CN213352442U - Self-adaptive clamping mechanical arm and transfer robot applying same - Google Patents

Abstract

The utility model discloses a self-adaptive clamping mechanical arm and a transfer robot applying the same, which comprises a working surface, a clamping arm and a drive plate, wherein two sliding shafts are arranged on the working surface in parallel, the sliding shafts are fixed with the working surface through shaft seats, and sliding sleeves are connected on the sliding shafts in a sliding manner; be equipped with lead screw guide rail slip table between two sliding shafts, the downside intermediate position of drive plate is fixed with the slider on the lead screw guide rail slip table, and this device can carry the small-size box class goods of different specifications size with the sliding sleeve fixed at the both ends of the downside of drive plate for among the solution prior art, the arm of transfer robot can only carry the problem of carrying with the specification.

Description

Self-adaptive clamping mechanical arm and transfer robot applying same

Technical Field

The utility model relates to a haulage equipment technical field, concretely relates to self-adaptation presss from both sides transfer robot of tight arm and applied this arm.

Background

With the progress of artificial intelligence technology, the intelligent robot industry has been developed vigorously. The intelligent robot is a machine system which can comprehensively simulate human beings in the aspects of perception, thinking and effect, can replace the human beings to greatly expand hands in various fields, and is widely applied in the world at present, for example, in the production line or workshop of a modern factory, the work of book carrying and sorting, small goods carrying, medicine carrying and the like is widely applied; market share also increased from 19% to 57%.

When the existing transfer robot finishes the work of book transfer arrangement, small-sized cargo transfer, medicine transfer and the like, the robot can only transfer the cargoes with the same specification and size, and the existing transfer robot needs to be debugged again when transferring boxes with different sizes and has higher requirement on precision; based on the technical background, the inventor designs the self-adaptive clamping mechanical arm, and the self-adaptive clamping mechanical arm is suitable for carrying small box type goods and commodities, can carry the box type goods with different specifications and sizes, and can be widely applied to goods carrying.

Disclosure of Invention

An object of the utility model is to provide a self-adaptation presss from both sides tight arm and uses the transfer robot of this arm, and this device can carry the small-size box class goods of different specifications size for among the solution prior art, transfer robot's arm can only be to carrying out the problem of carrying with the specification.

The utility model adopts the technical scheme as follows: a self-adaptive clamping mechanical arm comprises a working surface, a clamping arm and a driving plate, wherein two sliding shafts are arranged on the working surface in parallel, the sliding shafts are fixed with the working surface through shaft seats, and sliding sleeves are connected to the sliding shafts in a sliding mode; a screw guide rail sliding table is arranged between the two sliding shafts, the middle position of the lower side of the driving plate is fixed with a sliding block on the screw guide rail sliding table, and two ends of the lower side of the driving plate are fixed with the sliding sleeves; one end of the upper side of the driving plate is provided with a speed reducing motor through a motor support; a motor shaft of the speed reducing motor is connected with a first lead screw through a first coupler, the other end of the first lead screw is connected with a second lead screw through a second coupler, a bearing is sleeved at the other end of the second lead screw, and the bearing is fixed with the upper end of a driving plate through a bearing sleeve; the thread directions of the first lead screw and the second lead screw are opposite; the first lead screw and the second lead screw are respectively connected with a clamping block in a matching way; the upper end of the driving plate is provided with a slideway, and the lower end of the clamping block is provided with a bulge matched with the slideway; an L-shaped positioning plate is arranged on the left side of the clamping block, and two positioning channels are arranged on the positioning plate; the rod part of the positioning rod passes through the positioning channel and is fixed with the clamping arm, and the end part of the clamping arm is provided with an anti-skid rubber block; a compression spring is penetrated on the positioning rod between the positioning plate and the clamping arm; the diameter of the head part of the positioning rod is larger than that of the positioning channel; and laser sensors are fixed on two sides of the driving plate through sensor supports respectively, and the laser sensors are opposite to the heads of the positioning rods.

Furthermore, a lifting device is arranged at the lower end of the working surface; the lifting device comprises a push rod, a hinged support and a bottom plate; the lower end of the working surface is hinged with a hinged support, and the other end of the hinged support is hinged with the bottom plate; two ends of the push rod are respectively hinged and fixed with the hinged support and the bottom plate; the push rod is an electric push rod.

Preferably, the first coupling is a torque-limiting coupling.

A transfer robot comprising the adaptive clamping robot arm of any one of the above embodiments.

The beneficial effects of the utility model reside in that: the device can be used for carrying small box type goods of different specifications and sizes and is used for solving the problem that in the prior art, the mechanical arm of the transfer robot can only carry the goods of the same specification.

