CN220179353U - Double-grabbing mechanical arm for bagged materials - Google Patents
Double-grabbing mechanical arm for bagged materials Download PDFInfo
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- CN220179353U CN220179353U CN202223250074.XU CN202223250074U CN220179353U CN 220179353 U CN220179353 U CN 220179353U CN 202223250074 U CN202223250074 U CN 202223250074U CN 220179353 U CN220179353 U CN 220179353U
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- 235000008733 Citrus aurantifolia Nutrition 0.000 description 1
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Abstract
A double-grabbing manipulator for bagged materials belongs to the technical field of manipulators. The utility model comprises a robot arm, a sucker pick-up part, a pick-up mode switching box, a mechanical clamping part and the like, wherein the sucker pick-up part, the pick-up mode switching box and the mechanical clamping part are mutually matched through judging different working conditions by a control system, so that material bags with different shapes, sizes and types are picked up by different working modes; the manipulator adopts a mode of switchable picking up modes, solves the picking up problem of material bags with large deformation, special size and poor surface tightness, adopts a sucker self-adaptive deflection angle system, and solves the picking up problem of material bags with inclined placement. Therefore, the double-grabbing manipulator is good in adaptability, strong in universality, high in replaceability and convenient to control, and has important significance for grabbing bagged materials.
Description
Technical Field
The utility model relates to the technical field of manipulators, in particular to a double-grabbing manipulator for bagged materials.
Background
In recent years, along with the increasing of the construction force of the infrastructure in China, raw materials such as cement, lime and the like are increasingly produced, and the artificial stacking mode has the problems of great physical health hazard, high working strength, difficult stacking of high layers and the like for workers working for a long time due to the characteristics of large dust, large monomer mass, large stacking stack height and the like of part of bagged material products in the storage stacking process.
The existing bag grabbing manipulators mainly comprise a mechanical clamping manipulator and a vacuum chuck manipulator. The mechanical clamping manipulator has good grabbing effect on the material bags with large deformation quantity, but has poor applicability on the material bags with special sizes; the vacuum chuck type mechanical arm has good grabbing effect on flat objects, but has poor applicability on flat breathable porous objects, is difficult to grab and put inclined material bags, has unstable grabbing process and is easy to cause a bag falling phenomenon; when the pickup device is in a working state, the pickup device fails, the replacement degree is low, and the construction period is delayed to a certain extent.
In view of the foregoing, there is a need to develop a manipulator suitable for various working conditions, various packaging bag materials, and good replacement, so as to solve the above-mentioned technical problems.
Disclosure of Invention
The utility model provides a double-grabbing type manipulator, which aims to solve the problems that the existing picking mechanism and the traditional manipulator are irregular in shape, different in size, poor in surface tightness and irregular in placement of material bags, and aims to reduce manual carrying and efficiently stack bagged materials.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the double-grabbing type manipulator for bagged materials mainly comprises a robot arm (1), a sucker pick-up part (2), a pick-up mode switching box (3) and a mechanical clamping part (4).
The preferable pickup mode switching box (3) is mainly composed of: the device comprises a sucker mounting seat (361), a clamping jaw mounting seat (351), a pick-up part connecting column (301), a reversing rotating shaft (311), a fixed large gear (321), a reversing large bearing (331), an outer box cover (341), a large electromagnetic telescopic card (101), a small electromagnetic telescopic card (111), a driving motor (121) and a motor pinion (1211); the pick-up part connecting column (301) and the reversing rotating shaft (311) are welded integrally in a cross symmetry manner; the rotating shaft is provided with a key groove and a shaft check ring groove which are connected with a fixed large gear (321) by keys; simultaneously, two large reversing bearings (331) are symmetrically arranged at two ends of the rotating shaft; the box covers are welded at the two ends of the longitudinal connecting column in the middle, and the other four box covers are connected with the longitudinal box covers through bolts; the two ends of the pick-up part connecting column (301) are respectively welded with a sucker mounting seat (361) and a clamping jaw mounting seat (351), the two mounting seats are respectively provided with a sucker pick-up part (2) and a mechanical clamping part (4), a plurality of working modes are realized through a pick-up mode switching box (3), and the sucker pick-up part (2) is used for picking up material bags which are irregularly placed and oversized or undersized; the mechanical clamping part (4) is used for picking up material bags with poor tightness and large deformation.
