CN213532673U - Mechanical arm of stacking gripper - Google Patents
Mechanical arm of stacking gripper Download PDFInfo
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- CN213532673U CN213532673U CN202022370983.1U CN202022370983U CN213532673U CN 213532673 U CN213532673 U CN 213532673U CN 202022370983 U CN202022370983 U CN 202022370983U CN 213532673 U CN213532673 U CN 213532673U
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- 230000009471 action Effects 0.000 claims abstract description 7
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 238000004806 packaging method and process Methods 0.000 description 1
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Abstract
The application relates to a mechanical arm of pile up neatly tongs, include: a base; the support is provided with rotating shafts at two sides; the chain wheel is arranged on the rotating shaft; two ends of the chain are respectively connected with chain wheels on the upper bearing bracket and the lower bearing bracket; the guide rail is fixed on one side of the support column and is parallel to the support column; the mechanical arm rotating part is used for executing the rotating action of the mechanical arm, one side of the mechanical arm rotating part is provided with a sliding block, and the sliding block is arranged on the guide rail and can move along the guide rail; the guide rod is arranged in parallel to the support column, and two ends of the guide rod are fixed on the bracket; the counterweight block is provided with a guide hole which is sleeved on the guide rod so that the counterweight block can move only along the guide rod; the plane of the two rotating shafts is used as a dividing plane, the chain on one side of the dividing plane is connected with the mechanical arm rotating part, and the chain on the other side of the dividing plane is connected with the balancing weight. The utility model has the advantages that: the mechanical arm stroke of the stacking gripper is long enough, the stability of the transmission structure of the chain wheel and the chain is reliable, and the stacking gripper can bear large pulling force.
Description
Technical Field
The application belongs to the technical field of automatic pile up neatly, especially relates to a mechanical arm of pile up neatly tongs.
Background
On a carton packaging production line, the stacking efficiency of the whole production line is greatly influenced by the speed and the stability of the stacking action. In the prior art, the height difference of the liftable mechanical arm of the stacking gripper directly influences the stacking height of the stacking gripper, and for gripping heavier cartons, the lifting component of the mechanical arm is required to have enough reliable strength, the mechanical arm of the stacking gripper in the prior art is often not long enough in stroke, or the reliability of the lifting mechanism is not high.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: for solving the not enough of pile up neatly tongs among the prior art to provide the arm of pile up neatly tongs.
The utility model provides a technical scheme that its technical problem adopted is:
a robotic arm for a palletizing gripper, comprising:
a base;
the bracket is vertically fixed on the base and comprises a support column and two bearing brackets, and the two bearing brackets are respectively fixed at the upper end and the lower end of the support column; bearings are arranged on two sides of the bearing support, and a rotating shaft is arranged between the bearings on the two sides;
the chain wheel is arranged on the rotating shaft;
two ends of the chain are respectively connected with chain wheels on the upper bearing bracket and the lower bearing bracket;
the guide rail is fixed on one side of the support column and is parallel to the support column;
the mechanical arm rotating part is used for executing the rotating action of the mechanical arm, and one side of the mechanical arm rotating part is provided with a sliding block which is arranged on the guide rail and can move along the guide rail;
the guide rod is arranged parallel to the support column, and two ends of the guide rod are fixed on the bracket;
the counterweight block is provided with a guide hole, and the guide hole is sleeved on the guide rod so that the counterweight block can only move along the guide rod;
and the plane of the two rotating shafts is taken as a dividing plane, the chain on one side of the dividing plane is connected with the mechanical arm rotating part, and the chain on the other side of the dividing plane is connected with the balancing weight.
Preferably, in the mechanical arm for the stacking gripper of the present invention, the number of the support columns of the support is 4, and the support columns are distributed at four corners of the support; four angular position of balancing weight have the breach, and is individual the breach distributes and corresponds 4 the support column sets up.
Preferably, the mechanical arm of the stacking gripper of the present invention has a shaft sleeve on the main body of the counterweight block, the shaft sleeve is fixed to the main body of the counterweight block by a screw, and the shaft sleeve has the guide hole;
be equipped with detachable counterweight plate in the balancing weight, change through the dismouting the quantity of counterweight plate can change the holistic weight of balancing weight.
Preferably, the utility model discloses a mechanical arm of pile up neatly tongs, one side of mechanical arm rotating part is fixed with the mounting panel, one side of mounting panel is fixed the slider, the upper and lower both ends of one side of mounting panel still are fixed with first chain connector, the first chain connector is last to have the through-hole, the through-hole matches fixedly with the chain pin on the chain link of chain;
the upper and lower both ends of balancing weight are fixed with the second chain connector, have the through-hole on the second chain connector, the through-hole with the chain round pin matching on the chain link of chain is fixed.
