CN111360798A

CN111360798A - Intelligent express sorting robot with adjustable arm positioning height

Info

Publication number: CN111360798A
Application number: CN202010186311.7A
Authority: CN
Inventors: 杨发会
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-03-17
Filing date: 2020-03-17
Publication date: 2020-07-03

Abstract

The invention discloses an intelligent express sorting robot with an adjustable mechanical arm positioning height, which comprises a guide seat, a first motor, a second motor and a mechanical arm, wherein the first motor is fixed in the guide seat in an embedded mode, the output end of the first motor is connected with a screw rod, the screw rod is connected in a guide groove in a shaft mode, an adjusting groove is formed in the top of the base, an adjusting rod is placed in the adjusting groove, a toothed ring is sleeved on the adjusting rod, the positioning ring is located in a positioning groove, a base is welded to the top of the adjusting rod and located at the top of the base, a third motor is installed in the base in an embedded mode, and the mechanical arm is fixed to the top of a movable seat through bolts. This intelligence express delivery letter sorting robot with adjustable arm location height realizes sideslip, rotation and the height control of arm, realizes the express delivery letter sorting work of many environment polymorphic type, keeps holistic stability, carries out the fixed clamp to the express delivery piece of different specifications simultaneously and gets and buffer protection.

Description

Intelligent express sorting robot with adjustable arm positioning height

Technical Field

The invention relates to the technical field of express delivery, in particular to an intelligent express delivery sorting robot with an adjustable mechanical arm positioning height.

Background

With the development of internet technology, more and more people shop through the internet, express delivery is used by the express delivery industry for quickly conveying far-end articles to the side of a consumer, the unified sending, sorting and classifying of express delivery are involved, with the rapid development of online shopping, the number of the express delivery is increased day by day, the manual sorting mode cannot keep up with the increase of the rapid express delivery number, and the intelligent sorting robot based on mechanical arms is widely applied;

intelligence express delivery letter sorting robot utilizes all kinds of sensors, objective, electron optical system and intelligent processing system to carry out accurate seizure, classification and letter sorting operation to the express delivery piece, has improved the pressure that the express delivery was carried greatly, provides good contact for the network purchase, nevertheless there is following problem in current letter sorting robot when using:

along with the increasing development of online shopping, products of various industries are rushed in a dispute, the quantity of express delivery pieces is increased rapidly, the sorting work of multiple environments and multiple types of express deliveries can be adapted to, the express delivery sorting work at different positions is applicable through movement, angle adjustment and height adjustment, meanwhile, in order to prolong the practical service life of the express delivery pieces, the overall balance and stability need to be kept when sorting is carried out, and when the express delivery pieces of different specifications are clamped, the external damage of the express delivery pieces needs to be avoided.

To above-mentioned problem, the urgent need carries out the innovative design on original intelligent express delivery letter sorting robot's basis.

Disclosure of Invention

The invention aims to provide an intelligent express sorting robot with an adjustable mechanical arm positioning height, and aims to solve the problems that the existing intelligent express sorting robot in the background technology needs to be suitable for sorting work of multiple environments and multiple types of express, needs to keep overall balance and stability, and needs to avoid damage to the outside of the express.

In order to achieve the purpose, the invention provides the following technical scheme: an intelligent express sorting robot with an adjustable mechanical arm positioning height comprises a guide seat, a first motor, a second motor and a mechanical arm, wherein the first motor is fixed in the guide seat in an embedded mode, the output end of the first motor is connected with a screw rod, the screw rod is connected in a guide groove in a shaft mode, the guide groove is formed in the upper end of the guide seat, a guide rod is sleeved on the screw rod in a threaded mode, a base is welded to the top of the guide rod and is located at the upper end of the guide seat, a limiting rod is welded to the bottom of the base and is located in the limiting groove, the limiting groove is formed in the top of the guide seat, the second motor is fixed in the base in an embedded mode, the output end of the second motor is connected with a first gear, an adjusting groove is formed in the top of the base, an adjusting rod is placed in the adjusting groove, a gear ring is sleeved on the adjusting rod, and the gear, and the upper and lower both ends of ring gear all are fixed with the holding ring, the holding ring is located the constant head tank, and the constant head tank is seted up on the inner wall of adjustment tank, the top welding of adjusting the pole has the base, and the base is located the top of base, embedded the installing of base has the third motor, and the output of third motor is connected with the sliding seat to the sliding seat is located the top of base, the bottom welding of sliding seat has the compensating ring, and the compensating ring is located the compensating ring to the up end of base is seted up to the compensating ring, the top bolt fastening of sliding seat has the arm.

