CN112320342A

CN112320342A - Mechanical grabbing and carrying device and mechanical arm

Info

Publication number: CN112320342A
Application number: CN202011169544.2A
Authority: CN
Inventors: 熊建强
Original assignee: Xinyu University
Current assignee: Xinyu University
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2021-02-05

Abstract

The invention provides a mechanical grabbing and carrying device and a mechanical arm, which comprise a base, a motor groove, a supporting seat, a shifting groove, a pusher, a pushing shaft, a pushing arm, a fixing groove and a mechanical claw, wherein the outer surface of the right side of the fixing groove is fixedly provided with the driving groove, the tail part of the right end of the pushing shaft is fixedly provided with a pivot plate, a plurality of buffer grooves are uniformly and adjacently arranged in the inner position of the mechanical claw, and the center and the two ends of the inner surface of the outer side of each buffer groove are respectively and fixedly provided with a first magnet and a limiting groove. The invention can enhance the adsorption force on the surface of the goods, and avoid the possibility that the goods box falls off when the goods box with larger volume and weight is grabbed and carried, thereby eliminating certain safety risk; and magnet is close to the in-process that repels and rock and conveniently fixes magnet through the spacing groove, and buffer function between the magnet avoids robotic arm in the in-process of centre gripping packing box because of comparatively slow and in case exert oneself too violently to cause the occurence of failure to article.

Description

Mechanical grabbing and carrying device and mechanical arm

Technical Field

The invention relates to the technical field of logistics container transfer devices, in particular to a mechanical grabbing and carrying device and a mechanical arm.

Background

The mechanical gripping device, commonly called as a 'manipulator', is a mechanical device which simulates the hand action of a human and realizes mechanical gripping, carrying and operation according to given programs, tracks and requirements. The device is particularly suitable for severe environments such as high temperature, high pressure, much dust, flammability, explosiveness, radioactivity and the like, and replaces manual work to finish operation in heavy, monotonous and frequent operations, so the device is increasingly widely applied. In the commodity circulation warehouse, store the goods box and stack the pile up neatly back, need arrange the shaping with the box according to goods processing technology requirement, then carry corresponding station, at this in-process, through pressing from both sides the box and embrace, hold at the bottom of the pocket, keep off operations such as lid and upset to realize piling up of goods and put. The goods may be regularly shaped goods suitable for stacking, i.e. packing cartons or plastic boxes, etc. filled or not filled with goods.

Chinese patent application No. CN201811424647.1 discloses a mechanical arm for logistics parcel handling, which comprises a first connecting arm, a second connecting arm, a driving chamber, a lifting arm, a motor, a driving rod, a connecting rod, a driving motor, a synchronous belt, a transmission shaft, a mechanical arm, a mechanical claw, a first transmission rod and a second transmission rod, wherein the first connecting arm is rotationally connected with the second connecting arm, the bottom end of the second connecting arm is rotationally connected with the lifting arm, the other end of the connecting rod is rotationally connected with the outer end of the driving rod, the inner end of the driving rod is fixed on the output end of the motor, the driving motor is arranged in the driving chamber, the transmission shaft is rotationally connected in the driving chamber, the output end of the driving motor is connected with the transmission shaft through the synchronous belt, the first transmission rod is rotationally connected with the second transmission rod, the other end of, the rigid pulling generated during the grabbing operation of the mechanical arm is reduced, the equipment is protected, and the service life of the equipment is prolonged. However, in the patent, the inner sides of the mechanical claws are flat and smooth, the friction force is small when the mechanical claws are in contact with a container, and a buffer mechanism is not arranged, so that the possibility that the container is easy to fall off when the container with large volume and heavy weight is grabbed and carried exists, and certain safety risk exists; in addition, the existing mechanical arm is mechanized and dull in the process of clamping goods, and once the mechanical arm is used violently, the goods can be damaged.

Disclosure of Invention

Problem (A)

Aiming at the defects in the prior art, the invention provides a mechanical grabbing and carrying device and a mechanical arm, aiming at solving the problems that the mechanical claw is flat and smooth on the inner side and has small friction force when being in contact with a container when the mechanical arm for carrying logistics packages in the prior art is used for grabbing and carrying the container, and a buffer mechanism is not arranged, so that the container is easy to fall off when the container with large volume and weight is grabbed and carried, and certain safety risk exists; in addition, the existing mechanical arm is mechanized and dull in the process of clamping goods, and once the mechanical arm is used violently, the technical problem that articles are damaged is solved.

