CN220077891U - Mechanical arm stacker crane - Google Patents

Abstract

The utility model relates to the technical field of stacker cranes, in particular to a mechanical arm stacker crane which comprises a mechanical arm main body, wherein the tail end of the mechanical arm is fixedly connected with a clamping chassis, the lower surface of the clamping chassis is provided with a main clamping box, a main clamping assembly is arranged in the main clamping box, the upper surface of the clamping chassis is fixedly connected with a main clamping motor, the upper surface of the clamping chassis is provided with a secondary clamping assembly, and the secondary clamping assembly is provided with a unidirectional overturning supporting plate; according to the utility model, the rack arm and the main clamping plate are mutually close through the main clamping motor, an object is limited in one direction, the auxiliary clamping motor rotates to enable the two-way threaded screw rod to rotate, the auxiliary clamping plates at two sides are close to the middle, and the object is limited and clamped in the other direction, so that the effect of clamping the object in the two directions is achieved, the object can be more stable in the clamped and transported process, and the problems of inaccurate position and poor stacking effect caused by deviation caused by vibration generated by steering and pause of the motor are solved.

Description

Mechanical arm stacker crane

Technical Field

The utility model relates to the technical field of mechanical equipment, in particular to a mechanical arm stacker crane.

Background

The stacker crane is a machine which stacks cartons loaded into containers on trays and pallets (wood and plastic) according to a certain arrangement, can stack multiple layers automatically and then pushes out, is convenient for forklift to be transported to a warehouse for storage, and can be divided into a gantry stacker crane, a column stacker crane and a mechanical arm stacker crane.

Among the prior art, publication number is CN207658692U chinese patent discloses a take hacking machine of robotic arm easy regulation, including the control box, the lower extreme of control box is fixed with the base, and the inside of control box is provided with the singlechip simultaneously, one side of singlechip is provided with installs the inside first motor of control box, the output transmission of first motor is connected with and is located the carousel of control box upper end, the upper end of carousel is fixed with the control cabinet, the internally mounted of control cabinet has the second motor, is provided with the control arm on the outer wall of control cabinet simultaneously, the top of control arm is connected with the robotic arm body through the pivot, and the upper end of control cabinet is fixed with the portal frame simultaneously. According to the utility model, the problems of poor mechanical property, weak flexibility and insufficient safety of the equipment in use are solved by arranging the first motor, the singlechip, the universal wheel, the fixed blade, the alarm, the second motor, the toothed chain, the control arm, the infrared sensor and the clamping arm.

But the device still has the disadvantage, the clamping arm department of the device, clamping jaw of both sides is close to each other only when passing through the pneumatic cylinder to reach the effect of centre gripping carton, but in the pile up neatly in-process, need transport the carton from one place to another place, and the device obviously can only restrict the carton in a direction, in the in-process of robotic arm motion, the carton takes place to rock easily, and because pile up neatly operation is often repetitiveness, the motor needs frequent change to turn to, there is great vibration when changing to turn to, the position deviation of carton when easily resulting in the pile up neatly, the pile up neatly effect is not good, and also bring the puzzlement to the transportation after the pile up neatly.

Disclosure of Invention

The utility model aims to provide a mechanical arm stacker crane which solves the problems in the prior art.

The technical scheme of the utility model is as follows: the utility model provides a robotic arm hacking machine, includes the robotic arm main part, the terminal fixedly connected with centre gripping chassis of robotic arm main part, the main centre gripping box of lower surface on centre gripping chassis, be provided with main clamping assembly in the main centre gripping box, the last fixed surface on centre gripping chassis is connected with main centre gripping motor, main clamping assembly is connected with main centre gripping motor, the upper surface on centre gripping chassis is provided with vice clamping assembly, be provided with one-way upset fagging on the vice clamping assembly.

Preferably, the main clamping assembly comprises two rack arms which are in sliding connection with the inner bottom wall of the main clamping box, and the lower surface of each rack arm is fixedly connected with a main clamping plate.

Preferably, the main clamping assembly further comprises a gear rotationally connected with the lower surface of the clamping chassis, and the output end of the main clamping motor is coaxially fixed with the gear.

Preferably, the auxiliary clamping assembly comprises two mounting boxes fixedly connected to the upper surface of the clamping chassis, the front side is fixedly connected with a fixing block on the inner wall of the mounting boxes, the inner wall of the fixing block is rotationally connected with a bidirectional threaded screw rod, one side of the mounting boxes is fixedly connected with an auxiliary clamping motor, and the output end of the auxiliary clamping motor is coaxially fixed with the bidirectional threaded screw rod.

Preferably, the auxiliary clamping assembly further comprises four sleeves, the rear side is fixedly connected with a limiting polished rod on the inner wall of the mounting box, the two sleeves on the front side are in threaded connection with the two-way threaded screw rods, and the two sleeves on the rear side are in sliding connection with the surface of the limiting polished rod.

Preferably, the telescopic inner wall sliding connection has the extension rod, telescopic inner roof fixedly connected with spring, the one end that the sleeve was kept away from to the spring is with the top fixed connection of extension rod, left side sleeve with the right side the sleeve is all common fixedly connected with vice grip block in one side that is close to each other.

