CN217453982U - Mechanical arm - Google Patents

Abstract

The application discloses a mechanical arm, which comprises an installation shell, a first adjusting component, a second adjusting component, a fixing plate and a grabbing component; the mounting shell comprises a supporting seat, a bottom plate, a first connecting plate and a second connecting plate; the bottom plate is rotatably connected with the supporting seat, and the first connecting plate is fixedly connected with the bottom plate; the second connecting plate is connected with the first connecting plate in a sliding manner; the first adjusting assembly comprises a first motor, a first screw rod and a first nut, and the first nut is in threaded connection with the first screw rod; the first motor drives the first screw rod to rotate so as to drive the first nut to move; the fixing plate is fixedly connected with a first nut; the grabbing component is fixedly connected with the fixing plate; the second adjusting assembly comprises a second motor, a second screw rod and a second nut; the second nut is in threaded connection with the second screw rod and is fixedly connected with the second connecting plate, and the second motor drives the second screw rod to rotate so as to drive the second nut to move. The mechanical arm can automatically stack in the carriage, workers do not need to enter the semi-closed carriage to work, and the loading and transporting efficiency is high and the cost is low.

Description

Mechanical arm

Technical Field

The application relates to the technical field of mechanical equipment, in particular to a mechanical arm.

Background

In the field of logistics conveying of cigarette boxes, the conveying and stacking process flow of the cigarette boxes in a carriage is as follows: after the goods delivery truck stops at the delivery dock according to the regulations, the telescopic belt conveyor for conveying the smoke boxes is manually controlled to move in multiple directions, namely front and back, left and right, and up and down, so that the smoke boxes are manually moved to the carriage from the telescopic belt conveyor and are stacked according to a certain rule.

However, the above-mentioned method for shipping the cigarette box has the disadvantages that the labor intensity of workers in the semi-closed space is very high, the environment is severe, the shipping efficiency is low, and the cost is high because the carriage is a semi-closed space.

SUMMERY OF THE UTILITY MODEL

An object of the application is to provide a new technical scheme of arm, has solved above-mentioned problem, and the arm can carry out the pile up neatly in the carriage automatically, need not the workman and gets into work in the semi-enclosed carriage, and the shipment is efficient, and is with low costs.

The application provides a mechanical arm includes: the device comprises an installation shell, a first adjusting component, a second adjusting component, a fixing plate and a grabbing component; the mounting shell comprises a supporting seat, a bottom plate, a first connecting plate and a second connecting plate; the bottom plate is rotatably connected with the supporting seat, and the first connecting plate is fixedly connected with the bottom plate; the second connecting plate is connected with the first connecting plate in a sliding mode and can slide along the length direction of the mechanical arm; the first adjusting assembly comprises a first motor, a first screw rod and a first nut, and the first motor is arranged on the second connecting plate; one end of the first screw rod is rotatably connected with the second connecting plate, and the other end of the first screw rod is fixedly connected with the driving end of the first motor; a first nut is in threaded connection with the first screw rod; the fixing plate is fixedly connected with a first nut; the grabbing component is fixedly connected with the fixing plate; the second adjusting assembly comprises a second motor, a second screw rod and a second nut, the second motor is arranged on the first connecting plate, one end of the second screw rod is rotatably connected with the first connecting plate, and the other end of the second screw rod is fixedly connected with the driving end of the second motor; the second nut is in threaded connection with the second screw rod and is fixedly connected with the second connecting plate.

In some embodiments, the robotic arm further comprises: a third motor, a driving gear and a driven gear; the third motor is installed in the supporting seat, the driving gear is fixedly connected with the driving end of the third motor, and the driven gear is fixedly connected with the first connecting plate and is in meshed connection with the driving gear.

In some embodiments, the grasping assembly includes a connecting arm fixedly connected to the fixing plate and a suction cup rotatably connected to the connecting arm.

In some embodiments, the connecting arm comprises a first arm, a second arm, and a third arm; one end of the first arm is fixedly connected with the fixing plate, one end of the second arm is rotatably connected with the other end of the first arm, one end of the third arm is rotatably connected with the other end of the second arm, and the sucker is rotatably connected with the other end of the third arm.

