CN219054417U - Multi-angle adjustment mechanical arm - Google Patents

Abstract

The utility model provides a multi-angle adjusting mechanical arm, which relates to the technical field of mechanical equipment and comprises the following components: the base, the top movable mounting of base surface has the revolving stage, and the one end movable mounting of revolving stage surface has the clamp platform. According to the utility model, the output shaft of the motor rotates to drive the rotating shaft to rotate, then the rotating roller rotates to drive the pull roller to do circular motion by taking the rotating shaft as the center of a circle, the connecting rod is pulled to simultaneously pull the connecting shaft to move back and forth, and as the upper clamping plate is slidably embedded in the inner wall of the clamping groove, the upper clamping plate on the upper part moves up and down under the pulling of the connecting rod, so that goods between the upper clamping plate and the bottom clamping plate are clamped, and the connecting shaft has a certain reciprocating movement distance in the horizontal direction when being pulled and pushed, so that the flexible rubber plate moves in the vertical direction of the upper clamping plate when being pushed up, the goods are conveniently pushed to be propped against the placing frame when being placed, and the pushing calibration of the goods is realized.

Description

Multi-angle adjustment mechanical arm

Technical Field

The utility model relates to the technical field of mechanical equipment, in particular to a multi-angle adjusting mechanical arm.

Background

With the continuous development of the economy and the rapid progress of the science and technology in China, the robot arm has quite wide application in the logistics industry, wherein the robot arm comprises the problems that stacking is changed into packaging in a factory, such as packaging types, factory environments, customer demands and the like. To overcome these difficulties, various aspects of palletizing plants have been developed, including from the robotics to the software that handles them, the market demand for flexibility has grown, this trend having affected various aspects of the packaging, and not the exception of the latter stages of the production line.

Current patent grant bulletin number: CN206720607U discloses a multi-angle adjustment's arm structure, its structure is including connecting the base, first column spinner, flexible arm, the second column spinner, 360 degrees swinging boom, the connecting plate, the connection tooth, the couple, connect the base and locate first column spinner below, flexible arm locates first column spinner top, first column spinner both ends respectively with connect the base, flexible arm is connected, flexible arm one end is located to the second column spinner, flexible arm both ends respectively with first column spinner, second column spinner swing joint, the second column spinner other end is located to 360 degrees swinging boom, second column spinner both ends respectively with flexible arm, 360 degrees swinging boom swing joint, 360 degrees swinging boom other ends are located to the connecting plate.

Above-mentioned technical scheme has improved the bearing dynamics, but in actual pile up neatly in-process, get rid of the transportation after need carrying out the centre gripping to goods itself, still need follow-up staff to right the calibration, avoid pile up neatly to pile up the goods slope that gets up, in case the slope problem will appear pile up neatly to pile up the goods and empty, cause the goods to damage, traditional arm can support on the rack curb plate when supporting goods to right the calibration clamping part, cause the damage to curb plate or gripper, the arm is inside not to possess simultaneously to promote the calibration function, so traditional arm still need the staff to calibrate by oneself to carry out the process of righting.

Disclosure of Invention

The utility model aims to solve the problems that in the prior art, a clamping part can be propped against a side plate of a rack when a traditional mechanical arm props against goods for righting and correcting, damage is caused to the side plate or a mechanical claw, and a worker still needs to calibrate the righting process.

In order to achieve the above purpose, the present utility model adopts the following technical scheme: a multi-angle adjustable robotic arm comprising: the rotary table is movably arranged at the top of the outer surface of the base, a clamping table is movably arranged at one end of the outer surface of the rotary table, a motor is fixedly arranged at the top of the outer surface of the clamping table, a butt plate is fixedly arranged at the top of the outer surface of the clamping table, a fixing plate is fixedly arranged at one side of the outer surface of the clamping table, a rotary shaft is fixedly connected with an output shaft of the motor, the rotary shaft is movably arranged at one side of the outer surface of the fixing plate, a rotary roller is fixedly arranged on the outer surface of the rotary roller, a pull roller is fixedly arranged on the outer surface of the rotary roller, a connecting rod is movably sleeved on the outer surface of the pull roller, a connecting shaft is movably sleeved at one end of the outer surface of the connecting rod, a lower push plate is movably sleeved on the outer surface of the connecting shaft, an upper push plate is movably connected with a bottom plate at one side of the outer surface of the lower push plate.