The preferred sucker fixing shaft (211) is symmetrically provided with: a mounting seat bearing (201) axially positioned through a retainer ring, a sucker connecting plate (221) fixedly welded with a sucker fixing shaft (211), and a sucker positioning gear (231) connected through a key; the other end of the sucker connecting plate (221) is fixedly connected with the vacuum sucker (251) through a bolt; the sucker mounting seat (361) is sequentially provided with a large through hole and two square holes with proper lengths, the sucker fixing shaft (211), the mounting seat bearing (201) and the large through hole of the mounting seat are mutually matched and mounted, the sucker fixing shaft and the mounting seat bearing are axially positioned through the clamping ring, and the two electromagnetic telescopic pins (241) are fixedly mounted in the square holes of the sucker mounting seat through bolts.
The optimized robot arm (1) is sequentially provided with a large electromagnetic telescopic clamp through hole, a rotating shaft through hole, a motor through hole and a small electromagnetic telescopic clamp through hole, wherein the large electromagnetic telescopic clamp (101) and the small electromagnetic telescopic clamp (111) are respectively arranged in the through holes and are fixedly connected with the robot arm (1) through bolts; the large reversing bearings (331) at the two ends of the reversing rotating shaft (311) are arranged in the two rotating shaft through holes in a matching way and are axially positioned through the clamping ring; the driving motor (121) is fixedly connected with the robot arm (1) through a bolt, the output shaft is connected with a motor pinion (1211) through a key, and the motor pinion (1211) is meshed with the fixed large gear (321) to realize primary speed reduction transmission.
One end of a preferable clamping part base (401) is connected with the mechanical clamping part (4) through a bolt, and the other end of the base (401) is connected with a clamping jaw mounting seat (351) through a bolt; the mechanical clamping part (4) refers to the principle of a patent number CN 102249093A and a name of a big bag grabbing hand grip device; the cylinder connecting plate (411) is provided with a square groove (4111) at the position corresponding to the fish eye joint (421) to ensure the opening and closing angles of the clamping jaws.
The preferable large electromagnetic telescopic card (101) comprises an electromagnetic fixed end (1013), an electromagnetic telescopic end (1012), a spring (1014), a diamond-shaped wheel card (1011) and ribs (10122); the diamond wheel clamp (1011) is welded at the tail end of the electromagnetic telescopic end (1012), the electromagnetic fixed end (1013) is provided with a stepped sliding groove (10131), the other end of the electromagnetic telescopic end (1012) is welded with a sliding baffle (10121) and is provided with an electromagnetic telescopic end hole (10123), so that the electromagnetic telescopic end (1012) is not separated when sliding in the electromagnetic fixed end (1013) sliding groove (10131), the spring (1014) is arranged in the electromagnetic telescopic end hole (10123), and the outer surface of the electromagnetic telescopic end (1012) is welded with a rib (10122), so that the electromagnetic telescopic clamp fixed switching box (3) can realize circumferential positioning; when the electromagnets in the electromagnetic fixing end (1013) and the electromagnetic telescopic end (1012) are powered, attractive force compression springs (1014) are generated by the electromagnetic fixing end (1013) and the electromagnet in the electromagnetic telescopic end, so that the electromagnetic telescopic card is contracted, and when the electromagnets in the electromagnetic fixing end (1013) and the electromagnetic telescopic end are powered off, the electromagnetic fixing end and the electromagnet move in opposite directions under the action of the tension of the springs (1014), so that the electromagnetic telescopic card is stretched out.
The working principle of the small electromagnetic telescopic card (111) and the electromagnetic telescopic pin (241) is the same as that of the large electromagnetic telescopic card (101), so that the description is omitted here.
