CN220316646U - Throw material manipulator - Google Patents

Abstract

The utility model discloses a feeding manipulator, which relates to the technical field of loading and feeding bag manipulators, and structurally comprises a base, wherein the base is connected with the rear end of an upper arm through an upper arm driving assembly; the front end of the upper arm is provided with a lower arm rotating shaft which is connected with the lower arm; the base is connected with a lower arm connecting rod mechanism through a lower arm driving assembly, and the lower arm connecting rod mechanism is connected with a lower arm rotating shaft. The utility model has the advantages of large rigidity, high strength and difficult deformation of the whole body; the structure is simple, practical and reliable; the driving power of the servo motor is reduced, and the energy consumption of the whole vehicle is reduced.

Description

Throw material manipulator

Technical Field

The utility model relates to the technical field of loading and feeding package manipulators, in particular to a feeding manipulator.

Background

The intelligent car loader is continuously developed and aims at the working condition of car loading (stacking package). The present inventor developed a loading robot (first generation) and applied for 1 patent of utility model, application number 202321192164X, in 2023, 5 and 17, and the structure of the device is shown in fig. 1-2, in which the coupling base 81 is used for mounting, and the upper arm driving assembly 82 is used for driving the upper arm 83 to rotate to a desired arbitrary angle; the forearm driving assembly 84 is used for driving the toothed chain assembly 85 through a spline shaft so as to drive the forearm 86 to rotate at any angle, and the toothed chain assembly 85 is used as a connecting piece so as to ensure that the forearm 86 of the robot can not loosen under the condition of flexible movement; the upper end of the front arm 86 is fitted to the lower end of the upper arm 83; the lower end is mounted with a retaining driving component 88, and the action of the retaining driving component 88 ensures that the feeder device 7 is stable in posture and in a horizontal state in the moving process; the left side and the right side of the rotary driving component 87 are respectively assembled with the lower end of the front arm 86 and the output end of the holding driving component 88, and the action driving of the rotary driving component is that the feeder device 7 rotates to any angle required, so that the requirement of the loading machine for feeding vertical material bags or horizontal material bags is met.

The problem of short service life exists in the connecting structure of the loading robot, namely the toothed chain assembly 85, and the problem of poor feeding bag posture exists in the situation that the toothed chain is lengthened and the lower arm shakes greatly after ten thousands of times of operation; even if the chain breaks. The inventor applies for a patent (second generation) named as a bagged material loading and stacking mechanical arm on 2023, month 07 and 06, and application number 2023217641623; the device comprises a mounting seat 1, wherein a first RV speed reducer motor 2 is mounted on the mounting seat 1, a first RV speed reducer motor 2 is connected with one end of a first mechanical arm 3, a second RV speed reducer motor 4 is mounted at the other end of the first mechanical arm 3, a second RV speed reducer motor 4 is connected with one end of a second mechanical arm 5, two mounting rings 501 parallel to each other are arranged at the other end of the second mechanical arm 5 in a forked mode, a third RV speed reducer motor 6 is mounted on the outer side of the first mounting ring 501, a third RV speed reducer motor 6 is connected with a rotary seat 7 arranged between the two mounting rings 501, a fourth RV speed reducer motor 8 is mounted in the middle of the rotary seat 7, and a carrier pocket feeder 9 is connected to the bottom of the fourth RV speed reducer motor 8. The device forms a main body structure through the two mechanical arms and the four speed reducer motors, has a simple structure and high bearing capacity, and can adapt to a smaller height space; and 4 sets of RV speed reducer motors form four-axis control, and the mounting surfaces of the RV speed reducer motors with the front 1 axis, the front 2 axis and the front 3 axis are parallel, so that the impact of the materials is perpendicular to the mounting surface, no torque is generated on the shaft, the speed reducer is effectively protected, and the service life of the mechanical arm is prolonged.

The second generation products solve the technical problems existing in the first generation products. But the technical performance is still not excellent enough, and the motor is arranged at the hinge of the lower arm, so that the inertia force of the mechanical arm is large, the bag falling device shakes greatly when the bag is thrown, the bag posture is poor, the driving efficiency is high, the energy consumption is high, the service life is still not long enough, and generally only about 5 ten thousand times can be achieved. Therefore, the second generation products are necessary to be further improved, the product quality is improved, and the advantages of new products in the industry are increased.

Disclosure of Invention

The utility model provides a feeding manipulator, which aims to solve the technical problems in the background art and improve the performance of the feeding manipulator.