As a preferred implementation mode, the bottom clamping plate is fixedly arranged on one side of the outer surface of the clamping table, limiting strips are fixedly arranged on two sides of the outer surface of the bottom clamping plate, the limiting strips are fixedly arranged on two sides of the inner wall of the opposite clamping plate, and an upper clamping plate is movably connected to one side of the outer surface of the upper pushing plate.

The technical effect of adopting the further scheme is as follows: the bottom clamping plate is well fixed in the setting of spacing to this stability that improves the centre gripping process, and the anti-drop limit hook that the gripper side that the punch holder set up as the top prevents that the centre gripping transportation in goods from droing.

As a preferable implementation mode, one side of the outer surfaces of the lower pushing plate and the upper pushing plate is fixedly provided with a soft rubber plate, and the soft rubber plate is fixedly connected with the connecting rod.

The technical effect of adopting the further scheme is as follows: when the upper clamping plate moves upwards to release the goods, the upper clamping plate moves in the vertical direction, so that the goods can be pushed conveniently when the goods are placed and the clamping is canceled, the soft rubber plate is propped against the placing frame, and then the pushing calibration for the goods is realized.

As a preferable implementation mode, a plurality of protection rods are movably arranged on the inner wall of the pair of clamping plates, and springs are fixedly arranged on two sides of the inner wall of the pair of clamping plates.

The technical effect of adopting the further scheme is as follows: the protection pole is provided with the effectual goods that prevent to drop and causes the damage to the punch holder, plays the protection effect.

As a preferred embodiment, a plurality of protection soft plates are fixedly arranged on one sides of the outer surfaces of the springs, and the protection soft plates are fixedly arranged on the inner walls of the opposite clamping plates.

The technical effect of adopting the further scheme is as follows: the spring and the protection soft board that set up splint inner wall both sides conveniently when carrying out the centre gripping to the goods, improve the extrusion dynamics of both sides, avoid the messy many batches of smallclothes goods to drop from both sides, the revolving stage of bottom carries out the rotation of certain angle and still can guarantee can not drop to the goods of splint inside centre gripping.

As a preferred implementation mode, clamping grooves are formed in two sides of the inner wall of the pair of clamping plates, and the upper clamping plates are slidably embedded in the inner wall of the clamping grooves.

The technical effect of adopting the further scheme is as follows: the upper clamping plate which is embedded in the inner wall of the clamping groove in a sliding manner ensures that the upper clamping plate stably moves up and down, and cannot derail, so that the clamping of sufficient strength is provided for goods.

Compared with the prior art, the utility model has the advantages and positive effects that,

1. according to the utility model, the output shaft of the motor rotates to drive the rotating shaft to rotate, then the rotating roller rotates to drive the pull roller to do circular motion by taking the rotating shaft as the center of a circle, the connecting shaft is pulled to simultaneously pull the connecting shaft to move back and forth, as the upper clamping plate is slidably embedded in the inner wall of the clamping groove, the upper clamping plate on the upper part moves up and down under the pulling of the connecting shaft, so that goods between the upper clamping plate and the bottom clamping plate are clamped, meanwhile, one side of the upper clamping plate is provided with an anti-falling edge hook, the goods are prevented from falling off in the clamping and transporting process, the connecting shaft is simultaneously pulled and pushed by the connecting shaft to have a certain reciprocating motion distance in the horizontal direction, then the soft rubber plate is pushed to reciprocate, when the upper clamping plate moves upwards, namely, the goods are placed, the soft rubber plate moves in the vertical direction of the upper clamping plate, the goods are conveniently pushed when the goods are placed, and are propped against the placing rack, so that the goods are pushed and calibrated, compared with the traditional mechanical arm, the effect of pushing the goods is increased by using the original power source driving the mechanical claw to push the goods to calibrate the goods, the goods are prevented from falling, the problem that the traditional mechanical arm in the prior art is required to prop against the goods to be aligned, and the side plates are still damaged by the aligning personnel when the goods are aligned to be aligned, and the side plates are still required to be aligned by the aligning.

