CN216072162U - Unsettled pile up neatly machinery arm - Google Patents
Unsettled pile up neatly machinery arm Download PDFInfo
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- CN216072162U CN216072162U CN202122554143.5U CN202122554143U CN216072162U CN 216072162 U CN216072162 U CN 216072162U CN 202122554143 U CN202122554143 U CN 202122554143U CN 216072162 U CN216072162 U CN 216072162U
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- guide rail
- fixing frame
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- rail fixing
- joint arm
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Abstract
The technical scheme adopted by the utility model is as follows: a suspended stacking mechanical arm comprises a left and right linear moving joint arm, a front and back linear moving joint arm and an up and down linear moving joint arm, wherein a stacking discharging box is arranged at the moving end of the up and down linear moving joint arm; the arm all includes guide rail mount, guide rail, slider, synchronous conveying structure and power tow chain respectively: the guide rail is fixed on the guide rail fixing frame, the sliding block is positioned on the guide rail and can move along the guide rail, the synchronous conveying structure is provided with a driving connecting piece, and the guide rail fixing frame for linearly moving the articulated arm left and right is fixed on a suspended facility; the guide rail fixing frame of the front and back linear movement joint arm is fixed on the sliding block and the driving connecting piece of the left and right linear movement joint arm, and the guide rail fixing frame of the up and down linear movement joint arm is fixed on the sliding block and the driving connecting piece of the front and back linear movement joint arm.
Description
Technical Field
The utility model relates to the technical field of mechanical arms for transportation and carrying, in particular to a suspended stacking mechanical arm.
Background
The stacking manipulator can neatly and automatically stack (or disassemble) the packaged goods with different external dimensions on the tray (or on a production line, etc.). In order to fully utilize the area of the tray and the stability of the stacked materials, the robot is provided with a material stacking sequence and arrangement setter. Can meet the requirements from low speed to high speed, from packaging bags to cartons, from stacking one product to stacking a plurality of different products. The device is applied to product transportation, stacking and the like, and is widely applied to different fields of automobiles, logistics, household appliances, medicines, food and beverage and the like. The capability of the stacking manipulator is higher than that of common mechanical stacking and manpower. The structure is very simple, so the failure rate is low, and the maintenance and the repair are easy. The maintenance cost is low because the number of main components is small and the number of parts is small. The stacking manipulator can be arranged in a narrow space, and can be effectively used. All control can be operated on the screen of the control cabinet, and the operation is very simple. The universality is strong: pile up neatly and the unstacking to different goods can be accomplished through the pile up neatly dummy box of changing the manipulator, have reduced customer's purchase cost relatively.
However, for loading and unloading cargoes of trucks, a loading and unloading mode which is simple in structure, convenient to operate, capable of reducing manpower and high in energy and low in consumption has not been achieved so far.
Disclosure of Invention
The utility model provides a suspended stacking mechanical arm, which solves the problems of loading and unloading of trucks and cargos with different models, and achieves the loading and unloading mode with simple structure, convenient operation, reduced manpower and high energy consumption.
In order to achieve the purpose, the utility model adopts the technical scheme that:
a suspended stacking mechanical arm comprises a left and right linear moving joint arm, a front and back linear moving joint arm and an up and down linear moving joint arm, wherein a stacking discharging box is arranged at the moving end of the up and down linear moving joint arm; the arm all includes guide rail mount, guide rail, slider, synchronous conveying structure and power tow chain respectively: the guide rail is fixed on the guide rail fixing frame, the sliding block is positioned on the guide rail and can move along the guide rail, the synchronous conveying structure is provided with a driving connecting piece, and the guide rail fixing frame for linearly moving the articulated arm left and right is fixed on a suspended facility; the guide rail fixing frame of the front and rear linear movement joint arm is fixed on the sliding block and the driving connecting piece of the left and right linear movement joint arm, the guide rail fixing frame of the up and down linear movement joint arm is fixed on the sliding block and the driving connecting piece of the front and rear linear movement joint arm, and the up and down moving frame is arranged on the sliding block and the driving connecting piece of the up and down linear movement joint arm; the upper and lower moving frames are provided with a rotating shaft and a rotating motor for driving the rotating shaft to rotate, the lower end of the rotating shaft is provided with the stacking discharge box, and the rotating motor drives the stacking discharge box to rotate through the rotating shaft; and a control cable or a gas-liquid pipe is arranged in the power drag chain.