Drawings
FIG. 1 is a schematic perspective view of a double-grabbing manipulator for bagged materials according to the present utility model;
FIG. 2 is a front view and side view of a pick-up type switch box and robotic arm provided by the present utility model;
FIG. 3 is a front view and a side view of a suction cup pickup portion provided by the present utility model;
FIG. 4 is a schematic perspective view of a mechanical gripping portion according to the present utility model;
FIG. 5 is a diagram of a chuck pick-up mode operation provided by the present utility model;
fig. 6 is a front view and a top view of the large electromagnetic telescopic card provided by the utility model.
In the figure, a 1-robot arm, a 2-suction cup pick-up part, a 3-pick-up mode switching box, a 4-mechanical clamping part, a 101-large electromagnetic telescopic card, a 1011-diamond wheel card, a 1012-electromagnetic telescopic end, a 10121-sliding baffle, a 10122-rib, a 10123-hole, a 1013-electromagnetic fixed end, a 10131-step-shaped chute, a 1014-spring, a 111-small electromagnetic telescopic card, a 121-driving motor, a 1211-motor pinion, a 201-mounting seat bearing, a 211-suction cup fixing shaft, a 221-suction cup connecting plate, a 231-suction cup positioning gear, a 241-electromagnetic telescopic pin, a 251-vacuum suction cup, a 301-pick-up part connecting column, a 311-reversing rotating shaft, a 321-fixing large gear, a 331-reversing large bearing, a 341-outer box cover, a 351-clamping jaw mounting seat, a 361-suction cup mounting seat, a 401-clamping part base, a 411-cylinder connecting plate, a 421-fish eye joint and a 4111-square groove.
Detailed Description
The utility model is further described below with reference to the accompanying drawings.
In the description of the present utility model, it should be noted that terms such as "upper", "lower", "left", "right", "horizontal", "vertical", and the like in terms of indicating an azimuth or a positional relationship are based on the azimuth or the positional relationship of the drawings, and should be interpreted in a broad sense.
A double-grabbing mechanical arm perspective schematic view for bagged materials is shown in fig. 1, and mainly comprises two robot arms (1), a sucker pick-up part (2), a pick-up mode switching box (3) and a mechanical clamping part (4).
As shown in fig. 2, the pickup part connecting column (301) of the pickup mode switching box (3) and the reversing rotating shaft (311) are welded integrally in a cross symmetry manner; the rotating shaft is provided with a key groove and a shaft check ring groove which are connected with two fixed large gears (321) by keys, and the two fixed large gears are axially positioned by the check rings; simultaneously, two large reversing bearings (331) are symmetrically arranged at two ends of the rotating shaft and are axially positioned through check rings; the upper and lower box covers (341) are welded at the two ends of the connecting column in the middle, and the other four box covers (341) are connected with the upper and lower box covers through bolts; two ends of the pick-up part connecting column (301) in the vertical direction are respectively welded with a clamping jaw mounting seat (351) and a sucking disc mounting seat (361), a mechanical clamping part (4) and a sucking disc pick-up part (2) are respectively arranged in the two mounting seats, a plurality of working modes are realized through a switching box (3), and the sucking disc pick-up part (2) is used for picking up and placing material bags with irregular sizes and oversized or undersized sizes; the mechanical clamping part (4) is used for picking up material bags with poor surface tightness and larger quality; one of the pickup devices fails and the other pickup device may operate as a temporary replacement.
As shown in fig. 3, the suction cup fixing shaft (211) is symmetrically installed from inside to outside in sequence: the vacuum chuck comprises two mounting seat bearings (201) axially positioned through check rings, two chuck connecting plates (221) fixedly welded with a positioning shaft, and two chuck positioning gears (231) connected through keys, wherein the other ends of the two chuck connecting plates (221) are fixedly connected with a vacuum chuck (251) through bolts; the sucker mounting seat (361) is sequentially provided with a large through hole and two square holes with proper lengths from top to bottom, the sucker fixing shaft (211), the mounting seat bearing (201) and the large through hole of the mounting seat are mutually matched and mounted, the sucker mounting seat is axially positioned through a clamping ring, and the two electromagnetic telescopic pins (241) are fixedly mounted in the square holes of the sucker mounting seat through bolts.