In some embodiments, the grasping assembly further includes a fourth motor and a first worm gear reducer mounted to the first arm; the second arm is connected with a first worm gear speed reducer; the fourth motor drives the first worm gear speed reducer to act, so that the first worm gear speed reducer drives the second arm to rotate.

In some embodiments, the gripping assembly further comprises a fifth motor and a second worm gear reducer mounted on the third arm, and the suction cup is connected with the second worm gear reducer; and the fifth motor drives the second worm gear speed reducer to act, so that the second worm gear speed reducer drives the sucker to rotate.

In some embodiments, the gripping assembly further comprises a turning cylinder, the turning cylinder is mounted on the second arm, and the third arm is connected with the driving rod of the turning cylinder; the overturning cylinder can drive the third arm to overturn.

In some embodiments, the first connection plate comprises two outer plates forming a mounting space therebetween; the second connecting plate includes two inner plates, and two inner plates are relative and the spaced setting in installation space.

In some embodiments, the robotic arm further comprises two first slide rails and two first sliders; the two first sliding blocks are respectively connected with the two first sliding rails in a sliding manner; the two first sliding rails are fixed on the two outer plates respectively, and the two first sliding blocks are fixed on two opposite sides of the fixing plate respectively.

In some embodiments, the robotic arm further comprises two second slide rails and two second sliders; the two second sliding blocks are respectively connected with the two second sliding rails in a sliding manner; the two second sliding rails are fixed on the two outer laminates respectively, and the two second sliding blocks are fixed on the two inner laminates respectively.

According to the mechanical arm provided by the embodiment, after the first motor is started, the first screw rod can be driven to rotate, the first screw rod rotates to enable the first nut to move in the length direction of the mechanical arm along the first screw rod, and the first nut drives the grabbing assembly to move in the length direction of the mechanical arm. After the second motor is started, the second screw rod can be driven to rotate, the second screw rod rotates to enable the second nut to move in the length direction of the mechanical arm along the second screw rod, and the second nut drives the second connecting plate to move in the length direction of the mechanical arm. In other words, the position of the grabbing assembly along the length direction is adjustable through the first adjusting assembly and the second adjusting assembly, the adjusting range is wide, and the grabbing assembly can be suitable for more types of boxcars.

The mechanical arm provided by the embodiment of the application can automatically stack in the carriage, does not need workers to enter the semi-closed carriage, and is high in loading efficiency and low in cost. In addition, the length of arm is adjustable, can be applicable to the boxcar of multiple different grade type, and can adjust the position of the smoke box that snatchs the subassembly and snatch.

Further features of the present application and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which is to be read in connection with the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic structural diagram of a robot arm provided in an embodiment of the present application.

Figure 2 is a schematic view of the robotic arm shown in figure 1 from another perspective.

Fig. 3 is a schematic structural diagram illustrating a grabbing assembly of a robot arm connected to a fixing plate according to an embodiment of the present application.

Fig. 4 is a schematic structural diagram of another view angle of the robot arm gripping assembly connected to the fixing plate according to the embodiment of the present application.

Figure 5 is a schematic view of the robotic arm shown in figure 1 from a further perspective.

The figures are labeled as follows: 100-mounting shell, 110-supporting seat, 120-bottom plate, 130-first connecting plate, 140-second connecting plate, 150-outer plate, 160-inner plate, 170-first sliding rail, 180-first sliding block, 190-second sliding rail, 191-second sliding block, 200-first adjusting component, 210-first motor, 220-first screw rod, 230-first nut, 300-second adjusting component, 310-second motor, 320-second screw rod, 330-second nut, 400-fixing plate, 500-grabbing component, 510-connecting arm, 511-first arm, 512-second arm, 513-third arm, 520-sucking disc, 530-fourth motor, 540-first worm reducer, 550-fifth motor, 560-second worm gear reducer, 570-turnover cylinder, 600-third motor, 610-driving gear, 620-driven gear.

Detailed Description

Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

Referring to fig. 1 to 5, an embodiment of the present application provides a robot arm, including: a mounting case 100, a first adjusting assembly 200, a second adjusting assembly 300, a fixing plate 400, and a grasping assembly 500.

The mounting case 100 includes a support base 110, a bottom plate 120, a first connection plate 130, and a second connection plate 140; the bottom plate 120 is rotatably connected with the supporting seat 110, and the first connecting plate 130 is fixedly connected with the bottom plate 120; the second connection plate 140 is slidably connected to the first connection plate 130 and can slide along the length direction of the robot arm.