Preferably, the stacking discharge box is of a box-packed structure, the front surface of the stacking discharge box is a feed inlet, the left surface, the right surface and the rear surface of the stacking discharge box are respectively provided with a baffle, the bottom surface of the stacking discharge box is provided with a pair of supporting plates, the outer edges of the supporting plates are provided with rotating shafts, the left surface baffle and the right surface baffle are provided with fixed shaft sleeves at the lower parts, the rotating shafts penetrate through the fixed shaft sleeves to realize that the supporting plates are hinged with the left surface baffle and the right surface baffle, the rear surface baffle of the rotating shafts is provided with a swing driving mechanism, the left surface baffle, the right surface baffle and the rear surface baffle are respectively arranged at the upper part and fixed on a box frame, and the box frame is fixed at the lower end of the rotating shaft.
Preferably, the swing driving mechanism comprises an eccentric swing sleeve fixed on the rotating shaft, the eccentric swing sleeve is hinged to the push rod, the push rod inclines towards the middle, the upper end of the push rod is inserted into the pin hole, the pin hole is formed in one end of the right-angle push rod, the other end of the right-angle push rod is hinged to the end portion of the piston rod of the air cylinder, and the air cylinder is fixed on the rear baffle.
Preferably, the synchronous transmission structure comprises a synchronous driving frame fixed on a guide rail fixing frame, two groups of synchronous belt wheels are arranged on the synchronous driving frame, synchronous belts are arranged on the synchronous belt wheels, a driving sliding plate is arranged on the synchronous fixing frame, a driving servo is arranged on one side of the end portion of each synchronous belt wheel, a fixing part is further arranged on one side of each synchronous belt wheel and used for fixing the synchronous transmission structure on the guide rail fixing frame, the driving sliding plate and the sliding block are jointly fixed on the guide rail fixing frame of the left and right linear movement articulated arm or the front and back linear movement articulated arm, and the driving sliding plate and the sliding block on the upper and lower linear movement articulated arm are jointly fixed on the moving end.
Further preferably, the guide rail fixing frame of the front and rear linear movement articulated arm comprises two parts, one part is a horizontal guide rail fixing frame, the other part is an upper and lower guide rail fixing frame, the upper and lower guide rail fixing frame is fixed at one end of the horizontal guide rail fixing frame, an inclined fixing frame is arranged between the upper and lower guide rail fixing frame and the horizontal guide rail fixing frame to connect the upper end of the upper and lower guide rail fixing frame and the other end of the horizontal guide rail fixing frame, and the rail on the upper and lower linear movement articulated arm is arranged on the upper and lower guide rail fixing frame.
It is still further preferred that the moving end is provided with a through hole through which the rotating shaft is rotatably disposed, the upper portion of the rotating shaft is connected to a rotating motor, the rotating motor is fixed to the moving end, and the stacking discharge box at the lower end is located below the upper and lower guide rail fixing frames when the moving end is located at the uppermost end of the upper and lower guide rail fixing frames.
The utility model has the advantages that: the stacking discharge box is simple to disassemble and convenient to replace, the mounting efficiency is improved, and the formed positioning is more accurate and stable; the shaft driving device is arranged on the mechanical arm, so that automation is realized, manpower is liberated, labor force is reduced, labor efficiency is improved, and the stacking discharge box is arranged, so that replacement and maintenance are convenient, and maintenance cost is reduced. The utility model can work in a narrow space, greatly saves the operation space and has selectivity for the space of a loading and unloading team of goods.