(II) technical scheme

In order to solve the technical problems, the invention adopts the following technical scheme: this mechanical snatch handling device and robotic arm, including base, motor groove, supporting seat, shift groove, impeller, promotion axle, promotion arm, fixed slot and gripper, the right side surface fixed mounting of fixed slot has the drive groove, the right-hand member afterbody fixed mounting who promotes the axle has the pivot board, the impartial adjacent branch in inside position of gripper is listed as fixed mounting and has a plurality of dashpot, other fixed mounting is equallyd divide to the outside internal surface central authorities and the both ends position of dashpot has first magnet and spacing groove, the inside of dashpot has the second magnet to the equal movable mounting in terminal position, the equal fixed mounting in outside surface central position of second magnet has the connecting rod, the equal fixed mounting in other terminal position of connecting rod has the block rubber.

Preferably, a motor base is fixedly installed at the center of the inner surface of the bottom side of the motor groove, a rotating motor is fixedly installed on the outer surface of the top side of the motor base, a motor shaft is vertically installed at the top end of the rotating motor in a vertical manner to the center, and the top end of the motor shaft penetrates through the lower end of the inside of the displacement groove.

Preferably, a rotary switch is fixedly installed in the middle of the left end of the outer surface of the top side of the base, the rotary switch is electrically connected with an external power supply to control the starting and stopping of the rotary motor, and a shaft hole is vertically formed in the supporting seat from top to bottom towards the center.

Preferably, a connecting piece is fixedly installed at the center of the inner surface of the top side of the displacement groove, a rotating shaft is rotatably installed at the center of the bottom end of the connecting piece, and the bottom end of the rotating shaft is fixedly connected with the top end of the motor shaft through a coupler.

Preferably, a push switch is fixedly installed in the middle of the left end of the outer surface of the top side of the pusher, the push switch controls the starting and stopping of the pusher through being electrically connected with an external power supply, and a shaft stabilizer is fixedly installed on the inner surface of the right side of the push arm.

Preferably, the left side of fixed slot and right side internal surface respectively fixed mounting have fixing base and fixed plate, the right side surface front end of fixed slot and the equal fixed mounting in rear end level to the position have the linking arm, the equal fixed mounting in right-hand member outside position of linking arm has the connection tongue.

Preferably, the front portion and the rear portion of the right end of the pivot plate are both movably connected with first connecting strips, the rear portion of the right end of each first connecting strip is all movably connected with second connecting strips, the head portions of the outer ends of the second connecting strips are both movably mounted inside the connecting convex grooves, the outer surfaces of the right sides of the second connecting strips are all fixedly connected with the outer surfaces of the left sides of the mechanical claws, and the tail portions of the right end of the mechanical claws are all fixedly mounted with mechanical corner protectors.

Preferably, the outward appearance of first magnet is the hemisphere form, the hole of spacing groove is the toper form, the outward appearance of second magnet is the semi-cylindrical, the both ends afterbody outward appearance of second magnet is the toper form, the diameter of second magnet all is greater than the diameter of first magnet.

Preferably, the inside of rubber piece is dug empty, a plurality of exhaust hole has all been seted up to the both sides of rubber piece, a plurality of butt joint hole has all been seted up to the internal surface upper end position of spacing groove, the both ends afterbody upper end position of second magnet all seted up a plurality of with the butt joint piece that the butt joint hole suits.

(III) advantageous effects

1. This machinery snatchs handling device and robotic arm, through being provided with mechanical angle bead and block rubber relatively, when the gripper snatchs the transport volume and the great packing box of weight, mechanical angle bead can play certain effect of relying on to the packing box, thereby prevent that the packing box from empting from one side and coming off, and the block rubber is because of its inside by empty and itself have certain toughness, when one side and the packing box surface contact of block rubber, thereby discharge the inside air of block rubber from the exhaust hole and form certain negative pressure, and then a plurality of block rubber can produce the adsorption affinity of certain intensity jointly and fix the packing box, thereby prevented that the packing box from droing downwards, the possibility that the packing box takes place to drop has been reduced.

2. This mechanical grabbing handling device and robotic arm, carry out certain spacing offset in the dashpot through being provided with first magnet and second magnet, because of the magnetism mutual exclusion between the two, when the inside contact packing box that is close to of gripper atress prepares to snatch the transport, by the outside-in to the effect of dashpot direction of rubber piece and connecting rod, and magnet is certain buffer function, thereby the buffering effect has been provided under the magnetism mutual exclusion between two magnets, robotic arm has been avoided leading to the fact the occurence of failure of damage to article in case exert oneself too violently because of comparatively hesitation at the in-process of centre gripping packing box.