Compared with the prior art, the utility model provides the mechanical arm stacker crane by improving, which has the following improvements and advantages:

the method comprises the following steps: according to the utility model, the main clamping motor rotates to drive the gear to rotate, the gear drives the two rack arms and the main clamping plate to be close to each other, the object is limited in one direction, then the auxiliary clamping motor rotates to drive the bidirectional threaded screw rod to rotate, so that the sleeves on two sides and the auxiliary clamping plate are close to each other, and the object is limited and clamped in the other direction, so that the effect of clamping the object in two directions is finally achieved, the object can be more stable in the clamped and transported process, and the problems of inaccurate position and poor stacking effect during stacking caused by deviation caused by vibration generated by steering and pause of the motor are overcome;

and two,: according to the utility model, the extension rod and the unidirectional overturning supporting plate can play a role of auxiliary support when the clamped object is heavy, so that the clamped object is prevented from sliding down due to gravity, and the unidirectional overturning supporting plate is arranged to buffer the stacking of the object when the object is stacked and put down, so that the problem that the object is damaged due to collision between the object and the bottom object when the object is directly put down in the traditional stacking is avoided.

Drawings

The utility model is further explained below with reference to the drawings and examples:

FIG. 1 is a schematic diagram of the front view of the present utility model;

FIG. 2 is a schematic view of the internal (cross-sectional) structure of the main clamping cassette of the present utility model;

FIG. 3 is a schematic view of a main clamping assembly of the present utility model;

FIG. 4 is a schematic view of the secondary clamping assembly (in cross section) of the present utility model;

FIG. 5 is a schematic view of the sub-clamp assembly (no clamp chassis) of the present utility model;

fig. 6 is a schematic view (in cross section) of the sleeve extension rod of the present utility model.

Reference numerals illustrate:

1. a robot arm body; 2. clamping the chassis; 3. a main clamping box; 4. a main clamping motor; 5. a main clamping assembly; 501. a rack arm; 502. a main clamping plate; 503. a gear; 6. a secondary clamping assembly; 601. a mounting box; 602. a fixed block; 603. a two-way threaded screw rod; 604. a sub-clamping motor; 605. a sleeve; 606. limiting a polished rod; 607. an extension rod; 608. a spring; 609. a sub-clamping plate; 7. one-way upset fagging.

Detailed Description

The following detailed description of the present utility model clearly and fully describes the technical solutions of the embodiments of the present utility model, and it is apparent that the described embodiments 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.

The utility model provides a mechanical arm stacker crane through improvement, which comprises the following technical scheme: as shown in fig. 1-6: the utility model provides a robotic arm hacking machine, includes arm main part 1, the terminal fixedly connected with centre gripping chassis 2 of arm main part 1, the main centre gripping box 3 of the lower surface of centre gripping chassis 2 is provided with main clamping assembly 5 in the main centre gripping box 3, the last fixed surface of centre gripping chassis 2 is connected with main centre gripping motor 4, main clamping assembly 5 is connected with main centre gripping motor 4, the upper surface of centre gripping chassis 2 is provided with vice clamping assembly 6, be provided with unidirectional upset fagging 7 on the vice clamping assembly 6.

By the above structure or mechanism: the mechanical arm main body 1 in the utility model is not different from the multi-axis mechanical arm widely used in the prior art, and a plurality of motors or hydraulic cylinders are used as multi-axis driving to realize multi-axis transformation work, so that the utility model is not repeated.

Further, the main clamping assembly 5 includes two rack arms 501 slidably connected to the inner bottom wall of the main clamping box 3, and a main clamping plate 502 is fixedly connected to the lower surface of the rack arms 501.

Further, the main clamping assembly 5 further comprises a gear 503 rotatably connected to the lower surface of the clamping chassis 2, and the output end of the main clamping motor 4 is coaxially fixed with the gear 503.

By the above structure or mechanism: in the device, the main clamping motor 4 adopts a servo motor which is controlled by programming and is electrically connected with the control equipment of the mechanical arm, and a user can adjust according to transported goods before putting into operation, so that the automation of stacking work is realized.

Further, the auxiliary clamping assembly 6 comprises two mounting boxes 601 fixedly connected to the upper surface of the clamping chassis 2, the inner wall of the front side mounting box 601 is fixedly connected with a fixing block 602, the inner wall of the fixing block 602 is rotatably connected with a bidirectional threaded screw 603, one side of the front side mounting box 601 is fixedly connected with an auxiliary clamping motor 604, and the output end of the auxiliary clamping motor 604 is coaxially fixed with the bidirectional threaded screw 603.

Further, the auxiliary clamping assembly 6 further comprises four sleeves 605, the inner wall of the rear side mounting box 601 is fixedly connected with a limiting polished rod 606, the front side two sleeves 605 are in threaded connection with the bidirectional threaded screw rod 603, and the rear side two sleeves 605 are in sliding connection with the surface of the limiting polished rod 606.