The front view of the robot arm is shown in fig. 2, the robot arm (1) is sequentially provided with a large electromagnetic telescopic clamp through hole, a rotating shaft through hole, a motor through hole and a small electromagnetic telescopic clamp through hole from top to bottom, two large electromagnetic telescopic clamps (101) and two small electromagnetic telescopic clamps (111) are respectively arranged in the two through holes of the robot arm (1) and are fixedly connected with the robot arm (1) through bolts; the large reversing bearings (331) at the two ends of the reversing rotating shaft (311) are arranged in the two rotating shaft through holes in a matching way and are axially positioned through the clamping ring; the output shafts of the two driving motors (121) are connected with two motor pinions (1211) through keys, and the motor pinions (1211) are meshed with a fixed large gear (321) to realize primary speed reduction transmission.
As shown in fig. 4, one end of a clamping part base (401) is connected with a mechanical clamping part (4) through a bolt, and the other end of the base (401) is connected with a clamping jaw mounting seat (351) through a bolt; the mechanical clamping part (4) refers to the principle of a patent number CN 102249093A and a name of a big bag grabbing hand grip device; the cylinder connecting plate (411) is provided with two square grooves (4111) at positions corresponding to the two fish-eye joints (421) to ensure the opening and closing angles of the clamping jaws.
As shown in fig. 6, a diamond-shaped wheel card (1011) is welded at the right end of an electromagnetic telescopic end (1012), a stepped chute (10131) is processed at an electromagnetic fixed end (1013), a sliding baffle (10121) is welded at the other end of the electromagnetic telescopic end (1012) and an electromagnetic telescopic end hole (10123) is processed, so that the electromagnetic telescopic end (1012) is not separated when sliding in the chute (10131) of the electromagnetic fixed end (1013), a spring (1014) is arranged in the electromagnetic telescopic end hole (10123), and ribs (10122) are welded at the outer surface of the electromagnetic telescopic end (1012), so that the electromagnetic telescopic card fixed switching box (3) can realize circumferential positioning; when the electromagnets in the electromagnetic fixing end (1013) and the electromagnetic telescopic end (1012) are powered, attractive force compression springs (1014) are generated by the electromagnetic fixing end (1013) and the electromagnet in the electromagnetic telescopic end (1012), so that the electromagnetic telescopic card is contracted, and when the electromagnets in the electromagnetic fixing end (1013) and the electromagnetic telescopic end (1012) are powered off, the electromagnetic fixing end and the electromagnet move in opposite directions under the action of the tension of the springs (1014), so that the electromagnetic telescopic card is stretched out.
The working principle of the small electromagnetic telescopic card (111) and the electromagnetic telescopic pin (241) is the same as that of the large electromagnetic telescopic card (101), so that the description is omitted here.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (4)
1. Double grabbing mechanical arm for bagged materials, which is characterized by comprising: a robot arm (1), a sucker pick-up part (2), a pick-up mode switching box (3) and a mechanical clamping part (4); the pickup mode switching box (3) is mainly composed of: the device comprises a sucker mounting seat (361), a clamping jaw mounting seat (351), a pick-up part connecting column (301), a reversing rotating shaft (311), a fixed large gear (321), a reversing large bearing (331), an outer box cover (341), a large electromagnetic telescopic card (101), a small electromagnetic telescopic card (111), a driving motor (121) and a motor pinion (1211); the pick-up part connecting column (301) and the reversing rotating shaft (311) are welded integrally in a cross symmetry manner; the rotating shaft is provided with a key groove and a shaft check ring groove which are connected with a fixed large gear (321) by keys; simultaneously, two large reversing bearings (331) are symmetrically arranged at two ends of the rotating shaft; the case lid welds in the middle in vertical spliced pole both ends, and four other case lids are connected with vertical case lid through the bolt, and wherein, switch the vertical direction both ends of case and weld sucking disc mount pad (361) and clamping jaw mount pad (351) respectively, and sucking disc pickup part (2) and mechanical clamp are got portion (4) are installed respectively at two mount pad both ends, realize many mode through switching the case, and sucking disc pickup part (2) are used for picking up and putting irregular, oversized or undersize material bag, and mechanical clamp is got portion (4) and is used for picking up the material bag that the surface tightness is poor, and the deflection is big.