The utility model adopts the following technical scheme to realize the aim of the utility model:

the feeding manipulator comprises a base, wherein the base is connected with the rear end of an upper arm through an upper arm driving assembly; the front end of the upper arm is provided with a lower arm rotating shaft which is connected with the lower arm; the base is connected with a lower arm connecting rod mechanism through a lower arm driving assembly, and the lower arm connecting rod mechanism is connected with a lower arm rotating shaft.

In the feeding manipulator, the lower arm connecting rod mechanism is a double-crank mechanism.

In the feeding manipulator, the lower arm connecting rod mechanism comprises a first crank connected with the lower arm driving assembly, the first crank is connected with the connecting rod through a rotating shaft, and the connecting rod is connected with a second crank through a pin shaft.

In the feeding manipulator, the second crank is provided with a lower arm rotating shaft mounting hole.

In the feeding manipulator, the base is connected with the traversing trolley, and the traversing trolley is arranged on the frame device through the trolley guide rail; the traversing trolley is connected with a bearing wheel set, an anti-jump wheel set and a longitudinal limiting wheel set.

Advantageous effects

Compared with the prior art, the utility model has the following beneficial effects:

1. the driving assembly of the lower arm is arranged on the base, so that the technical problems of large inertia force of the manipulator, large shaking of the bag falling device and poor bag posture during feeding of the bag due to the fact that the motor is arranged at the hinge position of the lower arm are solved.

2. According to the utility model, each hinge point of the lower arm double-crank mechanism adopts a heavy-load double-row angular contact ball bearing, so that the motion friction resistance is small, the transmission is stable, the service life can reach 8 ten thousand hours, the use times can reach 50 ten thousand times, and the use times of the lower arm double-crank mechanism is improved by nearly 10 times compared with the use times of the old product.

3. The utility model has the advantages of large rigidity, high strength and difficult deformation of the whole body; the structure is simple, practical and reliable; the driving power of the servo motor is reduced, and the energy consumption of the whole vehicle is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive faculty for a person skilled in the art.

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

FIG. 2 is a schematic view of the lower arm linkage;

FIG. 3 is a schematic illustration of the use of the present utility model on a traversing frame;

FIG. 4 is a second schematic illustration of the use of the present utility model on a traversing frame;

reference numerals: 1 lifting a hanging bracket; 2 lower arm link mechanism; 3 a frame device; 4, bearing wheel groups; 5, a jump preventing wheel set; 6 a trolley drag chain mechanism; 7 a feeder device; 8, a feeding manipulator; 9 trolley guide rails; 10 traversing the trolley; 11 driving a trolley device; 12 longitudinal limit wheel sets; 201 crank one; 202 connecting rods; 203 rotating shafts; 204 crank two; 205 pin shafts; a 801 base; 802 upper arm; 803 upper arm drive assembly; 804 lower arm; 805 lower arm spindle; 806 lower arm drive assembly.

FIG. 5 is a schematic diagram of a first generation of feeding robots;

FIG. 6 is a schematic diagram II of a first generation of feeding robots;

reference numerals of fig. 5-6: 7-feeder device, 8-loading robot, 81-connection base, 82-upper arm drive assembly, 83-upper arm, 84-forearm drive assembly, 85-toothed chain assembly, 86-forearm, 87-rotation drive assembly, 88-holding drive assembly, 89-feed inlet, 810-discharge outlet, 811-bottom plate, 812-mounting lug, 813-flap drive component.

FIG. 7 is a schematic diagram of a second generation batch charging robot;

FIG. 8 is a schematic diagram II of a second generation feeding manipulator;

reference numerals of fig. 7-8: the carrier bag feeder comprises a mounting seat 1, an RV speed reducer motor I2, a mechanical arm I3, an RV speed reducer motor II 4, a mechanical arm II 5, an RV speed reducer motor III 6, a rotary seat 7, an RV speed reducer motor IV 8 and a carrier bag feeder 9; a seated bearing 601.

Detailed Description

In order to enable those skilled in the art to better understand the present utility model, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present utility model with reference to the accompanying drawings.

It should be noted that in the present utility model: the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus; the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "transverse," "longitudinal," and the like are used for referring to an orientation or positional relationship based on that shown in the drawings, which are meant primarily to better describe the utility model and its embodiments and are not meant to limit the device, element or component that is indicated to have or be constructed and operated in a particular orientation; the terms "a," "an," "the second," and the like, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order; the terms "mounted," "configured," "provided," "connected," "sleeved," and the like are to be construed broadly; for example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. Also, some terms may be used to indicate other meanings besides orientation or positional relationship, for example, the term "upper" may also be used to indicate some kind of attachment or connection in some cases. The specific meaning of these terms in the present utility model will be understood by those of ordinary skill in the art according to the specific circumstances.

