CN111823271A - Forklift robot arm with four degrees of freedom - Google Patents
Forklift robot arm with four degrees of freedom Download PDFInfo
- Publication number
- CN111823271A CN111823271A CN202010657292.1A CN202010657292A CN111823271A CN 111823271 A CN111823271 A CN 111823271A CN 202010657292 A CN202010657292 A CN 202010657292A CN 111823271 A CN111823271 A CN 111823271A
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- China
- Prior art keywords
- motor
- swing arm
- elastic conduit
- degree
- clamping plate
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- Pending
Links
- 238000004140 cleaning Methods 0.000 claims abstract description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims 2
- 239000012535 impurity Substances 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a four-degree-of-freedom forklift robot arm, and belongs to the technical field of forklift robots. Comprises the following steps: the device comprises a mounting seat, a first swing arm, a first motor, a connecting frame, a second swing arm, a second motor, a third motor, a fourth motor, a clamping plate and a cleaning assembly; the cleaning component comprises an air pump, a first elastic conduit, a buffer tank and a second elastic conduit; the output end of the air pump is communicated with the lower end of the first elastic conduit, and the first elastic conduit penetrates through the first swing arm and is communicated with the buffer tank; the right side wall of the buffer box is communicated with the left end of a second elastic conduit, and the second elastic conduit penetrates through a second swing arm and extends to the lower end face of the clamping plate. The forklift truck has the functions of cleaning and removing impurities, is high in flexibility, and can effectively prevent goods from sliding out of the forklift truck.
Description
Technical Field
The invention relates to the technical field of forklift robots, in particular to a four-degree-of-freedom forklift robot arm.
Background
The forklift robot is a mobile robot applied to an intelligent warehouse, can only realize the mobile operation of light goods, and cannot meet the loading, unloading and stacking operation requirements of the intelligent warehouse. The existing forklift robot has the problem of easy slipping out; poor flexibility, and loading and unloading and stacking operations influenced by sundries. With the development of technology, a forklift robot having a robot arm is required, and efficiency of loading, unloading, and stacking work is required to be improved.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to solve the technical problem that the invention provides the four-degree-of-freedom forklift robot arm which has the functions of cleaning and impurity removal, has high flexibility and can effectively prevent goods from sliding out of a forklift.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a four-degree-of-freedom forklift robot arm, which comprises: the device comprises a mounting seat, a first swing arm, a first motor for driving the first swing arm to swing, a connecting frame, a second swing arm, a second motor for driving the second swing arm, a third motor, a fourth motor, a clamping plate and a cleaning assembly;
the mounting seat is provided with a first threaded hole for mounting, and the first motor is arranged at the top of the mounting seat; the power output end of the first motor is fixedly connected with the lower end of the first swing arm, the second motor is fixed at the upper end of the first swing arm, and the power output end of the second motor is fixedly connected with the connecting frame; the third motor is positioned above the second motor, the third motor is horizontally arranged on the connecting frame, the left end of the second swing arm is fixedly connected with the power output end of the third motor, the fourth motor is fixed on the right end of the second swing arm, and the power output end of the second motor is fixedly connected with the clamping plate through a connecting shaft;
the cleaning assembly comprises an air pump, a first elastic conduit, a buffer tank and a second elastic conduit; the air pump is arranged above the mounting seat, the buffer box is positioned between the second motor and the third motor, the buffer box is fixed on the mounting frame, the output end of the air pump is communicated with the lower end of the first elastic conduit, and the first elastic conduit penetrates through the first swing arm and is communicated with the buffer box; the right side wall of the buffer box is communicated with the left end of the second elastic conduit, and the second elastic conduit penetrates through the second swing arm and the connecting shaft and extends to the lower end face of the clamping plate; the buffer tank is provided with a water inlet.
Furthermore, be provided with a plurality of electro-magnets on the mount pad, it is a plurality of the electro-magnet equidistance distribute in the bottom of mount pad.
Further, the bottom of mount pad has inlayed the revolving stage, first motor is located the top of revolving stage, the top of revolving stage is provided with the drive the rotatory fifth motor of revolving stage.
Furthermore, an air valve is arranged on the second elastic conduit and embedded in the side wall of the second swing arm.
Further, a one-way valve is arranged on the first elastic conduit and is positioned in the first swing arm.