Preferably, the utility model discloses a mechanical arm of pile up neatly tongs, the sprocket with the chain is double structure.
Preferably, the other side of the mounting plate of the mechanical arm of the stacking gripper of the utility model is fixed with a first motor fixing plate, a second motor fixing plate and a reinforcing plate; first motor fixed plate, second motor fixed plate are located respectively the upper and lower both ends of mounting panel, the reinforcing plate is connected between first motor fixed plate, the second motor fixed plate.
Preferably, the utility model discloses an arm of pile up neatly tongs, install first motor on first motor fixed plate, the second motor fixed plate, be connected with first rocking arm in the pivot of first motor, the second motor is installed to the other end of first rocking arm, be connected with the second rocking arm in the pivot of second motor, the third motor is installed to the other end of second rocking arm, the tongs connector has in the pivot of third motor.
Preferably, the utility model discloses a mechanical arm of pile up neatly tongs, the centre of second motor fixed plate has the mounting hole that supplies the pivot installation of first motor, mounting hole one side has the opening.
Preferably, the utility model discloses a mechanical arm of pile up neatly tongs, the outside of support is equipped with the guard plate.
Preferably, the utility model discloses a mechanical arm of pile up neatly tongs still includes electric cabinet, sprocket drive spare, the electric cabinet is used for controlling the action of each motor, sprocket drive spare is used for the drive the pivot is rotated.
The utility model has the advantages that: the mechanical arm stroke of the stacking gripper is long enough, the stability of the transmission structure of the chain wheel and the chain is reliable, and the stacking gripper can bear large pulling force.
Drawings
The technical solution of the present application is further explained below with reference to the drawings and the embodiments.
FIG. 1 is a schematic illustration of a robotic arm structure of a palletizing gripper according to an embodiment of the present application;
FIG. 2 is a schematic view of a stent structure according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a counterweight according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a robot arm rotating part according to an embodiment of the present application.
The reference numbers in the figures are:
1 base
2 support
3 chain wheel
4 chain
5 guide rail
6 mechanical arm rotating part
7 guide rod
8 balancing weight
9 electric control box
21 support column
22 bearing support
31 sprocket wheel driving piece
60 mounting plate
61 sliding block
62 first chain connector
63 first motor fixing plate
64 second motor fixing plate
65 reinforcing plate
66 first electric machine
67 second electric machine
68 third electric machine
80 shaft sleeve
81 guide hole
82 gap
83 second chain connector
84 weight plate
222 shaft
641 opening
661 first rotating arm
671 second rotating arm
681 gripping the connector.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, unless otherwise specified, "a plurality" means two or more.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.
The technical solutions of the present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Examples
The present embodiment provides a robot arm for a palletizing gripper, as shown in fig. 1 to 4, comprising:
a base 1;
the support 2 is vertically fixed on the base 1, the support 2 comprises a support column 21 and two bearing supports 22, and the two bearing supports 22 are respectively fixed at the upper end and the lower end of the support column 21; bearings are arranged on two sides of the bearing support 22, and a rotating shaft 222 is arranged between the bearings on the two sides;
a sprocket 3 mounted on the rotating shaft 222;
two ends of the chain 4 are respectively connected with the chain wheels 3 on the upper bearing support 22 and the lower bearing support 22;
the guide rail 5 is fixed on one side of the support column 21 and is parallel to the support column 21;
a robot arm rotating part 6 for performing a rotation operation of the robot arm, one side of which is provided with a slider 61, the slider 61 being mounted on the guide rail 5 so as to be movable along the guide rail 5;
the guide rod 7 is arranged in parallel to the support column 21, and two ends of the guide rod are fixed on the bracket 2;
the counterweight block 8 is provided with a guide hole 81, and the guide hole 81 is sleeved on the guide rod 7, so that the counterweight block 8 can only move along the guide rod 7;
the plane of the two rotating shafts 222 is used as a dividing plane, the chain 4 on one side of the dividing plane is connected with the mechanical arm rotating part 6, and the chain 4 on the other side of the dividing plane is connected with the balancing weight 8.
The mechanical arm of the stacking gripper of the embodiment adopts a chain and a chain wheel to drive the mechanical arm rotating part 6 to lift, and the length of the chain is long enough, so that the corresponding mechanical arm stroke of the stacking gripper of the embodiment is long enough; the transmission structure of the chain wheel and the chain has reliable stability and can bear large tension; the setting of balancing weight 8 can effectively balance the weight of arm rotation portion 6, reduces the drive burden of driving piece.