In light of the foregoing description of the preferred embodiments of the present invention, it is to be understood that various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the utility model. The technical scope of the present invention is not limited to the content of the specification, and the technical scope must be determined according to the scope of the claims.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a rear view of the present invention;
FIG. 3 is a left side view of the present invention;
FIG. 4 is a top view of the present invention;
FIG. 5 is a left side perspective view of the pallet discharge box of the present invention;
FIG. 6 is a perspective view of the right and left linearly moving articulated arm;
FIG. 7 is a block diagram of a synchronous transfer structure;
FIG. 8 is a side cutaway view of the present invention;
fig. 9 is a perspective view of an opened state of the up-down linearly moving articulated arm.
Reference numerals:
1. the automatic stacking and unloading device comprises left and right linear moving articulated arms, 2, front and back linear moving articulated arms, 3, up and down linear moving articulated arms, 4, a stacking and unloading box, 5, a guide rail fixing frame, 6, a guide rail, 7, a sliding block, 8, a synchronous conveying structure, 9, a power drag chain, 10, a driving connecting piece, 12, a rotating shaft, 13, a rotating motor, 14, a feeding hole, 15, a baffle, 16, a supporting plate, 17, a rotating shaft, 18, a fixing shaft sleeve, 19, a swing driving mechanism, 20, a box frame, 21, an eccentric swing sleeve, 22, a push rod, 23, a pin hole, 24, a right-angle push rod, 25, a cylinder, 26, a synchronous driving frame, 27, a synchronous belt wheel, 28, a synchronous belt, 29, a driving sliding plate, 30, a driving servo, 31, a fixing piece, 32, a moving end, 33, a horizontal guide rail fixing frame, 34, up and down guide rail fixing frames, 35 and an inclined fixing frame.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, and it should be understood that the preferred embodiments described herein are merely for purposes of illustration and explanation, and are not intended to limit the utility model.
It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
One embodiment of the present invention is shown in fig. 1 to 9.
As shown in fig. 1-4 and 8, the suspended stacking mechanical arm comprises a left-right linear moving joint arm 1, a front-back linear moving joint arm 2 and an up-down linear moving joint arm 3, wherein a moving end 32 of the up-down linear moving joint arm 3 is provided with a stacking discharging box 4, and a mechanical arm and material placing box structure is adopted, so that the mechanization of material receiving, direction adjustment and material stacking release is realized, the problem of low efficiency of manual swing is reduced, and the labor intensity of workers is reduced;
the mechanical arms respectively comprise a guide rail fixing frame 5, a guide rail 6, a sliding block 7, a synchronous transmission structure 8 and a power drag chain 9,
the guide rail 6 is fixed on the guide rail fixing frame 5, the slide block 7 is positioned on the guide rail 6 and can move along the guide rail 6, the synchronous transmission structure 8 is provided with a driving connecting piece 10, and the guide rail fixing frame 5 for linearly moving the articulated arm 1 left and right is fixed on a suspended facility;
the guide rail fixing frame 5 of the front and rear linear movement joint arm 2 is fixed on the sliding block 7 and the driving connecting piece 10 of the left and right linear movement joint arm 1, the guide rail fixing frame 5 of the up and down linear movement joint arm 3 is fixed on the sliding block 7 and the driving connecting piece 10 of the front and rear linear movement joint arm 2, and the up and down moving frame is arranged on the sliding block 7 and the driving connecting piece 10 of the up and down linear movement joint arm 3;
the up-down moving frame is provided with a rotating shaft 12 and a rotating motor 13 for driving the rotating shaft 12 to rotate, the lower end of the rotating shaft 12 is provided with the stacking discharge box 4, and the rotating motor 13 drives the stacking discharge box 4 to rotate through the rotating shaft 12;
a control cable or a gas-liquid pipe is arranged in the power drag chain 9.