2. A dual-gripping manipulator for bagged materials according to claim 1, wherein the suction cup pick-up part (2) comprises: the vacuum chuck comprises a mounting seat bearing (201), a chuck fixing shaft (211), a chuck connecting plate (221), a chuck fixing gear (231), an electromagnetic telescopic pin (241) and a vacuum chuck (251); the sucker fixing shaft (211) is sequentially and symmetrically arranged from inside to outside: a mounting seat bearing (201) axially positioned through a retainer ring, a sucker connecting plate (221) fixedly welded with a sucker fixing shaft (211), and a sucker positioning gear (231) connected through a key, wherein the other end of the sucker connecting plate (221) is fixedly connected with a vacuum sucker (251) through a bolt; the sucker mounting seat (361) is sequentially provided with a large through hole and two square holes with proper lengths, the sucker fixing shaft (211), the mounting seat bearing (201) and the mounting seat large through hole are mutually matched and mounted, the sucker fixing shaft is axially positioned through a clamping ring, and the two electromagnetic telescopic pins (241) are fixedly mounted in the square holes of the mounting seat through bolts.
3. The double-grabbing mechanical arm for bagged materials according to claim 1, wherein the robot arm (1) is sequentially provided with a large electromagnetic telescopic clamp through hole, a rotating shaft through hole, a motor through hole and a small electromagnetic telescopic clamp through hole, the large electromagnetic telescopic clamp (101) and the small electromagnetic telescopic clamp (111) are respectively arranged in the through holes and are fixedly connected with the robot arm (1) through bolts; the large reversing bearings (331) at the two ends of the reversing rotating shaft (311) are arranged in the two rotating shaft through holes in a matching way and are axially positioned through the clamping ring; the driving motor (121) is fixedly connected with the robot arm (1) through a bolt, the output shaft is connected with a motor pinion (1211) through a key, and the motor pinion (1211) is meshed with the fixed large gear (321) to realize primary speed reduction transmission.
4. A double gripping manipulator for bagged materials according to claim 1, characterized in that said large electromagnetic telescopic card (101) comprises: an electromagnetic fixed end (1013), an electromagnetic telescopic end (1012), a spring (1014), a diamond wheel card (1011) and a rib (10122); the diamond wheel clamp (1011) is welded at the tail end of the electromagnetic telescopic end (1012), the electromagnetic fixed end (1013) is processed with a stepped chute (10131), the other end of the electromagnetic telescopic end (1012) is welded with a sliding baffle (10121) and is processed with an electromagnetic telescopic end hole (10123), so that the electromagnetic telescopic end (1012) is not separated when sliding in the chute (10131) of the electromagnetic fixed end (1013), the spring (1014) is arranged in the electromagnetic telescopic end hole (10123), and the outer surface of the electromagnetic telescopic end is welded with a rib (10122), so that the large electromagnetic telescopic clamp (101) can fix the switching box (3) in a circumferential direction; when the electromagnets in the electromagnetic fixing end (1013) and the electromagnetic telescopic end (1012) are powered, attractive force compression springs (1014) are generated by the electromagnetic fixing end (1013) and the electromagnet in the electromagnetic telescopic end (1012), so that the electromagnetic telescopic card is contracted, and when the electromagnets in the electromagnetic fixing end (1013) and the electromagnetic telescopic end (1012) are powered off, the electromagnetic fixing end and the electromagnet move towards opposite directions under the action of spring tension, so that the electromagnetic telescopic card is stretched out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223250074.XU CN220179353U (en) | 2022-12-06 | 2022-12-06 | Double-grabbing mechanical arm for bagged materials |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223250074.XU CN220179353U (en) | 2022-12-06 | 2022-12-06 | Double-grabbing mechanical arm for bagged materials |
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| Publication Number | Publication Date |
|---|---|
| CN220179353U true CN220179353U (en) | 2023-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223250074.XU Active CN220179353U (en) | 2022-12-06 | 2022-12-06 | Double-grabbing mechanical arm for bagged materials |
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| Country | Link |
|---|---|
| CN (1) | CN220179353U (en) |
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2022
- 2022-12-06 CN CN202223250074.XU patent/CN220179353U/en active Active
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