Preferably, in the robot arm of the stacking gripper of the present embodiment, as shown in fig. 2, the support columns 21 of the support frame 2 have 4 support columns, which are distributed at four corners of the support frame 2; as shown in fig. 3, notches 82 are formed at four corners of the weight block 8, and 4 notches 82 are distributed corresponding to 4 support columns 21. This structure makes balancing weight 8 spacing between 4 support columns 21, can make balancing weight 8 more stable at the removal in-process.
Preferably, as shown in fig. 3, the mechanical arm of the stacking gripper of the embodiment is provided with a shaft sleeve 80 on the main body portion of the counterweight block 8, the shaft sleeve 80 is fixed with the main body portion of the counterweight block 8 through a screw, and the shaft sleeve 80 is provided with the guide hole 81;
the counterweight block 8 is internally provided with detachable counterweight plates 84, and the weight of the whole counterweight block 8 can be changed by changing the number of the counterweight plates 84 through dismounting.
The detachable bushing 80 is convenient to replace and controls the abrasion amount of the inner wall of the guide hole 81.
Preferably, as shown in fig. 4, in the robot arm of the stacking gripper of the present embodiment, a mounting plate 60 is fixed to one side of the robot arm rotating portion 6, the sliding block 61 is fixed to one side of the mounting plate 60, first chain connectors 62 are further fixed to upper and lower ends of one side of the mounting plate 60, each first chain connector 62 has a through hole, and the through hole is matched and fixed to a chain pin on a chain link of the chain 4;
as shown in fig. 3, the upper and lower ends of the counterweight block 8 are fixed with second chain connectors 83, the second chain connectors 83 have through holes, and the through holes are matched and fixed with the chain pins on the chain links of the chain 4.
Preferably, in the mechanical arm of the stacking gripper of the embodiment, the chain wheel 3 and the chain 4 are of a double-row structure. The chain 4 with the double-row structure has enough strength, and if heavier goods need to be lifted, three rows or even more groups of chains 4 and chain wheels 3 can be selected.
Preferably, in the mechanical arm of the stacking gripper of the embodiment, a first motor fixing plate 63, a second motor fixing plate 64 and a reinforcing plate 65 are fixed on the other side of the mounting plate 60; the first motor fixing plate 63 and the second motor fixing plate 64 are respectively located at the upper end and the lower end of the mounting plate 60, and the reinforcing plate 65 is connected between the first motor fixing plate 63 and the second motor fixing plate 64.
Preferably, as shown in fig. 4, the first motor 66 is mounted on the first motor fixing plate 63 and the second motor fixing plate 64, a first rotating arm 661 is connected to a rotating shaft of the first motor 66, a second motor 67 is mounted at the other end of the first rotating arm 661, a second rotating arm 671 is connected to a rotating shaft of the second motor 67, a third motor 68 is mounted at the other end of the second rotating arm 671, and a gripper connecting head 681 is arranged on a rotating shaft of the third motor 68. The structure realizes a mechanical arm structure with a large shaft arm, high load, one lifting and three rotations.
Preferably, as shown in fig. 4, the robot arm of the stacking gripper of the present embodiment has a mounting hole in the middle of the second motor fixing plate 64, and the rotating shaft of the first motor 66 is mounted on the mounting hole, and one side of the mounting hole has an opening 641. The opening 641 can facilitate installation of the first motor 66.
Preferably, the mechanical arm of the stacking gripper of the embodiment is provided with a protection plate on the outer side of the support 2. The guard plate plays and shelters from the dust, prevents that the internals from damaging.
Preferably, the robot arm of the stacking gripper of the embodiment further includes, as shown in fig. 1, an electric cabinet 9 and a sprocket driving member 31, where the electric cabinet 9 is configured to control actions of the motors, and the sprocket driving member 31 is configured to drive the rotating shaft 222 to rotate.
In light of the foregoing description of the preferred embodiments according to the present application, it is to be understood that various changes and modifications may be made without departing from the spirit and scope of the invention. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. A robotic arm of a pallet gripper, comprising:
a base (1);
the support (2) is vertically fixed on the base (1), the support (2) comprises a support column (21) and two bearing supports (22), and the two bearing supports (22) are respectively fixed at the upper end and the lower end of the support column (21); bearings are arranged on two sides of the bearing support (22), and a rotating shaft (222) is arranged between the bearings on the two sides;
a sprocket (3) mounted on the shaft (222);
two ends of the chain (4) are respectively connected with the chain wheels (3) on the upper bearing support (22) and the lower bearing support (22);
the guide rail (5) is fixed on one side of the supporting column (21) and is parallel to the supporting column (21);
a mechanical arm rotating part (6) which is used for executing the rotation action of the mechanical arm, one side of the mechanical arm rotating part is provided with a slide block (61), and the slide block (61) is installed on the guide rail (5) and can move along the guide rail (5);
the guide rod (7) is arranged in parallel to the support column (21), and two ends of the guide rod are fixed on the bracket (2);
the counterweight block (8) is provided with a guide hole (81), and the guide hole (81) is sleeved on the guide rod (7) so that the counterweight block (8) can only move along the guide rod (7);
the plane of the two rotating shafts (222) is used as a dividing plane, the chain (4) on one side of the dividing plane is connected with the mechanical arm rotating part (6), and the chain (4) on the other side of the dividing plane is connected with the balancing weight (8).