As shown in fig. 5, the stacking discharge box 4 is of a box-packed structure, the front of the stacking discharge box 4 is provided with a feed inlet 14, the left, right and rear sides are provided with baffles 15, the bottom surface of the stacking discharge box 4 is provided with a pair of support plates 16, the outer edges of the support plates 16 are provided with rotating shafts 17, the lower parts of the left baffle 15 and the right baffle 15 are provided with fixed shaft sleeves 18, the rotating shafts 17 penetrate through the fixed shaft sleeves 18 to realize the hinged connection between the support plates 16 and the left baffle 15 and the right baffle 15, the rear baffle 15 of the rotating shafts 17 is provided with a swing driving mechanism 19, the left, right and rear sides are provided with the baffles 15, the upper parts of the baffles 15 are fixed on a box frame 20, and the box frame 20 is fixed at the lower end of the rotating shaft 12;
As shown in fig. 6-7, the synchronous transmission structure 8 includes a synchronous driving frame 26 fixed on the guide rail fixing frame 5, two sets of synchronous pulleys 27 are arranged on the synchronous driving frame 26, a synchronous belt 28 is arranged on the synchronous pulley 27, a driving sliding plate 29 is arranged on the synchronous fixing frame, a driving servo 30 is arranged on one side of the end portion of the synchronous pulley 27, a fixing member 31 is further arranged on one side of the synchronous pulley 27, the fixing member 31 fixes the synchronous transmission structure 8 on the guide rail fixing frame 5, the driving sliding plate 29 and the sliding block 7 are jointly fixed on the guide rail fixing frame 5 of the left and right linear movement articulated arm 1 or the front and rear linear movement articulated arm 2, the driving sliding plate 29 and the sliding block 7 on the up and down linear movement articulated arm 3 are jointly fixed on the moving end 32, so as to achieve flexibility, save operation space, and save manpower for automatic setting.
As shown in fig. 9, the guide rail fixing frame 5 of the front-rear linear movement articulated arm 2 includes two parts, one part is a horizontal guide rail fixing frame 33, the other part is an upper and lower guide rail fixing frame 34, the upper and lower guide rail fixing frame 34 is fixed at one end of the horizontal guide rail fixing frame 33, an inclined fixing frame 35 is arranged between the upper and lower guide rail fixing frames 34 and the other end of the horizontal guide rail fixing frame 33, and a track on the upper-lower linear movement articulated arm 3 is arranged on the upper and lower guide rail fixing frame 34;
move the end 32 and be equipped with the rotatory through-hole that sets up of axis of rotation 12, axis of rotation 12 upper portion links to each other with rotating motor 13, rotates motor 13 and is fixed in and moves end 32, moves end 32 and is in the top of upper and lower guide rail mount 34 when, and the pile up neatly of rotating the lower extreme discharge box 4 is in the below of upper and lower guide rail mount 34, opens unsettled pile up neatly arm and releases the goods and pile up neatly the position, realizes the transport of a material package.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A suspended stacking mechanical arm is characterized by comprising a left-right linear moving joint arm (1), a front-back linear moving joint arm (2) and an up-down linear moving joint arm (3), wherein a moving end (32) of the up-down linear moving joint arm (3) is provided with a stacking discharging box (4);
the mechanical arms respectively comprise a guide rail fixing frame (5), a guide rail (6), a sliding block (7), a synchronous transmission structure (8) and a power drag chain (9):
the guide rail (6) is fixed on the guide rail fixing frame (5), the sliding block (7) is positioned on the guide rail (6) and can move along the guide rail (6), the synchronous transmission structure (8) is provided with a driving connecting piece (10), and the guide rail fixing frame (5) of the left and right linear movement joint arm (1) is fixed on a suspended facility;
the guide rail fixing frame (5) of the front and rear linear movement joint arm (2) is fixed on the sliding block (7) and the driving connecting piece (10) of the left and right linear movement joint arm (1), the guide rail fixing frame (5) of the up and down linear movement joint arm (3) is fixed on the sliding block (7) and the driving connecting piece (10) of the front and rear linear movement joint arm (2), and the up and down moving frame is arranged on the sliding block (7) and the driving connecting piece (10) of the up and down linear movement joint arm (3);
a rotating shaft (12) and a rotating motor (13) for driving the rotating shaft to rotate are arranged on the up-down moving frame, the lower end of the rotating shaft (12) is provided with the stacking discharge box (4), and the rotating motor (13) drives the stacking discharge box (4) to rotate through the rotating shaft (12);
a control cable or a gas-liquid pipe is arranged in the power drag chain (9).