The first adjusting assembly 200 includes a first motor 210, a first screw 220 and a first nut 230, the first motor 210 is mounted on the second connecting plate 140; one end of the first screw rod 220 is rotatably connected with the second connecting plate 140, and the other end of the first screw rod 220 is fixedly connected with the driving end of the first motor 210; the first nut 230 is threadedly coupled to the first lead screw 220.

The fixing plate 400 is fixedly connected with the first nut 230; the grasping assembly 500 is fixedly coupled to the fixing plate 400.

The second adjusting assembly 300 comprises a second motor 310, a second screw 320 and a second nut 30, the second motor 310 is mounted on the first connecting plate 130, one end of the second screw 320 is rotatably connected with the first connecting plate 130, and the other end of the second screw 320 is fixedly connected with the driving end of the second motor 310; the second nut 30 is screwed on the second lead screw 320 and fixedly connected with the second connecting plate 140.

In the mechanical arm provided in this embodiment, after the first motor 210 is started, the first screw 220 can be driven to rotate, the first screw 220 rotates to enable the first nut 230 to move along the first screw 220 in the length direction of the mechanical arm, and the first nut 230 drives the grabbing assembly 500 to move along the length direction of the mechanical arm. After the second motor 310 is started, the second lead screw 320 can be driven to rotate, the second lead screw 320 rotates, so that the second nut 30 moves along the second lead screw 320 in the length direction of the robot arm, and the second nut 30 drives the second connecting plate 140 to move along the length direction of the robot arm. In other words, the position of the grabbing assembly 500 along the length direction is adjustable through the first adjusting assembly 200 and the second adjusting assembly 300, the adjustment range is wide, and the grabbing assembly can be suitable for more types of boxcars.

The mechanical arm provided by the embodiment of the application can automatically stack in the carriage, does not need workers to enter the semi-closed carriage, and is high in loading efficiency and low in cost. In addition, the length of arm is adjustable, can be applicable to the boxcar of multiple different grade type, and can adjust the position of the smoke box that snatchs subassembly 500 snatchs.

In some embodiments, the robotic arm further comprises: a third motor 600, a driving gear 610, and a driven gear 620; the third motor 600 is mounted on the supporting base 110, the driving gear 610 is fixedly connected to a driving end of the third motor 600, and the driven gear 620 is fixedly connected to the first connecting plate 130 and is engaged with the driving gear 610. Third motor 600 starts the back, drives driving gear 610 and rotates, and driving gear 610 rotates and drives driven gear 620 and rotate, and driven gear 620 drives first connecting plate 130 and rotates, and then realizes the rotation of whole installation shell 100, when snatching subassembly 500 and snatching the smoke box, can adjust the position of smoke box when installation shell 100 rotates to better place the smoke box in suitable position.

In some embodiments, the grasping assembly 500 includes a connecting arm 510 and a suction cup 520, the connecting arm 510 being fixedly connected to the fixing plate 400, and the suction cup 520 being rotatably connected to the connecting arm 510. It can be appreciated that the suction cup 520 is connected with a vacuum device, and when the suction cup 520 grabs the smoke box, the vacuum device adsorbs air in the suction cup 520, so that the suction cup 520 generates negative air pressure, and then adsorbs the smoke box. At this moment, the suction cup 520 can be rotated, the third motor 600 is controlled to drive the installation shell 100 to rotate, the first adjusting component 200 and/or the second adjusting component 300 are controlled to jointly adjust the position of the smoke box, and after the smoke box reaches the position needing stacking, the air source of the vacuum equipment box provides air, so that the smoke box is separated from the suction cup 520. The suction cup 520 is capable of rotating 360 degrees around the center of its circle.

In some embodiments, connecting arm 510 includes a first arm 511, a second arm 512, and a third arm 513; one end of the first arm 511 is fixedly connected with the fixing plate 400, one end of the second arm 512 is rotatably connected with the other end of the first arm 511, one end of the third arm 513 is rotatably connected with the other end of the second arm 512, and the suction cup 520 is rotatably connected with the other end of the third arm 513. In other words, the second arm 512, the third arm 513 and the suction cup 520 can rotate independently, and the third arm 513 rotates up and down relative to the second arm 512 in a direction parallel to the length direction of the mechanical arms. The second arm 512 rotates in the horizontal direction relative to the first arm 511, and then the position of the cigarette box grasped by the suction cup 520 is adjusted, so that the cigarette box is better stacked.