2. A robot arm of a pallet hand according to claim 1, characterised in that the support columns (21) of the carriage (2) have a total of 4, distributed at the four corners of the carriage (2); four angular position of balancing weight (8) have breach (82), 4 breach (82) distribute and correspond 4 support column (21) set up.
3. The robot arm of a pallet hand according to claim 2, characterised in that a bushing (80) is provided on the main part of the counterweight (8), said bushing (80) being fixed to the main part of the counterweight (8) by means of a screw, said bushing (80) having said guide hole (81);
be equipped with detachable counterweight plate (84) in balancing weight (8), change through the dismouting the quantity of counterweight plate (84) can change the holistic weight of balancing weight (8).
4. The mechanical arm of the pallet gripper as claimed in any one of claims 1 to 3, wherein a mounting plate (60) is fixed to one side of the mechanical arm rotating part (6), the slide block (61) is fixed to one side of the mounting plate (60), a first chain connector (62) is further fixed to the upper end and the lower end of one side of the mounting plate (60), a through hole is formed in the first chain connector (62), and the through hole is matched and fixed with a chain pin on a chain link of the chain (4);
the upper and lower both ends of balancing weight (8) are fixed with second chain connector (83), the through-hole has on second chain connector (83), the through-hole with the chain round pin matching on the chain link of chain (4) is fixed.
5. A pallet hand manipulator according to any of claims 1-3, characterized in that the sprocket (3) and the chain (4) are of a double row construction.
6. The robotic arm of a palletizing gripper as claimed in claim 4, wherein a first motor fixing plate (63), a second motor fixing plate (64) and a reinforcing plate (65) are fixed to the other side of the mounting plate (60); first motor fixed plate (63), second motor fixed plate (64) are located respectively the upper and lower both ends of mounting panel (60), reinforcing plate (65) are connected between first motor fixed plate (63), second motor fixed plate (64).
7. The mechanical arm of the palletizing gripper as claimed in claim 6, wherein a first motor (66) is mounted on the first motor fixing plate (63) and the second motor fixing plate (64), a first rotating arm (661) is connected to a rotating shaft of the first motor (66), a second motor (67) is mounted at the other end of the first rotating arm (661), a second rotating arm (671) is connected to a rotating shaft of the second motor (67), a third motor (68) is mounted at the other end of the second rotating arm (671), and a gripper connecting head (681) is arranged on a rotating shaft of the third motor (68).
8. The robot arm of the palletizing gripper as claimed in claim 6, wherein the second motor fixing plate (64) has a mounting hole in the middle for mounting the rotating shaft of the first motor (66), and the mounting hole has an opening (641) on one side.
9. A pallet hand manipulator according to any of claims 1-3, characterized in that the outside of the bracket (2) is provided with a guard plate.
10. The mechanical arm of the pallet gripper as claimed in any one of claims 1 to 3, further comprising an electric cabinet (9), a chain wheel driving member (31), wherein the electric cabinet (9) is used for controlling the action of each motor, and the chain wheel driving member (31) is used for driving the rotating shaft (222) to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022370983.1U CN213532673U (en) | 2020-10-22 | 2020-10-22 | Mechanical arm of stacking gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022370983.1U CN213532673U (en) | 2020-10-22 | 2020-10-22 | Mechanical arm of stacking gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213532673U true CN213532673U (en) | 2021-06-25 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022370983.1U Active CN213532673U (en) | 2020-10-22 | 2020-10-22 | Mechanical arm of stacking gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213532673U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070333A (en) * | 2022-08-19 | 2022-09-20 | 长治市三耐铸业有限公司 | Matching device for overturning of positioner |
-
2020
- 2020-10-22 CN CN202022370983.1U patent/CN213532673U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070333A (en) * | 2022-08-19 | 2022-09-20 | 长治市三耐铸业有限公司 | Matching device for overturning of positioner |
| CN115070333B (en) * | 2022-08-19 | 2022-11-08 | 长治市三耐铸业有限公司 | Matching device for overturning of positioner |
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