Further, the clamping plate is vertically provided with a second threaded hole, a screw rod used for adjusting the clamping degree is arranged on the second threaded hole, and the screw rod is in threaded fit with the second threaded hole.
Further, a clamping block is arranged on the outer side of the clamping plate.
Compared with the prior art, the invention has the beneficial effects that:
the forklift mechanical arm is arranged on the side walls of a forklift in pairs, the mounting seat can be fixed on the side walls of the forklift through the first threaded hole by bolts, the first motor provides power for the first swing arm, the second motor provides power for the second swing arm to swing, and the third motor is used for rotating the angle of the clamping plate on the fourth motor, so that the forklift mechanical arm with multiple degrees of freedom is realized.
Drawings
Fig. 1 is a schematic perspective view of a four-degree-of-freedom forklift robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a four-degree-of-freedom forklift robot according to an embodiment of the present invention.
In the figure:
1. a mounting seat; 2. a first swing arm; 3. a first motor; 4. a connecting frame; 5. a second swing arm; 6. a second motor; 7. a third motor; 8. a fourth motor; 9. a clamping plate; 10. an air pump; 11. a first flexible conduit; 12. a buffer tank; 13. a second flexible conduit; 14. an electromagnet; 15. an air valve; 16. a one-way valve; 17. a screw; 18. a clamping block; 19. a fifth motor; 20. a turntable.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
As shown in fig. 1 and 2, the present invention provides a four-degree-of-freedom forklift robot arm, comprising: the device comprises a mounting base 1, a first swing arm 2, a first motor 3 for driving the first swing arm 2 to swing, a connecting frame 4, a second swing arm 5, a second motor 6 for driving the second swing arm 5, a third motor 7, a fourth motor 8, a clamping plate 9 and a cleaning assembly; the mounting seat 1 is provided with a first threaded hole for mounting, and the first motor 3 is arranged at the top of the mounting seat 1; the power output end of the first motor 3 is fixedly connected with the lower end of the first swing arm 2, the second motor 6 is fixed at the upper end of the first swing arm 2, and the power output end of the second motor 6 is fixedly connected with the connecting frame 4; the third motor 7 is positioned above the second motor 6, the third motor 7 is horizontally arranged on the connecting frame 4, the left end of the second swing arm 5 is fixedly connected with the power output end of the third motor 7, the fourth motor 8 is fixed on the right end of the second swing arm 5, and the power output end of the second motor 6 is fixedly connected with the clamping plate 9 through a connecting shaft; the cleaning component comprises an air pump 10, a first elastic conduit 11, a buffer tank 12 and a second elastic conduit 13; the air pump 10 is arranged above the mounting seat 1, the buffer tank 12 is positioned between the second motor 6 and the third motor 7, the buffer tank 12 is fixed on the mounting seat, the output end of the air pump 10 is communicated with the lower end of the first elastic conduit 11, and the first elastic conduit 11 penetrates through the first swing arm 2 and is communicated with the buffer tank 12; the right side wall of the buffer box 12 is communicated with the left end of a second elastic conduit 13, and the second elastic conduit 13 penetrates through the second swing arm 5 and the connecting shaft and extends to the lower end face of the clamping plate 9; the buffer tank 12 has a water inlet.
