CN112192555A - Intelligent mechanical arm for warehouse management of power manufacturers - Google Patents
Intelligent mechanical arm for warehouse management of power manufacturers Download PDFInfo
- Publication number
- CN112192555A CN112192555A CN202011027686.5A CN202011027686A CN112192555A CN 112192555 A CN112192555 A CN 112192555A CN 202011027686 A CN202011027686 A CN 202011027686A CN 112192555 A CN112192555 A CN 112192555A
- Authority
- CN
- China
- Prior art keywords
- shaft
- gear
- central wheel
- warehouse management
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
- B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of warehouse management equipment, and discloses a mechanical arm for intelligent manufacturer warehouse management, which comprises a base, wherein a differential wheel set is arranged inside the base, a first central wheel is arranged below the inside of the differential wheel set, a second central wheel is arranged above the first central wheel, two planet wheels are symmetrically arranged between the first central wheel and the second central wheel, an outer gear ring is arranged outside the planet wheels, a first brake ring is arranged below the first central wheel, a second brake ring is arranged above the second central wheel, a first transmission shaft is coaxially coupled above the first central wheel, a second transmission shaft is coaxially coupled above the second central wheel, and the upper end of the second transmission shaft is fixedly connected with a hemispherical shell. This intelligent manufacture electricity merchant arm for warehouse management has just realized the rotation and the swing arm of arm through two driving sources, snatchs the angular adjustment of mechanism and snatchs the action, reduces the use of motor as far as possible, makes the structure more compact, has reduced manufacturing cost.
Description
Technical Field
The invention relates to the technical field of warehouse management equipment, in particular to a mechanical arm for intelligent manufacturer warehouse management.
Background
At any time, internet technology's progress, people's life is more and more convenient, various network transaction and electronic commerce have also not been the folk story for a long time, in the off-line business of electricity merchant, often can relate to commodity circulation and warehouse management, for guaranteeing quality and new freshness of product, efficient commodity circulation is undoubtedly the very concerned problem of each big electricity merchant, for improving logistics speed, some large-scale warehouses have begun to introduce the automatic machine gradually and replace current manpower fork truck transport, it transports precision and speed and all has obvious improvement, but current warehouse pipe arm generally adopts a plurality of synchronous machine cooperation intelligence master controls to carry out the coordinate positioning, its structure is complicated, bearing capacity is limited, and the price is high, only partial large-scale adoption.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides the mechanical arm for intelligent manufacturer warehouse management, aiming at the warehouse management design, the structure is simplified, the bearing capacity is better, the manufacturing cost is lower, and the problems that the existing mechanical arm is high in price, complex in structure and not suitable for being introduced into a common warehouse are solved.
(II) technical scheme
In order to achieve the purposes of simplifying the structure and reducing the manufacturing cost, the invention provides the following technical scheme: the mechanical arm for intelligent manufacturer warehouse management comprises a base, wherein a differential wheel set is arranged inside the base, a first central wheel is arranged below the inside of the differential wheel set, a second central wheel is arranged above the first central wheel, two planet wheels are symmetrically arranged between the first central wheel and the second central wheel, an outer gear ring is arranged outside the planet wheels, a first brake ring is arranged below the first central wheel, a second brake ring is arranged above the second central wheel, a first transmission shaft is coaxially coupled above the first central wheel, a second transmission shaft is coaxially coupled above the second central wheel, a hemispherical shell is fixedly connected to the upper end of the second transmission shaft, a universal coupling is arranged at the upper end of the first transmission shaft, a swing arm shaft is fixedly connected to the upper end of the universal coupling, a first connecting arm is sleeved outside the swing arm shaft, the gear engagement of the upper end of the swing arm shaft is connected with a joint gear, the center of the joint gear penetrates through a joint shaft, one side, without the tooth surface, of the joint gear is fixedly connected with a second connecting arm, the right end of the second connecting arm is movably connected with a grabbing mechanism, the left side of the grabbing mechanism is provided with a worm, the upper end of the worm is engaged and connected with a control shaft, the middle of the control shaft is provided with a control gear, the lower gear of the control shaft is engaged and connected with a grabbing shaft, and the lower end of the grabbing shaft is engaged and connected with a grab.