In some embodiments, the grasping assembly 500 further includes a fourth motor 530 and a first worm gear reducer 540 mounted to the first arm 511; the second arm 512 is connected with a first worm gear reducer 540; the fourth motor 530 drives the first worm gear reducer 540 to operate, so that the first worm gear reducer 540 drives the second arm 512 to rotate. Specifically, a worm wheel of the first worm wheel and worm speed reducer 540 is meshed with a worm, the worm of the first worm wheel and worm speed reducer 540 is connected with the driving end of the fourth motor 530, the worm wheel of the first worm wheel and worm speed reducer 540 is fixedly connected with the second arm 512, and the worm of the first worm wheel and worm speed reducer 540 can drive the worm wheel to rotate when moving. After the fourth motor 530 is started, the worm of the first worm gear and worm speed reducer 540 is driven to move, the worm of the first worm gear and worm speed reducer 540 drives the worm wheel to rotate, and the worm wheel of the first worm gear and worm speed reducer 540 drives the second arm 512 to rotate. The rotation of the second arm 512 is realized by utilizing the first worm gear speed reducer 540, the structure is simple, the cost is low, and the rotation stability of the second arm 512 is strong.

In some embodiments, the grasping assembly 500 further includes a fifth motor 50 and a second worm gear reducer 560 mounted to the third arm 513, the suction cup 520 is connected to the second worm gear reducer 560; the fifth motor 50 drives the second worm gear reducer 560 to operate, so that the second worm gear reducer 560 drives the suction cup 520 to rotate. Specifically, a worm wheel of the second worm and gear speed reducer 560 is engaged with the worm, and the worm of the second worm and gear speed reducer 560 can drive the worm wheel to rotate when moving. After the fifth motor 50 is started, the worm of the second worm gear and worm speed reducer 560 is driven to move, the worm of the second worm gear and worm speed reducer 560 drives the worm wheel to move, and the worm wheel of the second worm gear and worm speed reducer 560 drives the suction cup 520 to rotate. The rotation of the suction cup 520 is realized by the second worm gear reducer 560, the structure is simple, the cost is low, and the stability of the rotation of the suction cup 520 is strong.

In some embodiments, the grasping assembly 500 further includes a flipping cylinder 570, the flipping cylinder 570 is mounted to the second arm 512, and the third arm 513 is connected to a driving rod of the flipping cylinder 570; the flipping cylinder 570 can drive the third arm 513 to flip. Specifically, the cylinder body of the turning cylinder 570 is installed on the second arm 512, the driving rod of the turning cylinder 570 is connected with the third arm 513, and after the turning cylinder 570 is started, the driving rod extends or shortens relative to the cylinder body to drive the third arm 513 to rotate.

In some embodiments, the first connection plate 130 includes two outer plates 150, and the two outer plates 150 form an installation space therebetween; the second connection plate 140 includes two inner plates 160, and the two inner plates 160 are oppositely and spaced apart from each other and are disposed in the installation space.

In some embodiments, the robotic arm further comprises two first slide rails 170 and two first sliders 180; the two first sliding blocks 180 are respectively connected with the two first sliding rails 170 in a sliding manner; the two first sliding rails 170 are respectively fixed to the two outer plates 150, and the two first sliding blocks 180 are respectively fixed to two opposite sides of the fixing plate 400. Set up two first slide rails 170 and two first sliders 180 for snatch subassembly 500 and the reliable sliding connection of second connecting plate 140, when first adjusting part 200 drove and snatch subassembly 500 and remove along arm length direction relative second connecting plate 140, first slider 180 slided along first slide rail 170 simultaneously, leads to the removal of snatching subassembly 500, makes and snatchs subassembly 500 and remove more steadily, and then realizes the steady pile up of smoke box.

In some embodiments, the robotic arm further comprises two second slide rails 190 and two second sliders 191; the two second sliding blocks 191 are respectively connected with the two second sliding rails 190 in a sliding manner. The two second sliding rails 190 are fixed to the two outer plates 150, and the two second sliding blocks 191 are fixed to the two inner plates 160.