2. According to the utility model, the top of the clamping plate is provided with the protective rod, so that the upper clamping plate is prevented from being damaged when goods fall, a protective effect is achieved, the springs and the protective soft plates arranged on the two sides of the inner wall of the clamping plate facilitate clamping of the goods, extrusion force on the two sides is improved, messy batches of small goods are prevented from falling from the two sides, the goods clamped in the clamping plate can not fall even if the turntable at the bottom rotates for a certain angle, the goods can be well clamped through the two sides during movement, and compared with a traditional mechanical arm, the stability of the goods is effectively improved when the mechanical claw impacts the outside to incline.

Drawings

FIG. 1 is a schematic diagram of the whole structure of a multi-angle adjustable mechanical arm provided by the utility model;

FIG. 2 is a perspective view of a multi-angle adjustable mechanical arm clamping table provided by the utility model;

FIG. 3 is a perspective view of a multi-angle adjustable mechanical arm transmission device provided by the utility model;

fig. 4 is a perspective structure diagram of a multi-angle adjustable mechanical arm clamping device provided by the utility model.

Legend description:

1. a base; 2. a turntable; 3. a clamping table; 4. a motor; 5. a clamp plate is matched; 301. a fixing plate; 401. a rotating shaft; 402. a rotating roller; 403. pulling rolls; 404. a connecting rod; 405. a connecting shaft; 406. a lower push plate; 407. a push plate; 408. a bottom clamping plate; 409. a limit bar; 410. an upper clamping plate; 411. a soft rubber plate; 501. a protective rod; 502. a spring; 503. protecting the soft board; 504. a clamping groove.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-4, the present utility model provides a technical solution: a multi-angle adjustable robotic arm comprising: the base 1, the top movable mounting of base 1 surface has revolving stage 2, the one end movable mounting of revolving stage 2 surface has clamp platform 3, the top fixed mounting of clamp platform 3 surface has motor 4, the top fixed mounting of clamp platform 3 surface has clamp plate 5, one side fixed mounting of clamp platform 3 surface has fixed plate 301, the output shaft fixedly connected with pivot 401 of motor 4, pivot 401 movable mounting is in one side of fixed plate 301 surface, the surface fixed cover of pivot 401 is equipped with the commentaries on classics roller 402, the surface fixed mounting of commentaries on classics roller 402 has pull roll 403, the surface movable cover of pull roll 403 is equipped with connecting rod 404, the one end movable cover of connecting rod 404 surface is equipped with connecting axle 405, the surface movable cover of connecting axle 405 is equipped with push down plate 406, the surface movable cover of connecting axle 405 is equipped with push up plate 407, one side movable connection of push down plate 406 surface has end clamp plate 408, the turntable 2 comprises a plurality of power sources, a rotating shaft and a control console, the power sources, the rotating shaft and the control console are used as bottom devices for adjusting the clamping angle and the clamping direction of the clamping platform 3, the output shaft of the motor 4 rotates to drive the rotating shaft 401 to rotate, then the rotating roller 402 rotates to drive the pull roller 403 to do circular motion around the rotating shaft 401, the connecting shaft 405 is pulled by the pull connecting rod 404 to move back and forth, the upper clamping plate 410 is in sliding embedding with the inner wall of the clamping groove 504 under the pulling of the connecting rod 404, the upper clamping plate 410 on the upper part moves up and down, so that goods between the upper clamping plate 410 and the bottom clamping plate 408 are clamped, meanwhile, one side of the upper clamping plate 410 is provided with an anti-falling edge hook for preventing goods from falling off in the clamping and transporting process, the connecting shaft 405 has a certain reciprocating distance in the horizontal direction at the same time when the pulling and pushing the soft rubber plate 411 to reciprocate, and when the upper clamping plate 410 moves up, that is, when placing goods, the vertical direction that the up splint 410 is located is removed to the flexible glue board 411, conveniently promote the goods when placing goods cancellation centre gripping, support on the rack, realize the promotion calibration to the goods then, for traditional arm, utilize the power supply of original drive gripper clamping, an effect of promotion has been increased, thereby promote deep goods shelves with the goods, calibrate, prevent the goods to empty, be provided with the protection pole 501 to the top of splint 5 in addition, cause the damage to up splint 410 when preventing that the goods from dropping, play the guard effect, the spring 502 that sets up the splint 5 inner wall both sides and protection soft board 503 are convenient when carrying out the centre gripping to the goods, improve the extrusion dynamics of both sides, avoid the multiple batches of smalls goods in disorder to drop from both sides, even the revolving stage 2 of bottom carries out the rotation of certain angle still can guarantee that can not drop to the goods that clamp 5 inside the splint, the setting up of spring 502 can well carry out the centre gripping to the goods through both sides simultaneously, stability of goods when the gripper bumps outside slope for traditional arm, improve the stability of goods effectively.