By the above structure or mechanism: in this device, the auxiliary clamping motor 604 adopts the programmable servo motor, similar to the main clamping motor 4, can just set for the parameter according to the work demand before the work, when auxiliary clamping motor 604 rotates, drives two-way screw 603 and rotates for sleeve 605 and auxiliary clamping plate 609 of both sides draw close to the centre, carries out spacing centre gripping to the article in another direction relative to main clamping plate 502, forms the totally stable centre gripping all around to the article.

Further, the inner wall sliding connection of sleeve 605 has extension rod 607, and the interior roof fixedly connected with spring 608 of sleeve 605, the one end that spring 608 kept away from sleeve 605 and the top fixed connection of extension rod 607, the side that left side sleeve 605 and right side sleeve 605 are close to each other all is fixedly connected with vice grip block 609 jointly.

By the above structure or mechanism: in the device, the unidirectional overturning supporting plate 7 is arranged between the extension rods 607 on the left side and the right side through the unidirectional damping rotating shaft, the upper surface of the unidirectional overturning supporting plate 7 is a plane, the lower surface is an inclined plane, the unidirectional overturning supporting plate 7 can only rotate upwards, and when a clamped object is pressed down to the unidirectional overturning supporting plate 7 due to gravity, the unidirectional damping rotating shaft in the unidirectional overturning supporting plate 7 can be locked to prevent the unidirectional overturning supporting plate 7 from rotating reversely, so that further support is provided for the clamped object.

Working principle: when the mechanical arm stacker crane is used, a user places the device in a working area, then adjusts the working state of the whole device according to the use requirement, the device is put into use, when an object is clamped, the main clamping motor 4 rotates to drive the gear 503 to rotate, the gear 503 drives the two rack arms 501 and the main clamping plate 502 to be close to each other, the object is limited in one direction, then the auxiliary clamping motor 604 rotates to drive the bidirectional threaded screw 603 to rotate, the sleeves 605 and the auxiliary clamping plates 609 on two sides are close to the middle, and the object is limited and clamped in the other direction, so that the effect of clamping the object in two directions is finally achieved, the object is more stable in the clamping and transferring process, and the problems of inaccurate position and poor stacking effect during stacking caused by deviation of vibration generated due to steering of the motor are solved; in addition, through extension rod 607 and one-way upset fagging 7, can be when being held article self heavier, play an auxiliary stay's effect, prevent to be held article because gravity landing, when the pile up neatly puts down the article moreover, owing to the setting of one-way upset fagging 7, provide a buffering for the pile up neatly of article, direct put down the goods when having avoided traditional pile up neatly, make goods and bottom goods produce the collision and lead to the problem that the goods receives the damage to appear.

Claims (6)

1. The utility model provides a robotic arm hacking machine, includes arm main part (1), its characterized in that: the mechanical arm comprises a mechanical arm main body (1), wherein the tail end of the mechanical arm main body (1) is fixedly connected with a clamping chassis (2), a main clamping assembly (5) is arranged in the main clamping box (3), the upper surface of the clamping chassis (2) is fixedly connected with a main clamping motor (4), the main clamping assembly (5) is connected with the main clamping motor (4), the upper surface of the clamping chassis (2) is provided with a secondary clamping assembly (6), and a unidirectional overturning supporting plate (7) is arranged on the secondary clamping assembly (6).

2. A robotic palletizer as in claim 1, wherein: the main clamping assembly (5) comprises two rack arms (501) which are in sliding connection with the inner bottom wall of the main clamping box (3), and a main clamping plate (502) is fixedly connected to the lower surface of each rack arm (501).

3. A robotic palletizer as in claim 1, wherein: the main clamping assembly (5) further comprises a gear (503) rotationally connected with the lower surface of the clamping chassis (2), and the output end of the main clamping motor (4) is coaxially fixed with the gear (503).

4. A robotic palletizer as in claim 1, wherein: the auxiliary clamping assembly (6) comprises two mounting boxes (601) fixedly connected to the upper surface of the clamping chassis (2), a fixing block (602) is fixedly connected to the inner wall of each mounting box (601) at the front side, a bidirectional threaded screw rod (603) is rotatably connected to the inner wall of each fixing block (602), an auxiliary clamping motor (604) is fixedly connected to one side of each mounting box (601) at the front side, and the output end of each auxiliary clamping motor (604) is coaxially fixed to the corresponding bidirectional threaded screw rod (603).

5. A robotic palletizer as in claim 4, wherein: the auxiliary clamping assembly (6) further comprises four sleeves (605), the inner wall of the installation box (601) at the rear side is fixedly connected with a limiting polished rod (606), the two sleeves (605) at the front side are in threaded connection with the two-way threaded screw rod (603), and the two sleeves (605) at the rear side are in sliding connection with the surface of the limiting polished rod (606).

6. A robotic palletizer as in claim 5, wherein: the inner wall sliding connection of sleeve (605) has extension pole (607), the interior roof fixedly connected with spring (608) of sleeve (605), the one end that sleeve (605) was kept away from to spring (608) and the top fixed connection of extension pole (607), left side sleeve (605) with the right side one side that sleeve (605) is close to each other all is fixedly connected with vice grip block (609) jointly.