Set up two second slide rails 190 and two second sliders 191 for when second adjusting part 300 drove the relative first connecting plate 130 of second connecting plate 140 and removed along arm length direction, second slider 191 slides along second slide rail 190 simultaneously, leads to the removal of second connecting plate 140, makes second connecting plate 140 remove more steadily, increases the stationarity that the smoke box was put things in good order.

Although some specific embodiments of the present application have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present application. It will be appreciated by those skilled in the art that modifications can be made to the above embodiments without departing from the scope and spirit of the present application. The scope of the application is defined by the appended claims.

Claims (10)

1. A robot arm, comprising: the device comprises an installation shell, a first adjusting component, a second adjusting component, a fixing plate and a grabbing component;

the mounting shell comprises a supporting seat, a bottom plate, a first connecting plate and a second connecting plate; the bottom plate is rotationally connected with the supporting seat, and the first connecting plate is fixedly connected with the bottom plate; the second connecting plate is connected with the first connecting plate in a sliding mode and can slide along the length direction of the mechanical arm;

the first adjusting assembly comprises a first motor, a first screw rod and a first nut, and the first motor is mounted on the second connecting plate; one end of the first screw rod is rotatably connected with the second connecting plate, and the other end of the first screw rod is fixedly connected with the driving end of the first motor; the first nut is in threaded connection with the first screw rod;

the fixing plate is fixedly connected with the first nut; the grabbing component is fixedly connected with the fixing plate;

the second adjusting assembly comprises a second motor, a second screw rod and a second nut, the second motor is installed on the first connecting plate, one end of the second screw rod is rotatably connected with the first connecting plate, and the other end of the second screw rod is fixedly connected with the driving end of the second motor; the second nut is in threaded connection with the second screw rod and is fixedly connected with the second connecting plate.

2. A robotic arm as claimed in claim 1, further comprising: a third motor, a driving gear and a driven gear; the third motor is installed in the supporting seat, the driving gear is fixedly connected with the driving end of the third motor, and the driven gear is fixedly connected with the first connecting plate and is in meshed connection with the driving gear.

3. A robotic arm as claimed in claim 1, in which the gripping assembly comprises a link arm fixedly connected to the fixed plate and a suction cup rotatably connected to the link arm.

4. A robotic arm as claimed in claim 3, in which the connecting arm comprises a first arm, a second arm and a third arm; the one end fixed connection of first arm the fixed plate, the one end of second arm is rotated and is connected the other end of first arm, the one end of third arm is rotated and is connected the other end of second arm, the sucking disc rotates and connects the other end of third arm.

5. The robotic arm of claim 4, wherein the grasping assembly further comprises a fourth motor and a first worm gear reducer mounted to the first arm; the second arm is connected with the first worm gear reducer; the fourth motor drives the first turbine worm speed reducer to act, so that the first turbine worm speed reducer drives the second arm to rotate.

6. The robotic arm of claim 4, wherein the gripper assembly further comprises a fifth motor and a second worm gear reducer mounted to the third arm, the suction cup being connected to the second worm gear reducer; the fifth motor drives the second worm gear speed reducer to act, so that the second worm gear speed reducer drives the sucker to rotate.

7. The mechanical arm as claimed in claim 4, wherein the gripping assembly further comprises a turnover cylinder, the turnover cylinder is mounted on the second arm, and the third arm is connected with a driving rod of the turnover cylinder; the overturning air cylinder can drive the third arm to overturn.

8. The mechanical arm as claimed in any one of claims 1 to 7, wherein the first connecting plate comprises two outer plates forming a mounting space therebetween; the second connecting plate comprises two inner plates, and the two inner plates are arranged in the mounting space in an opposite and spaced mode.

9. A robotic arm as claimed in claim 8, further comprising two first slide rails and two first sliders; the two first sliding blocks are respectively connected with the two first sliding rails in a sliding manner;

the two first sliding rails are fixed on the two outer plates respectively, and the two first sliding blocks are fixed on two opposite sides of the fixed plate respectively.

10. The robotic arm of claim 8, further comprising two second slide rails and two second slide blocks; the two second sliding blocks are respectively connected with the two second sliding rails in a sliding manner;

the two second sliding rails are fixed on the two outer laminates respectively, and the two second sliding blocks are fixed on the two inner laminates respectively.

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