The invention is used for being arranged on the left and right side walls of a forklift in pairs, two corresponding mounting seats 1 can be fixed on the left and right side walls of the forklift through bolts penetrating through first threaded holes, the power output end of a first motor 3 provides power swing for a first swing arm 2, the power output end of a second motor 6 provides power swing for a connecting frame 4, a third motor 7 and a second swing arm 5 as a whole, as shown in figures 1 and 2, the output end of the first motor 3 and the output end of the second motor 6 face towards the same direction towards the rear end, the third motor 7 is used for rotating a clamping plate 9 on a fourth motor 8 by an angle, the power output end of the third motor 7 faces towards the right horizontally and is vertical to the direction of the output end of the second motor 6, the power output end of the fourth motor 8 provides power for the swing of the clamping plate 9, the power output end of the fourth motor 8 faces downwards vertically, and the direction of the output end is vertical to the direction of the output end of the, for thereby realize multi freedom's fork truck arm, have the characteristics that the flexibility is high, press from both sides tightly the goods after the adjustment, can prevent effectively that the goods from sliding out the fork truck, set up high-pressure gas that air pump 10 produced in addition and pass first elastic conduit 11, second elastic conduit 13 and communicate to on the pinch-off plate 9, can strike gas, can add moisture through buffer tank 12 and can spout high-pressure aqueous vapor, can strike the clearance debris. The buffer container 12 has an opening at its left end, which can be sealed by a sealing plug without adding water. The first motor 3, the second motor 6, the third motor 7, the fourth motor 8 and the fifth motor 19 can be asynchronous motors, wherein the first motor, the second motor, the third motor, the fourth motor and the fifth motor are all used for distinguishing the positions of the motors. The first elastic conduit 12 and the second elastic conduit 13 can be made of rubber materials, and have an elastic effect. The second elastic conduit 13 penetrates through the corner of the fourth motor 8 and the connecting shaft, and the fourth motor 8 is only used for swinging the clamping plate 9 within a range of less than 360 degrees to avoid folding the second elastic conduit 13.
Further, a plurality of electromagnets 14 are arranged on the mounting base 1, and the plurality of electromagnets 14 are equidistantly distributed at the bottom of the mounting base 1. The electromagnet 14 is arranged to improve the connection stability of the forklift, the electromagnet 14 generates magnetism to adsorb an iron shell of the forklift by electrifying, so that the connection between the mounting seat 1 and the forklift is more stable,
further, the bottom of the mounting base 1 is embedded with a turntable 20, the first motor 3 is located above the turntable 20, and the top of the turntable 20 is provided with a fifth motor 19 for driving the turntable 20 to rotate. A fifth motor 19 is provided for driving the turntable 20 such that the first swing arm 2 is provided with an additional angle to swing along the mounting 1, adjusting the overall swing path. The turntable 20 rotates around the power output end of the fifth motor 19 facing upward, so as to drive the first swing arm 2 to rotate around the power output end of the fifth motor 19.
Further, an air valve 15 is arranged on the second elastic conduit 13, and the air valve 15 is embedded on the side wall of the second swing arm 5. An air valve 15 is provided for regulating the air flow through the second flexible conduit 13.
Further, a check valve 16 is arranged on the first elastic conduit 11, and the check valve 16 is positioned in the first swing arm 2. The check valve 16 prevents the water in the buffer tank 12 from flowing down along the first elastic conduit 11, and allows the air supplied from the air pump 10 to be ejected upward toward the first elastic conduit 11.
Further, the clamping plate 9 is vertically provided with a second threaded hole, a screw 17 for adjusting the clamping degree is arranged on the second threaded hole, and the screw 17 is in threaded fit with the second threaded hole. The length that sets up screw rod 17 and second screw hole screw-thread fit adjustable screw rod 17 and pass clamping plate 9 improves the effect of pressing from both sides tight goods, can push up tight goods through screw rod 17.
Further, the outer side of the clamping plate 9 is provided with a clamping block 18. The clamping block 18 can be made of rubber materials, the rubber materials have good elasticity, goods can be protected, and the clamping block 18 is arranged to improve the clamping effect of the clamping plate 9 on the goods.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (7)
1. A four-degree-of-freedom forklift robot arm is characterized by comprising: the device comprises a mounting seat, a first swing arm, a first motor for driving the first swing arm to swing, a connecting frame, a second swing arm, a second motor for driving the second swing arm, a third motor, a fourth motor, a clamping plate and a cleaning assembly;
the mounting seat is provided with a first threaded hole for mounting, and the first motor is arranged at the top of the mounting seat; the power output end of the first motor is fixedly connected with the lower end of the first swing arm, the second motor is fixed at the upper end of the first swing arm, and the power output end of the second motor is fixedly connected with the connecting frame; the third motor is positioned above the second motor, the third motor is horizontally arranged on the connecting frame, the left end of the second swing arm is fixedly connected with the power output end of the third motor, the fourth motor is fixed on the right end of the second swing arm, and the power output end of the second motor is fixedly connected with the clamping plate through a connecting shaft;
the cleaning assembly comprises an air pump, a first elastic conduit, a buffer tank and a second elastic conduit; the air pump is arranged above the mounting seat, the buffer box is positioned between the second motor and the third motor, the buffer box is fixed on the mounting frame, the output end of the air pump is communicated with the lower end of the first elastic conduit, and the first elastic conduit penetrates through the first swing arm and is communicated with the buffer box; the right side wall of the buffer box is communicated with the left end of the second elastic conduit, and the second elastic conduit penetrates through the second swing arm and the connecting shaft and extends to the lower end face of the clamping plate; the buffer tank is provided with a water inlet.