3. This mechanical grabbing handling device and robotic arm, through set up the spacing groove with second magnet adaptation in the dashpot, and the tail end at the inner wall of spacing groove and second magnet is provided with the butt joint hole and the butt joint piece of mutual adaptation respectively, at centre gripping haulage goods in-process, because of the principle of two magnet repulsion each other, can lead to magnet to rock, and the spacing groove then can insert the second magnet that will shake in this in-process to the spacing inslot in order to carry out inseparable fixed through slight touching when centre gripping goods, and then arrange the inside air of rubber block to the greatest extent, thereby combine above-mentioned effect can realize the better fixed effect to the packing box.

4. In conclusion, the mechanical grabbing and carrying device and the mechanical arm can enhance the adsorption force on the surface of the goods by arranging the rubber block, the first magnet and the second magnet, and avoid the possibility that the goods box falls off when the goods box with larger volume and weight is grabbed and carried, thereby eliminating certain safety risk; and magnet is close to the in-process that repels and rock and conveniently fixes magnet through the spacing groove, and buffer function between the magnet has avoided robotic arm in the in-process of centre gripping packing box in case exert oneself too violently to cause the occurence of failure of damage to article because of comparatively lazy.

Drawings

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

FIG. 2 is a front partial cross-sectional view of the present invention;

FIG. 3 is a top partial cross-sectional view of the gripper assembly of the present invention in an open position;

FIG. 4 is an enlarged view of the structure of FIG. 3A in accordance with the present invention;

FIG. 5 is an enlarged view of the structure of FIG. 3 at B in accordance with the present invention;

FIG. 6 is a schematic cross-sectional view of a buffer tank structure according to the present invention;

FIG. 7 is an enlarged view of the structure of FIG. 6 at C in accordance with the present invention;

fig. 8 is an enlarged view of the structure of fig. 6 at D according to the present invention.

In the figure: 1-base, 2-motor groove, 201-motor base, 202-rotating motor, 203-motor shaft, 204-rotating switch, 3-supporting base, 301-shaft hole, 4-displacement groove, 401-connecting piece, 402-rotating shaft, 403-coupling, 5-pusher, 501-pushing shaft, 502-pushing switch, 6-pushing arm, 601-shaft stabilizer, 7-fixing groove, 701-fixing base, 702-fixing plate, 8-connecting arm, 801-connecting convex groove, 9-driving groove, 901-pivot plate, 902-first connecting strip, 903-second connecting strip, 10-mechanical claw, 1001-mechanical angle guard, 1002-buffer groove, 1003-first magnet, 1004-limiting groove, 1005-second magnet, 1006-connecting rod, 1007-rubber block, 1008-exhaust hole, 1009-butt joint hole and 1010-butt joint piece.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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.

As in fig. 1 to 8:

the invention provides a mechanical grabbing and carrying device and a mechanical arm, which comprise a base 1, a motor groove 2, a supporting seat 3, a shifting groove 4, a pusher 5, a pushing shaft 501, a pushing arm 6, a fixing groove 7 and a mechanical claw 10, wherein a driving groove 9 is fixedly arranged on the outer surface of the right side of the fixing groove 7, a pivot plate 901 is fixedly arranged at the tail part of the right end of the pushing shaft 501, a plurality of buffer grooves 1002 are uniformly and adjacently arranged and fixedly arranged in the inner position of the mechanical claw 10, a first magnet 1003 and a limiting groove 1004 are respectively and fixedly arranged in the center and at the two ends of the inner surface of the outer side of each buffer groove 1002, a second magnet 1005 is movably arranged in the inner side end position of each buffer groove 1002, a connecting rod 1006 is fixedly arranged in the center of the outer surface of the outer side of each second magnet 1005.

Wherein, motor base 201 is fixedly installed at the bottom side inner surface central position of motor groove 2, rotating electrical machines 202 is fixedly installed at the top side outer surface of motor base 201, motor shaft 203 is vertically installed to the central position rotation from top to bottom on the top of rotating electrical machines 202, the top of motor shaft 203 runs through to the inside lower extreme position of shift groove 4, motor shaft 203 here is for convenient transmission.

Wherein, the top side surface left end middle part fixed mounting of base 1 has rotary switch 204, and rotary switch 204 controls the start and stop of rotating electrical machines 202 through with external power electric connection, and the inside of supporting seat 3 has seted up shaft hole 301 to central point vertically from top to bottom, and rotary switch 204 and shaft hole 301 here are for making things convenient for control motor shaft 203 to penetrate the rotation.

Wherein, a connecting piece 401 is fixedly installed at the center position of the top inner surface of the displacement slot 4, a rotating shaft 402 is rotatably installed at the center position of the bottom end of the connecting piece 401, the bottom end of the rotating shaft 402 is fixedly connected with the top end of the motor shaft 203 through a coupling 403, and the connecting piece 401 and the rotating shaft 402 are used for conveniently driving the pusher 5 to turn after the motor shaft 203 rotates.