Referring to fig. 1-4, the bottom clamping plate 408 is fixedly installed on one side of the outer surface of the clamping table 3, both sides of the outer surface of the bottom clamping plate 408 are fixedly installed with limiting strips 409, the limiting strips 409 are fixedly installed on both sides of the inner wall of the opposite clamping plate 5, one side of the outer surface of the upper pushing plate 407 is movably connected with an upper clamping plate 410, the bottom clamping plate 408 is well fixed by the arrangement of the limiting strips 409, so that the stability of the clamping process is improved, and the upper clamping plate 410 is used as an anti-falling edge hook arranged on the side edge of the clamping claw at the top end to prevent goods from falling off in the clamping and transporting process.

Referring to fig. 1-4, a soft rubber plate 411 is fixedly mounted on one side of the outer surfaces of the lower push plate 406 and the upper push plate 407, the soft rubber plate 411 is fixedly connected with the connecting rod 404, and when the upper clamping plate 410 moves upwards, i.e. the goods are released, the soft rubber plate 411 moves in the vertical direction where the upper clamping plate 410 is located, so that the goods can be conveniently pushed when the goods are placed and the clamping is canceled, and the goods can be pushed against the placing rack, so that the pushing calibration of the goods is realized.

Referring to fig. 1-4, a plurality of protection rods 501 are movably mounted on the inner wall of the clamping plate 5, springs 502 are fixedly mounted on two sides of the inner wall of the clamping plate 5, and the protection rods 501 are arranged to effectively prevent damage to the upper clamping plate 410 when cargoes fall, so that a protection effect is achieved.

Referring to fig. 1-4, a protection soft board 503 is fixedly installed on one side of the outer surfaces of the springs 502, the protection soft board 503 is fixedly installed on the inner wall of the clamping plate 5, the springs 502 and the protection soft board 503 arranged on two sides of the inner wall of the clamping plate 5 facilitate the clamping of goods, the extrusion force on two sides is improved, the messy small goods are prevented from falling from two sides, and the goods clamped in the clamping plate 5 can still be prevented from falling when the turntable 2 at the bottom rotates for a certain angle.

Referring to fig. 1-4, clamping grooves 504 are formed on two sides of the inner wall of the clamping plate 5, the upper clamping plate 410 is slidably embedded in the inner wall of the clamping groove 504, and the upper clamping plate 410 slidably embedded in the inner wall of the clamping groove 504 ensures that the upper clamping plate 410 stably moves up and down, does not derail, and provides clamping with sufficient force for goods.