Examples. 1-4, a feeding manipulator comprises a base 801, wherein the base 801 is connected with the rear end of an upper arm 802 through an upper arm driving assembly 803; the front end of the upper arm 802 is provided with a lower arm rotating shaft 805, and the lower arm rotating shaft 805 is connected with a lower arm 804; the base 801 is connected to a lower arm link mechanism 2 via a lower arm driving assembly 806, and the lower arm link mechanism 2 is connected to a lower arm rotating shaft 805.

The lower arm link mechanism 2 is a double crank mechanism. And each hinge point of the double-crank mechanism adopts a heavy-load double-row angular contact ball bearing.

The lower arm link mechanism 2 comprises a crank one 201 connected with a lower arm driving assembly 806, the crank one 201 is connected with a link 202 through a rotating shaft 203, and the link 202 is connected with a crank two 204 through a pin shaft 205.

The second crank 204 is provided with a lower arm shaft mounting hole 206.

The base 801 is connected with a traversing trolley 10, and the traversing trolley 10 is arranged on the frame device 3 through a trolley guide rail 9; the traversing trolley 10 is connected with a bearing wheel set 4, an anti-jump wheel set 5 and a longitudinal limiting wheel set 12.

The mechanical arm and the first and second generation products are similar and consistent in working mode under a large application scene, and the mechanical arm is as follows:

when the truck enters a preset loading position, the loader starts to drive the transverse moving frame 1 (the lifting hanger and the lifting device are assembled into a whole) to rapidly advance towards the truck head, and the truck is decelerated and advanced when approaching the truck head. Meanwhile, the left traversing trolley 10 and the right traversing trolley 10 of the traversing frame are started to walk at low speed towards the two sides, the laser ranging device arranged on the trolley detects the length, the width and the height of the boxcar in real time, data are transmitted back to the plc system for processing, and then the optimal bag arrangement mode is output.

After entering the packing state, when the power belt splitting device discharge gate of front end conveying equipment outputs the discharge package, detect the material package through detection component (set up in power splitting device exit) and enter into the integer box through 07 the feed inlet of throwing the material ware device (utilize the automatic centering of material package own weight, make its material package put in the back gesture uniformity good). The driving trolley device 11 of the traversing frame is started, the traversing trolley 10 walks along the trolley guide rail 9, and meanwhile, the feeding manipulator 8 works (the upper arm and the forearm of the manipulator rotate correspondingly according to a program instruction), so that the feeder device 7 descends to reach the instruction position. The two turning plates are synchronously opened (the gesture stability when the material bag falls is ensured) through the turning plate driving part at the front end of the feeder device 7, and the material bag is put into a carriage from the discharge hole at the lower end of the feeder device 7. After the feeding is completed, the motor of the turning plate driving component receives a signal, the synchronous turning plate is closed, and meanwhile, the synchronous turning plate returns to the origin along a set track to wait for a material package, and thus the work of one cycle is completed.

The manipulator is characterized in that:

the frame device 3 is used as a main body of the traversing mechanism, and is provided with a lifting hanger 1, which is assembled with the lifting device of the loader into a whole and drives the traversing mechanism assembly to move forward and backward and lift up and down. The feeding manipulator 8 is hung below the bottom plate of the traversing trolley 10, and the lower end of the feeding manipulator is connected with the feeder device 7. The feeding manipulator 8 mainly comprises a base 801, an upper arm 802, an upper arm driving assembly 803, a lower arm 704, a lower arm rotating shaft 805 and a lower arm driving 806, and the working principle is as follows: the upper arm 802 is driven to rotate forward and backward by the upper arm driving component 803; the lower arm drive assembly 806 drives the lower arm 804 linkage and synchronously drives the lower arm 804 to rotate in a forward and reverse direction. The functions of ascending, descending, rotating and the like of the feeder device 7 are realized according to the set program instructions, and the requirement of feeding at a specified position is met.

The lower arm link mechanism 2 is arranged between a lower arm driving assembly 806 and a lower arm 804 of the feeding manipulator 8, and consists of a crank I201, a link 202, a rotating shaft 203, a crank II 204 and a pin 205, preferably a double-crank mechanism (the crank I201 and the crank II 204 realize synchronous and same-angle rotation). The working principle is as follows: the first disc drive crank 201 is output through the lower arm drive assembly 806 of the feeding manipulator 8 to rotate, the connecting rod 202 is driven through the rotating shaft 203, and then the second crank 204 is synchronously driven by the pin shaft 205 at the same angle to drive the lower arm 804 to swing at any angle within the range of not more than 180 degrees; the upper arm 802 of the batch charging robot 8 is matched to enable the batch charging device 7 to charge the batch package at any position in the track range.