Preferably, the planet gear is sleeved on a shaft extending inwards from the outer gear ring, the planet gear can rotate around the planet gear, and the upper side and the lower side of the planet gear are respectively meshed with the second central wheel and the first central wheel.
Preferably, the second transmission shaft is sleeved outside the first transmission shaft.
Preferably, the hemispherical shell is provided with a long and narrow indexing groove in the diameter direction at the top.
Preferably, the lower end of the first connecting arm is fixedly arranged in the indexing groove of the hemispherical shell, the installation angle of the first connecting arm can be properly adjusted according to requirements, and the upper end of the first connecting arm is provided with a circular joint head.
Preferably, the left end of the second connecting arm can rotate around the axis of the joint shaft, and the right end of the second connecting arm is fixedly connected with a half gear.
Preferably, the left side of the worm is meshed with a toothed part of a half gear at the right end of the second connecting arm.
Preferably, the control shaft is sleeved with a gear meshed with the worm and the grabbing shaft up and down, and the corresponding side of the gear is provided with a clamping key matched with the corresponding side of the control gear.
Preferably, the control gear is connected with the driving shaft belt, can slide along the axial direction of the control shaft, slides to the upper end to be clamped with the gear for driving the worm to rotate, and slides to the lower end to be clamped with the gear for driving the grabbing shaft to rotate.
Preferably, the gripper is of a scissors structure with a hinge arranged in the middle, and racks arranged on two arms on the left side of the gripper are matched with gears at the lower end of the gripping shaft.
(III) advantageous effects
Compared with the prior art, the invention provides the mechanical arm for intelligent manufacturer warehouse management, which has the following beneficial effects:
1. this intelligent manufacture electricity merchant arm for warehouse management when rotating through first centre wheel, through the universal joint transmission, swing arm axle drive second linking arm rotates around the joint axis, and when second centre wheel rotated, drives the rotation of upper portion hemisphere shell, realizes whole arm around the rotation of first transmission shaft, can drive the mechanical arm through single motor then and realize turning to with the swing arm.
2. This intelligent manufacture electricity merchant arm for warehouse management rotates the adjustable mechanism angle that snatchs through control gear at upper end drive worm, and the control gear dials down the drive after the angle is suitable and grabs the axle and rotate and snatch the operation, snatchs the mechanism and keeps self angle in order to maintain to snatch steadily because of the worm auto-lock characteristic, has realized the angular adjustment who snatchs the mechanism promptly through single driving source and has snatched the action, reduces the use of motor as far as possible, makes the structure more compact, has reduced manufacturing cost.
Drawings
FIG. 1 is a schematic view of the main structure of the present invention;
FIG. 2 is a schematic structural view of a differential gear set of the present invention;
FIG. 3 is an enlarged view of portion A of FIG. 1 according to the present invention;
FIG. 4 is a schematic view of a joint structure according to the present invention;
FIG. 5 is a schematic view of a grasping mechanism according to the present invention;
fig. 6 is a schematic diagram of the position and structure of the gripper according to the present invention.
In the figure: 1. a base; 2. a differential wheel set; 21. a first center wheel; 22. a second center wheel; 23. a planet wheel; 24. an outer ring gear; 25. a first brake ring; 26. a second brake ring; 3. a first drive shaft; 4. a second drive shaft; 5. a hemispherical shell; 6. a universal coupling; 7. a swing arm shaft; 8. a first connecting arm; 9. a joint gear; 10. a joint shaft; 11. a second connecting arm; 12. a grabbing mechanism; 121. a worm; 122. a control shaft; 123. a control gear; 124. grabbing the shaft; 125. and (4) a hand grip.