Principle of operation

The turntable 2 comprises a plurality of power sources, a rotating shaft and a control console, the power sources, the rotating shaft and the control console are used as bottom devices for adjusting the clamping angle and the clamping direction of the clamping platform 3, the output shaft of the motor 4 rotates to drive the rotating shaft 401 to rotate, then the rotating roller 402 rotates to drive the pull roller 403 to do circular motion around the rotating shaft 401, the connecting shaft 405 is pulled by the pull connecting rod 404 to move back and forth, the upper clamping plate 410 is in sliding embedding with the inner wall of the clamping groove 504 under the pulling of the connecting rod 404, the upper clamping plate 410 on the upper part moves up and down, so that goods between the upper clamping plate 410 and the bottom clamping plate 408 are clamped, meanwhile, one side of the upper clamping plate 410 is provided with an anti-falling edge hook for preventing goods from falling off in the clamping and transporting process, the connecting shaft 405 has a certain reciprocating distance in the horizontal direction at the same time by pulling and pushing the soft rubber plate 411 to reciprocate, when the upper clamping plate 410 moves upwards, namely when goods are placed, the soft rubber plate 411 moves towards the vertical direction where the upper clamping plate 410 is positioned, so that the goods are conveniently pushed to be propped against the placing rack when the goods are placed and clamped, and then the pushing calibration of the goods is realized, compared with a traditional mechanical arm, compared with the traditional mechanical arm, the original power source for driving the clamping of the mechanical claw is utilized, the pushing effect is increased, thereby pushing the goods deep into the goods rack for calibration, preventing the goods from toppling over, in addition, the top of the clamping plate 5 is provided with the too many protective rods 501, preventing the goods from damaging the upper clamping plate 410 when falling, playing a protective effect, improving the extruding force of two sides when the goods are clamped conveniently by the springs 502 and the protective soft plates 503 arranged on two sides of the inner wall of the clamping plate 5, avoiding the falling of messy small goods from two sides, even the revolving stage 2 of bottom carries out the rotation of certain angle still can guarantee not drop to the inside goods that presss from both sides of splint 5 centre gripping, removes simultaneously that spring 502's setting can be well through both sides centre gripping to the goods, for traditional arm, has improved the stability of goods when the gripper strikes outside slope effectively.

The present utility model is not limited to the above-mentioned embodiments, and any equivalent embodiments which can be changed or modified by the technical content disclosed above can be applied to other fields, but any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical substance of the present utility model without departing from the technical content of the present utility model still belong to the protection scope of the technical solution of the present utility model.

Claims (6)

1. A multi-angle adjustable robotic arm comprising: base (1), its characterized in that: the utility model discloses a rotary table, including base (1) and base, rotary table (2) is installed to the top movable mounting of base (1) surface, one end movable mounting of rotary table (2) surface has clamp platform (3), the top fixed mounting of clamp platform (3) surface has motor (4), the top fixed mounting of clamp platform (3) surface has clamp plate (5), one side fixed mounting of clamp platform (3) surface has fixed plate (301), the output shaft fixedly connected with pivot (401) of motor (4), pivot (401) movable mounting is in one side of fixed plate (301) surface, the surface fixed cover of pivot (401) is equipped with rotatory roller (402), the surface fixed mounting of rotatory roller (402) has pull roller (403), the surface movable cover of pull roller (403) is equipped with connecting rod (404), the one end movable cover of connecting rod (404) surface is equipped with connecting axle (405), the surface movable cover of connecting axle (405) is equipped with push pedal (406) down, the surface movable cover of connecting axle (405) is equipped with push pedal (407), one side swing joint of push pedal (406) surface has bottom clamp plate (408).

2. The multi-angle adjustable mechanical arm of claim 1, wherein: the bottom clamping plate (408) is fixedly arranged on one side of the outer surface of the clamping table (3), limiting strips (409) are fixedly arranged on two sides of the outer surface of the bottom clamping plate (408), the limiting strips (409) are fixedly arranged on two sides of the inner wall of the opposite clamping plate (5), and an upper clamping plate (410) is movably connected on one side of the outer surface of the upper pushing plate (407).

3. The multi-angle adjustable mechanical arm of claim 2, wherein: and a soft rubber plate (411) is fixedly arranged on one side of the outer surfaces of the lower pushing plate (406) and the upper pushing plate (407), and the soft rubber plate (411) is fixedly connected with the connecting rod (404).

4. A multi-angle adjustable mechanical arm according to claim 3, wherein: a plurality of protection rods (501) are movably mounted on the inner wall of the pair of clamping plates (5), and springs (502) are fixedly mounted on two sides of the inner wall of the pair of clamping plates (5).

5. The multi-angle adjustable mechanical arm of claim 4, wherein: and one side of the outer surfaces of the springs (502) is fixedly provided with a protection soft plate (503), and the protection soft plate (503) is fixedly arranged on the inner wall of the opposite clamping plate (5).

6. The multi-angle adjustable mechanical arm of claim 5, wherein: clamping grooves (504) are formed in two sides of the inner wall of the pair of clamping plates (5), and the upper clamping plates (410) are embedded in the inner wall of the clamping grooves (504) in a sliding mode.

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