2. The suspended stacking mechanical arm according to claim 1, wherein the stacking discharge box (4) is of a box-packed structure, the feed inlet (14) is arranged in front of the stacking discharge box (4), the left side, the right side and the rear side of the stacking discharge box (4) are respectively provided with a baffle (15), the bottom surface of the stacking discharge box (4) is provided with a pair of supporting plates (16), the outer edges of the supporting plates (16) are provided with rotating shafts (17), the left baffle (15) and the right baffle (15) are provided with fixed shaft sleeves (18) at the lower parts, the rotating shafts (17) are arranged in the fixed shaft sleeves (18) in a penetrating manner to realize that the supporting plates (16) are hinged with the left baffle (15) and the right baffle (15), the rear baffle (15) of the rotating shafts (17) is provided with a swing driving mechanism (19) and the left side, the right and the back are provided with baffles (15), the upper part of each baffle is fixed on a box frame (20), and the box frames (20) are fixed at the lower end of the rotating shaft (12).
3. The suspended palletizing mechanical arm as claimed in claim 2, wherein the swing driving mechanism (19) comprises an eccentric swing sleeve (21) fixed on the rotating shaft (17), the eccentric swing sleeve (21) is hinged to a push rod (22), the push rod (22) is inclined towards the middle, the upper end of the push rod is inserted into a pin hole (23), the pin hole (23) is formed in one end of a right-angle push rod (24), the other end of the right-angle push rod (24) is hinged to the end portion of a piston rod of an air cylinder (25), and the air cylinder (25) is fixed on the rear baffle (15).
4. A suspended mechanical arm for stacking pallets as claimed in claim 1, wherein the synchronous conveying structure (8) comprises a synchronous driving frame (26) fixed on a guide rail fixing frame (5), two sets of synchronous pulleys (27) are arranged on the synchronous driving frame (26), a synchronous belt (28) is arranged on each synchronous pulley (27), a driving sliding plate (29) is arranged on each synchronous fixing frame, a driving servo (30) is arranged on one side of the end portion of each synchronous pulley (27), a fixing member (31) is further arranged on one side of each synchronous pulley (27), the fixing member (31) fixes the synchronous conveying structure (8) on the guide rail fixing frame (5), the driving sliding plate (29) and the sliding block (7) are jointly fixed on the guide rail fixing frame (5) of the left and right linearly moving joint arm (1) or the front and rear linearly moving joint arm (2), and the driving sliding plate (29) and the sliding block (7) on the up and down linearly moving joint arm (3) are jointly fixed on a moving end (32).
5. A suspended palletizing mechanical arm as claimed in claim 4, wherein the guide rail fixing frame (5) of the front and rear linear moving articulated arm (2) comprises two parts, one part is a horizontal guide rail fixing frame (33), the other part is an upper and lower guide rail fixing frame (34), the upper and lower guide rail fixing frame (34) is fixed at one end of the horizontal guide rail fixing frame (33), an inclined fixing frame (35) is arranged between the upper and lower guide rail fixing frame (34) and the other end of the horizontal guide rail fixing frame (33), and a track on the upper and lower linear moving articulated arm (3) is arranged on the upper and lower guide rail fixing frame (34).
6. A robotic arm for suspended pallets as claimed in claim 5, characterised in that the moving end (32) is provided with a through hole through which the rotating shaft (12) is rotatably mounted, the rotating shaft (12) being connected at its upper part to the rotating motor (13), the rotating motor (13) being fixed to the moving end (32), and the lower rotating pallet discharge box (4) being located below the upper and lower rail holders (34) when the moving end (32) is located at the uppermost end of the upper and lower rail holders (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122554143.5U CN216072162U (en) | 2021-10-22 | 2021-10-22 | Unsettled pile up neatly machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122554143.5U CN216072162U (en) | 2021-10-22 | 2021-10-22 | Unsettled pile up neatly machinery arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216072162U true CN216072162U (en) | 2022-03-18 |
Family
ID=80640711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122554143.5U Active CN216072162U (en) | 2021-10-22 | 2021-10-22 | Unsettled pile up neatly machinery arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216072162U (en) |
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2021
- 2021-10-22 CN CN202122554143.5U patent/CN216072162U/en active Active
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