2. A four degree of freedom forklift robot as claimed in claim 1, wherein:
the installation seat is provided with a plurality of electromagnets, and the electromagnets are distributed at the bottom of the installation seat in an equidistance manner.
3. A four degree of freedom forklift robot as claimed in claim 1, wherein:
the bottom of mount pad has inlayed the revolving stage, first motor is located the top of revolving stage, the top of revolving stage is provided with the drive the rotatory fifth motor of revolving stage.
4. A four degree of freedom forklift robot as claimed in claim 1, wherein:
an air valve is arranged on the second elastic conduit and embedded on the side wall of the second swing arm.
5. A four degree of freedom forklift robot as claimed in claim 1, wherein:
the first elastic conduit is provided with a one-way valve, and the one-way valve is positioned in the first swing arm.
6. A four degree of freedom forklift robot as claimed in claim 1, wherein:
the clamping plate is vertically provided with a second threaded hole, a screw rod used for adjusting the clamping degree is arranged on the second threaded hole, and the screw rod is in threaded fit with the second threaded hole.
7. A four degree of freedom forklift robot as claimed in claim 1, wherein:
and a clamping block is arranged on the outer side of the clamping plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010657292.1A CN111823271A (en) | 2020-07-09 | 2020-07-09 | Forklift robot arm with four degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010657292.1A CN111823271A (en) | 2020-07-09 | 2020-07-09 | Forklift robot arm with four degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111823271A true CN111823271A (en) | 2020-10-27 |
Family
ID=72900743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010657292.1A Pending CN111823271A (en) | 2020-07-09 | 2020-07-09 | Forklift robot arm with four degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111823271A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117463939A (en) * | 2023-11-28 | 2024-01-30 | 东营广大金科机器人有限公司 | Feeding platform of roller-hearth natural gas heating furnace and use method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1113111A (en) * | 1997-06-24 | 1999-01-19 | Matsushita Electric Ind Co Ltd | Flushing device |
| CN205995679U (en) * | 2016-07-29 | 2017-03-08 | 东莞市金隆机械设备有限公司 | One kind moves spray gun device certainly |
| CN107805834A (en) * | 2017-11-12 | 2018-03-16 | 江苏瑞尔隆鼎实业有限公司 | A kind of clamp system for aoxidizing hanger |
| CN208428239U (en) * | 2018-05-31 | 2019-01-25 | 深圳市三维机电设备有限公司 | Automatic material taking facility access material manipulator |
| CN210480145U (en) * | 2019-07-24 | 2020-05-08 | 长沙航空职业技术学院 | Industrial crawler-type transportation transfer robot |
-
2020
- 2020-07-09 CN CN202010657292.1A patent/CN111823271A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1113111A (en) * | 1997-06-24 | 1999-01-19 | Matsushita Electric Ind Co Ltd | Flushing device |
| CN205995679U (en) * | 2016-07-29 | 2017-03-08 | 东莞市金隆机械设备有限公司 | One kind moves spray gun device certainly |
| CN107805834A (en) * | 2017-11-12 | 2018-03-16 | 江苏瑞尔隆鼎实业有限公司 | A kind of clamp system for aoxidizing hanger |
| CN208428239U (en) * | 2018-05-31 | 2019-01-25 | 深圳市三维机电设备有限公司 | Automatic material taking facility access material manipulator |
| CN210480145U (en) * | 2019-07-24 | 2020-05-08 | 长沙航空职业技术学院 | Industrial crawler-type transportation transfer robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117463939A (en) * | 2023-11-28 | 2024-01-30 | 东营广大金科机器人有限公司 | Feeding platform of roller-hearth natural gas heating furnace and use method |
| CN117463939B (en) * | 2023-11-28 | 2024-04-12 | 东营广大金科机器人有限公司 | Feeding platform of roller-hearth natural gas heating furnace and use method |
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