The trolley guide rail 9 is arranged on the cross beam of the frame device 3, and the upper part and the lower part of the trolley guide rail respectively have the functions of supporting and guiding the bearing wheel set 4 and the anti-jump wheel set 5, so that the rolling resistance of the wheel set walking is reduced.

The traversing trolley 10 is used as a secondary main body of the traversing mechanism, after the driving trolley device 11 is started, 4 groups of bearing wheel groups 4, anti-jump wheel groups 5 and longitudinal limiting wheel groups 12 (which respectively act as bearing, anti-trolley starting and stopping jumping and anti-front-back-jumping of the traversing trolley) arranged on the driving trolley device reciprocate left and right along the trolley guide rail 9, so that the feeding requirement at a designated position is realized; the trolley drag chain mechanism 6 is arranged at the front end of the cross beam of the frame device 3, drag chains of the left and right trolleys are arranged in the trolley drag chain mechanism, and the other end of the drag chain is assembled with the side surface of the traversing trolley for collecting and outputting the cable wiring and the left and right cables of each motor.

The feeder device 7 is mounted at the lower arm of the feeding manipulator 8 for feeding, shaping and feeding ladle action. When receiving the instruction, the turning plate driving power unit at the front end drives the connecting rod assemblies at two sides to move, so that the two turning plates are opened in a synchronous mode (the posture stability of the falling of the material packet is guaranteed), the material packet is put in a designated position of a carriage, and then the turning plates are reversely and synchronously closed according to the set time.

The driving trolley device 11 is arranged on the upper surface of the bottom plate of the traversing trolley 10, the output m3 gear is meshed with the m3 rack assembled on the frame device 3, and the traversing trolley 10 is driven to walk left and right along the trolley guide rail 9.

Each servo motor assembly comprises a power element; an m3 gear and rack driving structure (including one-side driving and two-side driving through a transmission shaft) for driving the carriage device 11; the gears of the feeder device 7 are engaged with a synchronous structure. The above-included execution element: the electric cylinder, the M3 gear engagement and the M3 rack gear engagement have a structure with a transmission function, and a long frame and a left rack and right rack communicating structure are used.

The preferred parameters and performance indexes of the driving assembly (servo motor and speed reducer) related to the manipulator are as follows:

it should be noted that the double crank mechanism adopted by the manipulator can be replaced by transmission structures such as a crank-rocker mechanism, a double-rocker mechanism, a crank-slider mechanism and the like.

It will be apparent that the foregoing is only a partial, but not all, embodiment of the utility model. The above embodiments are not intended to limit the utility model, and various modifications and variations of the present utility model will be apparent to those skilled in the art. Any other embodiments, which may be made by one of ordinary skill in the art in combination, modifications, equivalents, improvements, etc., are within the spirit and principles of the present utility model.

Claims (5)

1. The utility model provides a throw material manipulator, includes base (801), and the rear end of upper arm (802) is connected through upper arm drive assembly (803) to base (801), its characterized in that: the front end of the upper arm (802) is provided with a lower arm rotating shaft (805), and the lower arm rotating shaft (805) is connected with the lower arm (804); the base (801) is connected with a lower arm connecting rod mechanism (2) through a lower arm driving assembly (806), and the lower arm connecting rod mechanism (2) is connected with a lower arm rotating shaft (805).

2. The feeding manipulator of claim 1, wherein: the lower arm connecting rod mechanism (2) is a double crank mechanism.

3. The feeding manipulator of claim 2, wherein: the lower arm connecting rod mechanism (2) comprises a crank I (201) connected with the lower arm driving assembly (806), the crank I (201) is connected with a connecting rod (202) through a rotating shaft (203), and the connecting rod (202) is connected with a crank II (204) through a distributing shaft (205).

4. A feeding manipulator according to claim 3, wherein: and a lower arm rotating shaft mounting hole (206) is formed in the second crank (204).

5. The feeding manipulator of claim 1, wherein: the base (801) is connected with a traversing trolley (10), and the traversing trolley (10) is arranged on the frame device (3) through a trolley guide rail (9); the traversing trolley (10) is connected with a bearing wheel set (4), an anti-jump wheel set (5) and a longitudinal limiting wheel set (12).