Furthermore, the utility model discloses still possess following characteristics:

1. the rod part of the positioning rod passes through the positioning channel and is fixed with the clamping arm, and the end part of the clamping arm is provided with an anti-skid rubber block; a compression spring is penetrated on the positioning rod between the positioning plate and the clamping arm; a motor shaft of the speed reducing motor rotates to drive the clamping arms to approach to clamp; the clamping arm contacts the goods, the clamping arm extrudes the compression spring, the positioning rod penetrates out of the positioning channel, the head of the positioning rod is close to the distance of the laser sensor, when the detection distance of the laser sensor reaches a preset value, the speed reduction motor brakes, and the clamping arm clamps the goods tightly.

2. In this application, the working face lower extreme is equipped with elevating gear, provides the removal of upper and lower direction for this device.

3. The first coupler is a torque-limiting coupler, and when the laser sensor fails or fails, the first coupler is a torque-limiting coupler; the torque of the motor shaft of the speed reducing motor exceeds a certain numerical value, the torque limiting coupler enables the first lead screw and the second lead screw to no longer synchronously rotate with the motor shaft, the clamping arms are no longer close to each other, and damage of transported goods is prevented.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic diagram of the position of the push rod according to the present invention.

Fig. 3 is a schematic view of the clamping arm structure of the present invention.

Fig. 4 is a schematic diagram of the position of the sliding table of the lead screw guide rail.

Fig. 5 is a schematic diagram of positions of the first lead screw and the second lead screw.

Fig. 6 is a schematic view of the clamping block structure.

Fig. 7 is a schematic diagram of the laser sensor position.

Fig. 8 is a schematic view of a positioning rod structure.

In the figure: the device comprises a working surface 1, a clamping arm 2, a driving plate 3, a sliding shaft 4, a shaft seat 5, a sliding sleeve 6, a screw guide rail sliding table 7, a motor support 8, a speed reducing motor 9, a first coupler 10, a first screw 11, a second coupler 12, a second screw 13, a bearing 14, a bearing sleeve 15, a clamping block 16, a slideway 17, a protrusion 18, a positioning plate 19, a positioning channel 20, a positioning rod 21, an anti-skid rubber block 22, a compression spring 23, a sensor support 24, a laser sensor 25, a push rod 26, a hinged support 27 and a bottom plate 28.

Detailed Description

In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings, which are only used for illustrating the technical solutions of the present invention and are not limited.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other; the specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in further detail with reference to fig. 1 to 8, and a principle structure of an adaptive clamping robot and a transfer robot using the same is as follows.

A self-adaptive clamping mechanical arm comprises a working surface 1, a clamping arm 2 and a driving plate 3, wherein two sliding shafts 4 are arranged on the working surface 1 in parallel, the sliding shafts 4 are fixed with the working surface through shaft seats 5, and sliding sleeves 6 are connected onto the sliding shafts 4 in a sliding mode; a screw guide rail sliding table 7 is arranged between the two sliding shafts 4, the middle position of the lower side of the driving plate 3 is fixed with a sliding block on the screw guide rail sliding table 7, the two ends of the lower side of the driving plate 3 are fixed with a sliding sleeve 6, the sliding shafts 4 and the sliding sleeve 6 ensure that the driving plate 3 is more stable, and the screw guide rail sliding table 7 can drive the clamping arm 2 to move in the left-right direction; one end of the upper side of the driving plate 3 is provided with a speed reducing motor 9 through a motor support 8; a motor shaft of the speed reducing motor 9 is connected with a first lead screw 11 through a first coupler 10, the other end of the first lead screw 11 is connected with a second lead screw 13 through a second coupler 12, a bearing 14 is sleeved at the other end of the second lead screw 13, and the bearing 14 is fixed with the upper end of the driving plate 3 through a bearing sleeve 15; the bearing 14 and the bearing sleeve 15 are equivalent to a supporting force for the second lead screw 13; the thread directions of the first lead screw 11 and the second lead screw 13 are opposite; the first lead screw 11 and the second lead screw 13 are respectively connected with a clamping block 16 in a matching way; the upper end of the driving plate 3 is provided with a slideway 17, and the lower end of the clamping block 16 is provided with a bulge 18 matched with the slideway 17; an L-shaped positioning plate 19 is arranged on the left side of the clamping block 16, and two positioning channels 20 are arranged on the positioning plate 19; the rod part of the positioning rod 21 passes through the positioning channel 20 and is fixed with the clamping arm 2; in order to increase the friction force during clamping, the end part of the clamping arm 2 is provided with an anti-skid rubber block 22; a compression spring 23 penetrates through a positioning rod 21 between the positioning plate 19 and the clamping arm 2; the diameter of the head part of the positioning rod 21 is larger than that of the positioning channel 20; two sides of the driving plate 3 are respectively fixed with a laser sensor 25 through a sensor bracket 24, and the laser sensors 25 are opposite to the head part of the positioning rod 21; the speed reducing motor 9, the laser sensor 25 and the like are connected with a control system of the transfer robot, and a motor shaft of the speed reducing motor 9 rotates to drive the clamping arm 2 to approach for clamping; the clamping arm 2 contacts the goods, the clamping arm 2 extrudes the compression spring 23, the positioning rod 21 penetrates out of the positioning channel 20, the head of the positioning rod 21 is close to the laser sensor 25, when the detection distance of the laser sensor 25 reaches a preset value, the speed reduction motor 9 brakes, and the clamping arm 2 clamps the goods.