Preferably, the outer side of the guide rod is attached to the inner wall of the guide groove, and the number of the guide rod is 2 along the central axis of the base.

Preferably, the limiting rod is connected with the limiting groove in a sliding mode, and the cross-sectional area of the limiting rod is equal to that of the limiting groove.

Preferably, the number of the adjusting rods is 4, and the adjusting rods are symmetrically arranged around the central axis of the base and are in threaded connection with the toothed ring.

Preferably, the positioning ring is rotatably connected with the positioning groove, and the positioning ring and the toothed ring share a central axis.

Preferably, the balance ring is rotationally connected with the balance groove, and the cross section of the balance ring is designed into a convex structure.

Preferably, the tip of arm is installed and is snatched the seat, and snatchs the seat and embedded the formula is fixed with the fourth motor, the output of fourth motor is connected with the second gear, the bottom welding of second gear has the pole of snatching, and the inboard of snatching the pole is connected with the clamping bar to be fixed with the spring between the clamping bar and the inner wall of snatching the pole.

Preferably, the grabbing rod is designed to be of a hook-shaped structure, and the grabbing rod is symmetrically provided with 2 grabbing rods around the central axis of the grabbing seat.

Preferably, the clamping rod and the grabbing rod are connected through a shaft, and an inclined included angle is formed between the clamping rod and the grabbing rod.

Compared with the prior art, the invention has the beneficial effects that: the intelligent express sorting robot with the adjustable mechanical arm positioning height;

1. the outer side of the guide rod and the inner wall of the guide groove are mutually attached, so that when the first motor drives the screw rod to rotate, the guide rod is driven to slide in the guide groove, the horizontal movement of the base is further driven, the mechanical arm is driven to move, meanwhile, the four adjusting rods are in threaded connection with the toothed ring, when the second motor drives the first gear and the toothed ring to rotate, the four adjusting rods can be driven to move up and down, the height of the base is further adjusted, the height of the mechanical arm is adjusted, then the third motor drives the movable seat to rotate, the mechanical arm is driven to horizontally rotate, the horizontal movement, height adjustment and horizontal rotation operation of the mechanical arm are realized, and the mechanical arm is suitable for complex express item sorting work;

2. the limiting rod is connected with the limiting groove in a sliding mode, the cross section area of the limiting rod is equal to that of the limiting groove, when the base moves horizontally, the limiting rod slides in the limiting groove to keep stable movement, meanwhile, the positioning ring is connected with the positioning groove in a rotating mode, the positioning ring and the positioning groove are used for keeping stable rotation of the toothed ring, the balance ring is connected with the balance groove in a rotating mode, the cross section of the balance ring is in a convex structural design, the balance ring rotates in the balance groove to keep stable movement of the movable seat, and therefore stable and balanced support guarantee is provided for sorting work of the mechanical arm;

3. two grabbing rods through setting up are "collude" style of calligraphy structural design for the relative motion that the fourth motor drove through the second gear and snatched the pole, fix the express delivery piece and get, be the hub connection between clamping bar and the grabbing pole simultaneously, and the clamping bar with snatch and be provided with the slope contained angle between the pole, the clamping bar contacts with the express delivery piece, through the use of the normal running fit spring of clamping bar, cushions the express delivery piece, avoids its outside damage.

Drawings

FIG. 1 is a schematic front sectional view of the present invention;

FIG. 2 is a schematic top view of a guide base according to the present invention;

FIG. 3 is an enlarged view of the structure at A in FIG. 1 according to the present invention;

FIG. 4 is a schematic top view of a cross-sectional structure of the base of the present invention;

FIG. 5 is a schematic perspective view of a gimbal according to the present invention;

FIG. 6 is a schematic top view of the gripping base according to the present invention.