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, an intelligent mechanical arm for manufacturer warehouse management comprises a base 1, a differential wheel set 2 is disposed inside the base 1, a first center wheel 21 is disposed below the differential wheel set 2, a second center wheel 22 is disposed above the first center wheel 21, two planet wheels 23 are symmetrically disposed between the first center wheel 21 and the second center wheel 22, an outer gear ring 24 is disposed outside the planet wheels 23, the planet wheels 23 are sleeved on an inwardly extending shaft of the outer gear ring 24 and can rotate around themselves, the upper and lower sides of the planet wheels are respectively meshed with the second center wheel 22 and the first center wheel 21, a first brake ring 25 is disposed below the first center wheel 21, a second brake ring 26 is disposed above the second center wheel 22, a first transmission shaft 3 is coaxially coupled above the first center wheel 21, a second transmission shaft 4 is coaxially coupled above the second center wheel 22, the second transmission shaft 4 is sleeved outside the first transmission shaft 3, the upper end of the second transmission shaft 4 is fixedly connected with a hemispherical shell 5, the top of the hemispherical shell 5 is provided with a long and narrow dividing groove in the diameter direction, the upper end of the first transmission shaft 3 is provided with a universal coupling 6, the upper end of the universal coupling 6 is fixedly connected with a swing arm shaft 7, the outer part of the swing arm shaft 7 is sleeved with a first connecting arm 8, the lower end of the first connecting arm 8 is fixedly arranged in the dividing groove of the hemispherical shell 5, the installation angle of the first connecting arm can be properly adjusted according to requirements, the upper end of the first connecting arm 8 is provided with a circular joint head, the upper end of the swing arm shaft 7 is in gear engagement connection with a joint gear 9, the center of the joint gear 9 is provided with a joint shaft 10 in a penetrating manner, one side without a tooth surface of the joint gear 9 is fixedly connected with a second connecting arm 11, the left end of the, the right end of the second connecting arm 11 is movably connected with a grabbing mechanism 12, the left side of the grabbing mechanism 12 is provided with a worm 121, the left side of the worm 121 is meshed with a toothed part of a half gear at the right end of the second connecting arm 11, the upper end of the worm 121 is meshed with a control shaft 122, the middle part of the control shaft 122 is provided with a control gear 123, the lower part of the control shaft 122 is meshed with a grabbing shaft 124, the control shaft 122 is respectively sleeved with gears meshed with the worm 121 and the grabbing shaft 124, the corresponding side of the gear is provided with a clamping key matched with the corresponding side of the control gear 123, the control gear 123 is connected with a driving shaft belt and can axially slide along the control shaft 122, the upper end of the control gear slides to be clamped with the gear for driving the worm 121 to rotate, the lower end of the control gear slides to be clamped with the gear for driving the grabbing shaft 124 to rotate, the lower end of the grabbing shaft, the left two arms are provided with racks which are matched with the gears at the lower ends of the grabbing shafts 124.
The working principle is as follows: in the intelligent manufacturer electricity merchant warehouse management mechanical arm, the planet wheel 23 is sleeved on a shaft extending inwards from an outer gear ring 24 and can rotate around the planet wheel, the upper side and the lower side of the shaft are respectively meshed with a second central wheel 22 and a first central wheel 21, a first brake ring 25 is arranged below the first central wheel 21, a second brake ring 26 is arranged above the second central wheel 22, the first brake ring 25 brakes and limits the first central wheel 21, the outer gear ring 24 rotates to enable the planet wheel 23 to rotate while revolving, so as to drive the second central wheel 22 to rotate, otherwise, when the second brake ring 26 brakes, the second central wheel 22 is fixed, the outer gear ring 24 can drive the first central wheel 21 to rotate, when the first central wheel 21 rotates, the swing arm shaft 7 drives the second connecting arm 11 to rotate around the joint shaft 10, and when the second central wheel 22 rotates, the upper hemispherical shell 5 is driven to rotate, so that the whole mechanical arm rotates around the first transmission shaft 3, then, the mechanical arm can be driven by a single motor to realize steering and swinging.
