the suction nozzle mechanism is adjusted along the left-right direction.

When an object is conveyed to the bottom of the suction nozzle mechanism from one end of the conveying belt 17, the switch of the air pipe 16 is started, the air pipe 16 starts to convey air into the suction cup 12, the suction cup 12 enables the object on the conveying belt 17 to be adsorbed and then the conveying belt 17 is driven to rotate through the driving motor, the object is placed on the transfer plate 15, and the transfer plate 15 conveys the object to the next production line.

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-described embodiments, and that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are intended to be included within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A mechanical arm with a suction nozzle is characterized by comprising a driving mechanism, a suction nozzle mechanism, a conveying belt (6) and a transfer plate (15);

the driving mechanism comprises a belt pulley (14) positioned on one side of the conveying belt (6), two large synchronous wheels (8), a base fixing plate (11), a transmission connecting plate (1), a sliding plate (5), a guide rod (2), a guide rod sliding plate connecting plate (4) and a guide rod end plate (3), wherein the belt pulley (14) is provided with a transmission rod, the large synchronous wheels (8) comprise a driving wheel and a driven wheel, the transmission rod penetrates through the driving wheel and is connected with the transmission connecting plate (1), the driven wheel is provided with a rotating shaft, the rotating shaft penetrates through the transmission connecting plate (1) and is connected with the conveying belt (6), the sliding plate (5) is provided with a strip-shaped through hole (18), the guide rod sliding plate connecting plate (4) is provided with a threaded hole corresponding to the strip-shaped through hole (18), a screw (19) is arranged in the strip-shaped through hole (18), and the screw (19) penetrates through the strip-shaped through hole (18) and is in threaded connection with the threaded hole, the guide rod (2) is arranged on the guide rod sliding plate connecting plate (4);

suction nozzle mechanism includes main part (7), sucking disc seat (13), sucking disc (12) and trachea (16), sucking disc seat (13) are fixed on main part (7), sucking disc (12) are fixed on sucking disc seat (13), the one end and sucking disc seat (13) of trachea (16) are connected and are ordered about sucking disc (12) and adsorb the object, main part (7) are equipped with waist type hole (20) along its length direction, the top of main part (7) is equipped with the through-hole, through-hole and waist type hole (20) intercommunication, be equipped with double-screw bolt (10) in the through-hole, be equipped with the nut on double-screw bolt (10), double-screw bolt (10) pass through-hole and waist type hole (20) back and nut threaded connection in proper order.

2. The suction nozzle type mechanical arm as claimed in claim 1, wherein the guide rod sliding plate connecting plate (4) is provided with a limiting groove (17), the sliding plate (5) is located in the limiting groove (17), and the guide rod sliding plate connecting plate (4) slides along the height direction of the sliding plate (5).

3. A nozzle-type manipulator arm according to claim 1, wherein the guide rod end plate (3) is detachably arranged at one end of the guide rod (2).

4. A nozzle-type robot arm as claimed in claim 1, characterized in that said transfer plate (15) is located at one end of the conveyor belt (6) and is provided with serrations at its upper end.