In the figure: 1. a guide seat; 2. a first motor; 3. a screw; 4. a guide groove; 5. a guide bar; 6. a base; 7. a limiting rod; 8. a limiting groove; 9. a second motor; 10. a first gear; 11. an adjustment groove; 12. adjusting a rod; 13. a toothed ring; 14. a positioning ring; 15. positioning a groove; 16. a base; 17. a third motor; 18. a movable seat; 19. a balance ring; 20. a balancing tank; 21. a mechanical arm; 22. a grabbing seat; 23. a fourth motor; 24. a second gear; 25. a grabbing rod; 26. a clamping bar; 27. a spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: an intelligent express sorting robot with an adjustable mechanical arm positioning height comprises a guide seat 1, a first motor 2, a screw rod 3, a guide groove 4, a guide rod 5, a base 6, a limiting rod 7, a limiting groove 8, a second motor 9, a first gear 10, an adjusting groove 11, an adjusting rod 12, a toothed ring 13, a positioning ring 14, a positioning groove 15, a base 16, a third motor 17, a movable seat 18, a balance ring 19, a balance groove 20, a mechanical arm 21, a grabbing seat 22, a fourth motor 23, a second gear 24, a grabbing rod 25, a clamping rod 26 and a spring 27, wherein the first motor 2 is embedded and fixed in the guide seat 1, the output end of the first motor 2 is connected with the screw rod 3, the screw rod 3 is connected in the guide groove 4, the guide groove 4 is formed in the upper end of the guide seat 1, the guide rod 5 is sleeved on the screw rod 3 in a threaded manner, the base 6 is welded at the top of the guide rod 5, and the base 6 is, the bottom of the base 6 is welded with a limiting rod 7, the limiting rod 7 is positioned in a limiting groove 8, the limiting groove 8 is arranged at the top of the guide seat 1, a second motor 9 is embedded and fixed in the base 6, the output end of the second motor 9 is connected with a first gear 10, the top of the base 6 is provided with an adjusting groove 11, an adjusting rod 12 is placed in the adjusting groove 11, a toothed ring 13 is sleeved on the adjusting rod 12, the toothed ring 13 is meshed with the first gear 10, the upper end and the lower end of the toothed ring 13 are both fixed with positioning rings 14, the positioning rings 14 are positioned in positioning grooves 15, the positioning grooves 15 are arranged on the inner wall of the adjusting groove 11, the top of the adjusting rod 12 is welded with a base 16, the base 16 is positioned at the top of the base 6, a third motor 17 is embedded in the base 16, the output end of the third motor 17 is connected with a movable seat 18, and the movable seat 18 is, a balance ring 19 is welded at the bottom of the movable seat 18, the balance ring 19 is positioned in a balance groove 20, the balance groove 20 is arranged on the upper end face of the base 16, and a mechanical arm 21 is fixed on the top of the movable seat 18 through a bolt;

the outer side of the guide rod 5 is attached to the inner wall of the

guide groove

4, 2 guide rods 5 are symmetrically arranged about the central axis of the base 6, and when the first motor 2 drives the screw rod 3 to rotate, the guide rod 5 in threaded connection with the screw rod 3 is driven to slide in the guide groove 4, so that the base 6 is driven to move, the whole horizontal movement is driven, and the sorting range of the express delivery piece can be enlarged;

the limiting rod 7 is connected with the limiting groove 8 in a sliding mode, the cross section area of the limiting rod 7 is equal to that of the limiting groove 8, when the base 6 moves along with the guide rod 5, the limiting rod 7 at the bottom of the base 6 slides along the limiting groove 8, and therefore the stability of the base 6 is kept, and the balance of the base is improved;

4 adjusting rods 12 are symmetrically arranged about the central axis of the base 16, the adjusting rods 12 are in threaded connection with the toothed ring 13, when the second motor 9 drives the first gear 10 to rotate, the toothed ring 13 can be driven to rotate, the adjusting rods 12 are driven to move up and down through the threaded connection between the toothed ring 13 and the adjusting rods 12, and then the base 16 can be pushed to move up and down through the adjusting rods 12, so that the height of the mechanical arm 21 can be adjusted;

the positioning ring 14 is rotatably connected with the positioning groove 15, the positioning ring 14 and the toothed ring 13 share a central axis, and when the toothed ring 13 rotates along with the first gear 10, the positioning ring 14 on the toothed ring 13 rotates in the positioning groove 15, so that the toothed ring 13 is kept to rotate stably;

the balance ring 19 is rotatably connected with the balance groove 20, the cross section of the balance ring 19 is in a convex structural design, when the third motor 17 in the base 16 drives the movable seat 18 to rotate for sorting operation, the balance ring 19 at the bottom of the movable seat 18 rotates in the balance groove 20 to reinforce the rotation of the movable seat 18, and the balance use of the mechanical arm 21 on the movable seat 18 is kept;