After the grabbing mechanism 12 is sent to a preset position through steering and swinging arms, because the left side of the grabbing mechanism 12 is provided with the worm 121, the left side of the worm 121 is meshed with a toothed part of a half gear at the right end of the second connecting arm 11, the upper end of the worm 121 is meshed and connected with the control shaft 122, the middle part of the control shaft 122 is provided with the control gear 123, the lower gear of the control shaft 122 is meshed and connected with the grabbing shaft 124, the control shaft 122 is sleeved with gears meshed with the worm 121 and the grabbing shaft 124 up and down respectively, the corresponding side of the gear is provided with a clamping key matched with the corresponding side of the control gear 123, the control gear 123 drives the worm 121 to rotate at the upper end to adjust the angle of the grabbing mechanism 12, the control gear 123 is downwards pulled to drive the grabbing shaft 124 to rotate to grab after the angle is proper, the grabbing mechanism 12 keeps the self angle due to the self-locking characteristic of the worm to maintain the grabbing stability, and the angle adjustment and the grabbing action of the grabbing mechanism 12 are realized through a single driving source.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an intelligent electricity merchant arm for warehouse management, includes base (1), its characterized in that: the inner part of the base (1) is provided with a differential wheel set (2), the inner part of the differential wheel set (2) is provided with a first central wheel (21) below, a second central wheel (22) above the first central wheel (21), two planet wheels (23) are symmetrically arranged between the first central wheel (21) and the second central wheel (22), the outer part of the planet wheel (23) is provided with an outer gear ring (24), the lower part of the first central wheel (21) is provided with a first brake ring (25), the upper part of the second central wheel (22) is provided with a second brake ring (26), the upper part of the first central wheel (21) is coaxially coupled with a first transmission shaft (3), the upper part of the second central wheel (22) is coaxially coupled with a second transmission shaft (4), the upper end of the second transmission shaft (4) is fixedly connected with a hemispherical shell (5), the upper end of the first transmission shaft (3) is provided with a universal coupling (6), the upper end of the universal coupling (6) is fixedly connected with a swing arm shaft (7), a first connecting arm (8) is sleeved outside the swing arm shaft (7), the upper end gear of the swing arm shaft (7) is connected with a joint gear (9) in a meshing way, the center of the joint gear (9) is provided with a joint shaft (10) in a penetrating way, one side of the joint gear (9) without the tooth surface is fixedly connected with a second connecting arm (11), the right end of the second connecting arm (11) is movably connected with a grabbing mechanism (12), a worm (121) is arranged on the left side of the grabbing mechanism (12), the upper end of the worm (121) is connected with a control shaft (122) in a meshing manner, a control gear (123) is arranged in the middle of the control shaft (122), a grabbing shaft (124) is meshed and connected with a gear at the lower part of the control shaft (122), the lower end gear of the grabbing shaft (124) is connected with a grabbing hand (125) in a meshing manner.
2. The intelligent manufacturer electrical warehouse management robot arm as claimed in claim 1, wherein: the planet wheel (23) is sleeved on an inwardly extending shaft of the outer gear ring (24) and can rotate around the planet wheel, and the upper side and the lower side of the planet wheel are respectively meshed with the second central wheel (22) and the first central wheel (21).
3. The intelligent manufacturer electrical warehouse management robot arm as claimed in claim 1, wherein: the second transmission shaft (4) is sleeved outside the first transmission shaft (3).
4. The intelligent manufacturer electrical warehouse management robot arm as claimed in claim 1, wherein: the top of the hemispherical shell (5) is provided with a long and narrow indexing groove in the diameter direction.
5. The intelligent manufacturer electrical warehouse management robot arm as claimed in claim 1, wherein: the lower end of the first connecting arm (8) is fixedly arranged in the indexing groove of the hemispherical shell (5), the mounting angle of the first connecting arm can be properly adjusted according to the requirement, and the upper end of the first connecting arm (8) is provided with a circular joint head.
6. The intelligent manufacturer electrical warehouse management robot arm as claimed in claim 1, wherein: the left end of the second connecting arm (11) can rotate around the axis of the joint shaft (10), and the right end of the second connecting arm is fixedly connected with a half gear.
7. The intelligent manufacturer electrical warehouse management robot arm as claimed in claim 1, wherein: the left side of the worm (121) is meshed with a toothed part of a half gear at the right end of the second connecting arm (11).
8. The intelligent manufacturer electrical warehouse management robot arm as claimed in claim 1, wherein: the control shaft (122) is sleeved with a gear meshed with the worm (121) and the grabbing shaft (124) up and down respectively, and the corresponding side of the gear is provided with a clamping key matched with the corresponding side of the control gear (123).