The lower end of the working surface 1 is provided with a lifting device which comprises a push rod 26, a hinged support 27 and a bottom plate 28; the lower end of the working face 1 is hinged with a hinged support 27, and the other end of the hinged support 27 is hinged with a bottom plate 28; two ends of the push rod 26 are respectively hinged and fixed with a hinge bracket 27 and a bottom plate 28; the pusher 28 is preferably an electric pusher, and the pusher 28 is electrically connected to the control system of the transfer robot.

In the present application, the first coupling 10 is a torque-limiting coupling; in the event of a failure or malfunction of the laser sensor 25; the torque of the motor shaft of the speed reducing motor 9 exceeds a certain value, the torque limiting coupler enables the first lead screw 11 and the second lead screw 13 to no longer synchronously rotate with the motor shaft, and the clamping arms 2 are no longer close to each other, so that the damage of carrying goods is prevented.

The mechanical arm can be applied to a transfer robot and used as an actuating mechanism of the transfer robot, the transfer robot further comprises a traveling system, a control system and the like, the traveling system drives the traveling to move, and the control system provides controllable electric energy.

Although the present invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes and modifications can be made in the embodiments described above, or equivalent changes and modifications can be made to some of the technical features of the embodiments described above, and any changes, equivalents, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (7)

1. The utility model provides a self-adaptation presss from both sides tight arm, includes working face, clamping arm, drive plate, its characterized in that: the working surface is parallelly provided with two sliding shafts, the sliding shafts are fixed with the working surface through shaft seats, and the sliding shafts are connected with sliding sleeves in a sliding manner; a screw guide rail sliding table is arranged between the two sliding shafts, the middle position of the lower side of the driving plate is fixed with a sliding block on the screw guide rail sliding table, and two ends of the lower side of the driving plate are fixed with the sliding sleeves; one end of the upper side of the driving plate is provided with a speed reducing motor through a motor support; a motor shaft of the speed reducing motor is connected with a first lead screw through a first coupler, the other end of the first lead screw is connected with a second lead screw through a second coupler, a bearing is sleeved at the other end of the second lead screw, and the bearing is fixed with the upper end of a driving plate through a bearing sleeve; the thread directions of the first lead screw and the second lead screw are opposite; the first lead screw and the second lead screw are respectively connected with a clamping block in a matching way; the upper end of the driving plate is provided with a slideway, and the lower end of the clamping block is provided with a bulge matched with the slideway; an L-shaped positioning plate is arranged on the left side of the clamping block, and two positioning channels are arranged on the positioning plate; the rod part of the positioning rod passes through the positioning channel and is fixed with the clamping arm; a compression spring is penetrated on the positioning rod between the positioning plate and the clamping arm; the diameter of the head part of the positioning rod is larger than that of the positioning channel; and laser sensors are fixed on two sides of the driving plate through sensor supports respectively, and the laser sensors are opposite to the heads of the positioning rods.

2. The adaptive clamping robot arm of claim 1, wherein: the end part of the clamping arm is provided with an anti-skid rubber block.

3. The adaptive clamping robot arm of claim 1, wherein: and the lower end of the working surface is provided with a lifting device.

4. The adaptive clamping robot arm of claim 3, wherein: the lifting device comprises a push rod, a hinged support and a bottom plate; the lower end of the working surface is hinged with a hinged support, and the other end of the hinged support is hinged with the bottom plate; and two ends of the push rod are respectively hinged and fixed with the hinged support and the bottom plate.

5. The adaptive clamping robot arm of claim 4, wherein: the push rod is an electric push rod.

6. The adaptive clamping robot arm of claim 1, wherein: the first coupler is a torque-limiting coupler.

7. A transfer robot, characterized in that: comprising any of the adaptive clamping robots of claims 1-6.

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