the end part of the mechanical arm 21 is provided with a grabbing seat 22, a fourth motor 23 is embedded and fixed in the grabbing seat 22, the output end of the fourth motor 23 is connected with a second gear 24, the bottom of the second gear 24 is welded with grabbing rods 25, the inner side of each grabbing rod 25 is connected with a clamping rod 26, a spring 27 is fixed between each clamping rod 26 and the inner wall of each grabbing rod 25, each grabbing rod 25 is designed in a hook-shaped structure, 2 grabbing rods 25 are symmetrically arranged on the central axis of the grabbing seat 22, when the fourth motor 23 in the grabbing seat 22 drives each second gear 24 to rotate, the grabbing rods 25 are driven to rotate relatively through mutual engagement with the other second gear 24, express items are grabbed through the grabbing rods 25, and meanwhile, the grabbing rods 25 in the hook-shaped structure can directly penetrate into the bottom of the express items to keep stable grabbing;

clamping bar 26 with snatch for the hub connection between the pole 25, and clamping bar 26 with snatch and be provided with the slope contained angle between the pole 25, when the clamping bar 26 that snatchs in the pole 25 contacts with the express delivery piece, clamping bar 26 is in snatching the pole 25 internal rotation, and the use of cooperation spring 27 has certain cushioning effect, protects the express delivery piece, is applicable to the express delivery piece of different appearances simultaneously.

The working principle is as follows: when the intelligent express sorting robot with the adjustable positioning height of the mechanical arm is used, as shown in a graph 1-2, a first motor 2 in a guide seat 1 is started, the first motor 2 drives a screw rod 3 to rotate in a guide groove 4, a guide rod 5 in threaded connection with the screw rod 3 is driven to slide in the guide groove 4, a base 6 on the guide rod 5 is driven to move along, the transverse distance of the mechanical arm 21 is adjusted, the mechanical arm 21 is moved to the position above an express to be sorted, meanwhile, a limiting rod 7 at the bottom of the base 6 slides in a limiting groove 8 in the guide seat 1 in the horizontal movement of the base 6, the stable and balanced movement of the base 6 is kept through the limiting rod 7 in a T-shaped structure, then, as shown in the graph 1 and the graph 3-4, a second motor 9 in the base 6 is started, the second motor 9 drives a first gear 10 to rotate in the base 6, and is in meshing contact with a gear ring 13 through the first gear, the gear ring 13 is driven to rotate in the adjusting groove 11, meanwhile, the positioning rings 14 at the upper end and the lower end of the gear ring 13 rotate along the positioning grooves 15 on the inner wall of the adjusting groove 11, so as to keep the gear ring 13 rotating stably, further, the adjusting rods 12 connected with the gear ring 13 in a threaded manner are driven to slide up and down in the adjusting groove 11 through the rotation of the gear ring 13, further, the base 16 is driven to move up and down through the 4 adjusting rods 12, further, the positioning height of the mechanical arm 21 can be adjusted, then, as shown in fig. 1 and 5, the third motor 17 in the base 16 is started, the third motor 17 drives the movable seat 18 to horizontally rotate on the base 16, the transverse angles of the movable seat 18 and the mechanical arm 21 are adjusted, meanwhile, when the movable seat 18 rotates, the balance ring 19 at the bottom of the movable seat 18 rotates along the balance groove 20 at the top of the base 16, and the balance ring, the mechanical arm 21 is prevented from shifting in the stress process;

next, as shown in fig. 1 and fig. 6, through the above steps, the horizontal movement, the height adjustment and the horizontal rotation of the mechanical arm 21 are realized, the range of the mechanical arm 21 is matched, so that the grabbing seat 22 at one end of the mechanical arm 21 reaches the express delivery position, the fourth motor 23 in the grabbing seat 22 is started, the fourth motor 23 drives the second gear 24 to rotate, through the mutual engagement with the other second gear 24, 2 grabbing rods 25 are driven to move relatively, the grabbing rods 25 are contacted with two sides of the express delivery piece to grab the express delivery piece, meanwhile, the grabbing rods 25 in the shape of the "hook" directly penetrate into the bottom of the express delivery piece to stably grab the express delivery piece, when the grabbing rods 25 are contacted with the express delivery piece, the clamping rods 26 inside the grabbing rods 26 are contacted with the express delivery piece, so that the clamping rods 26 rotate in the grabbing rods 25, the buffer operation of the express delivery piece is realized by matching with the elastic force of the springs 27, and the external damage is avoided, the grabbing work of the express items is completed, and then according to the steps, sorting operation is performed on the express items through horizontal movement and horizontal rotation of the mechanical arm 21.