9. The intelligent manufacturer electrical warehouse management robot arm as claimed in claim 1, wherein: the control gear (123) is connected with the driving shaft belt, can slide along the axial direction of the control shaft (122), slides to the upper end to be clamped with the gear for driving the worm (121) to rotate, and slides to the lower end to be clamped with the gear for driving the grabbing shaft (124) to rotate.
10. The intelligent manufacturer electrical warehouse management robot arm as claimed in claim 1, wherein: the middle part of the grab handle (125) is provided with a scissors structure with a hinge, and two arms on the left side of the grab handle are provided with racks matched with gears at the lower end of the grabbing shaft (124).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011027686.5A CN112192555A (en) | 2020-09-25 | 2020-09-25 | Intelligent mechanical arm for warehouse management of power manufacturers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011027686.5A CN112192555A (en) | 2020-09-25 | 2020-09-25 | Intelligent mechanical arm for warehouse management of power manufacturers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112192555A true CN112192555A (en) | 2021-01-08 |
Family
ID=74007569
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011027686.5A Withdrawn CN112192555A (en) | 2020-09-25 | 2020-09-25 | Intelligent mechanical arm for warehouse management of power manufacturers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112192555A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113933011A (en) * | 2021-11-16 | 2022-01-14 | 闻泰通讯股份有限公司 | Drop test device and drop test method |
| CN115091496A (en) * | 2022-08-08 | 2022-09-23 | 浙江诸暨永勤机械有限公司 | Industrial robot capable of flexibly clamping at multiple angles |
-
2020
- 2020-09-25 CN CN202011027686.5A patent/CN112192555A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113933011A (en) * | 2021-11-16 | 2022-01-14 | 闻泰通讯股份有限公司 | Drop test device and drop test method |
| CN115091496A (en) * | 2022-08-08 | 2022-09-23 | 浙江诸暨永勤机械有限公司 | Industrial robot capable of flexibly clamping at multiple angles |
| CN115091496B (en) * | 2022-08-08 | 2023-01-31 | 浙江诸暨永勤机械有限公司 | Industrial robot capable of flexibly clamping at multiple angles |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112192555A (en) | Intelligent mechanical arm for warehouse management of power manufacturers | |
| CN106976074A (en) | A kind of multi-degree-of-freemechanical mechanical arm of double-manipulator | |
| CN213529671U (en) | Rotary disc sorter | |
| CN111908357B (en) | Efficient hoist reel transmission | |
| CN107225698A (en) | Electronic sheet cutting machine | |
| CN201792339U (en) | Centralized rear transmission multi-joint robot | |
| CN112894602B (en) | Energy-saving automobile wheel hub burnishing device | |
| CN208584019U (en) | It is a kind of for processing the deep hole boring machine of casting and rolling machine roll sleeve | |
| CN207874263U (en) | Six-shaft industrial mechanical arm | |
| CN206335399U (en) | A kind of magazine by servo motor driven | |
| CN213226263U (en) | Robot hand that conveniently fixes a position snatchs structure | |
| CN205660174U (en) | Two motor drive headstocks of lathe | |
| CN214055268U (en) | Horizontal joint manipulator | |
| CN207616569U (en) | A kind of industry six-joint robot | |
| CN110788847B (en) | Energy-saving industrial robot with auxiliary driving unit | |
| CN209009469U (en) | Transport mechanism with unchanged workpiece orientation | |
| CN207747049U (en) | A kind of bionical humanoid mechanical arm of 7 degree of freedom | |
| CN209998951U (en) | Polishing device for automobile hubs | |
| CN207155834U (en) | A kind of multifunction manipulator | |
| CN206717902U (en) | A kind of hollow industrial robot bindiny mechanism of high rigidity | |
| CN205904556U (en) | Flange welding equipment | |
| CN207273227U (en) | A kind of the 5th axis transmission structure of industrial six-joint robot | |
| CN212919396U (en) | Arm pay-off frock | |
| CN218230772U (en) | Double-station turnover machine | |
| CN207924995U (en) | A kind of industrial robot assembly actual training device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210108 |
|
| WW01 | Invention patent application withdrawn after publication |