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 various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.

Claims

1. The utility model provides an intelligence express delivery letter sorting robot with adjustable arm location height, includes guide holder (1), first motor (2), second motor (9) and arm (21), its characterized in that: the inner part of the guide seat (1) is fixed with a first motor (2) in an embedded mode, the output end of the first motor (2) is connected with a screw rod (3), the screw rod (3) is connected in a guide groove (4) in a shaft mode, the guide groove (4) is arranged at the upper end of the guide seat (1), a guide rod (5) is sleeved on the screw rod (3) in a threaded mode, a base (6) is welded at the top of the guide rod (5), the base (6) is located at the upper end of the guide seat (1), a limiting rod (7) is welded at the bottom of the base (6), the limiting rod (7) is located in a limiting groove (8), the limiting groove (8) is arranged at the top of the guide seat (1), a second motor (9) is fixed in the base (6) in an embedded mode, the output end of the second motor (9) is connected with a first gear (10), an adjusting groove (11) is formed in the, and an adjusting rod (12) is placed in the adjusting groove (11), a toothed ring (13) is sleeved on the adjusting rod (12), the toothed ring (13) and the first gear (10) are meshed with each other, positioning rings (14) are fixed at the upper end and the lower end of the toothed ring (13), the positioning rings (14) are located in positioning grooves (15), the positioning grooves (15) are arranged on the inner wall of the adjusting groove (11), a base (16) is welded at the top of the adjusting rod (12), the base (16) is located at the top of the base (6), a third motor (17) is installed in the base (16) in an embedded mode, the output end of the third motor (17) is connected with a movable seat (18), the movable seat (18) is located at the top of the base (16), a balance ring (19) is welded at the bottom of the movable seat (18), and the balance ring (19) is located in a balance groove (20), and the balance groove (20) is arranged on the upper end surface of the base (16), and a mechanical arm (21) is fixed on the top of the movable seat (18) through a bolt.

2. The intelligent express sorting robot with the adjustable mechanical arm positioning height according to claim 1, characterized in that: the outer side of the guide rod (5) is attached to the inner wall of the guide groove (4), and the guide rod (5) is symmetrically provided with 2 guide rods around the central axis of the base (6).

3. The intelligent express sorting robot with the adjustable mechanical arm positioning height according to claim 1, characterized in that: the limiting rod (7) is connected with the limiting groove (8) in a sliding mode, and the cross-sectional area of the limiting rod (7) is equal to that of the limiting groove (8).

4. The intelligent express sorting robot with the adjustable mechanical arm positioning height according to claim 1, characterized in that: the adjusting rods (12) are symmetrically provided with 4 adjusting rods about the central axis of the base (16), and the adjusting rods (12) are in threaded connection with the toothed ring (13).

5. The intelligent express sorting robot with the adjustable mechanical arm positioning height according to claim 1, characterized in that: the positioning ring (14) is rotatably connected with the positioning groove (15), and the positioning ring (14) and the toothed ring (13) share a central axis.

6. The intelligent express sorting robot with the adjustable mechanical arm positioning height according to claim 1, characterized in that: the balance ring (19) is rotationally connected with the balance groove (20), and the section of the balance ring (19) is designed to be of a convex structure.

7. The intelligent express sorting robot with the adjustable mechanical arm positioning height according to claim 1, characterized in that: the tip of arm (21) is installed and is snatched seat (22), and snatchs seat (22) embedded formula and be fixed with fourth motor (23), the output of fourth motor (23) is connected with second gear (24), the bottom welding of second gear (24) has snatchs pole (25), and the inboard of snatching pole (25) is connected with clamping bar (26) to be fixed with spring (27) between clamping bar (26) and the inner wall of snatching pole (25).

8. The intelligent express sorting robot with the adjustable mechanical arm positioning height according to claim 7, wherein: the grabbing rod (25) is designed to be of a hook-shaped structure, and 2 grabbing rods (25) are symmetrically arranged around the central axis of the grabbing seat (22).

9. The intelligent express sorting robot with the adjustable mechanical arm positioning height according to claim 7, wherein: the clamping rod (26) is connected with the grabbing rod (25) through a shaft, and an inclined included angle is formed between the clamping rod (26) and the grabbing rod (25).