Wherein, the middle position of the left end of the outer surface of the top side of the pusher 5 is fixedly provided with a push switch 502, the push switch 502 is electrically connected with an external power supply to control the starting and stopping of the pusher 5, the inner surface of the right side of the push arm 6 is fixedly provided with a shaft stabilizer 601, and the push switch 502 and the shaft stabilizer 601 are used for conveniently controlling the push shaft 501 to carry out stable left-right pushing.

Wherein, fixed mounting has fixing base 701 and fixed plate 702 respectively with the right side internal surface of fixed slot 7, and the equal fixed mounting in rear end level direction position of right side external surface front end and the fixed slot 7 has linking arm 8, and the equal fixed mounting in right-hand member external position of linking arm 8 has connection tongue 801, and linking arm 8 and connection tongue 801 here are for driving the linkage jointly with drive slot 9.

Wherein, the equal swing joint in right-hand member front portion and the rear portion position of pivot board 901 has first connecting strip 902, the equal swing joint in right-hand member afterbody position of first connecting strip 902 has second connecting strip 903, the equal swing joint in outer end prelude position of second connecting strip 903 in the inside of connecting tongue 801, the right side surface of second connecting strip 903 all with the left side surface mutual fixed connection of gripper 10, the equal fixed mounting in right-hand member afterbody position of gripper 10 has mechanical angle bead 1001.

The appearance of the first magnet 1003 is hemispherical, the inner hole of the limiting groove 1004 is conical, the appearance of the second magnet 1005 is semi-cylindrical, the appearances of the tail parts of the two ends of the second magnet 1005 are conical, the diameter of the second magnet 1005 is larger than that of the first magnet 1003, and the two magnets can be conveniently butted when approaching due to the conical shape and the diameter difference.

Wherein, the inside of rubber block 1007 is dug out, and a plurality of exhaust hole 1008 has all been seted up to the both sides of rubber block 1007, and a plurality of butt joint hole 1009 has all been seted up to the internal surface upper end position of spacing groove 1004, and a plurality of and butt joint piece 1010 that butt joint hole 1009 suited have all been seted up to the both ends afterbody upper end position of second magnet 1005, and this butt joint piece 1010 can conveniently promote fixedly.

When in use: when a container needs to be grabbed, firstly, the device is communicated with an external power supply, then the push switch 502 is pressed down to start the pusher 5, then the two mechanical claws 10 are driven to open under the action of rightward extension of the push shaft 501, then the rotary switch 204 is pressed down to start the rotary motor 202, the rotation of the motor shaft 203 drives the rotary shaft 402 and the pusher 5 to rotate, so that the mechanical claws 10 are controlled to be close to the surface of the container, then the two mechanical claws 10 are driven to approach to the surface of the container to clamp under the action of leftward retraction of the push shaft 501, at the moment, the rubber block 1007 is close to the container, so that the friction force between the mechanical claws 10 and the surface of the container is enhanced, the rubber block 1007 has certain toughness due to the fact that the interior of the rubber block is hollowed, and when one side of the rubber block 1007 is in contact with the surface of the container, air in the rubber block, furthermore, the plurality of rubber blocks 1007 can jointly generate an adsorption force with certain strength to fix the container, so that the container is prevented from falling downwards, the possibility of falling of the container is reduced, the mechanical corner protector 1001 can also prevent the container from falling at one end at the outer side, the inside of the mechanical claw 10 is provided with the first magnet 1003 and the second magnet 1005 to perform certain limiting and hedging in the buffer groove 1002, and due to the magnetic mutual repulsion between the first magnet 1003 and the second magnet, when the mechanical claw 10 is forced to be close to and contacted with the container inwards to be grabbed and carried, the rubber blocks 1007 and the connecting rod 1006 act on the direction of the buffer groove 1002 from the outside to the inside, and the magnets have certain buffering function, so that the buffering effect is provided under the magnetic mutual repulsion between the two magnets, the accident that the mechanical arm damages the object once the object by overexertion due to slowness in the process of clamping the container is avoided, and due to the arrangement of the limiting groove 1004 which is mutually adaptive to the second magnet 1005 in the buffer groove 1002, and the inner wall of the limit groove 1004 and the tail end of the second magnet 1005 are respectively provided with a butt joint hole 1009 and a butt joint piece 1010 which are mutually adaptive, in the process of clamping and carrying goods, the magnets can shake due to the principle that the two magnets repel each other, the limit groove 1004 can insert the second magnet 1005 which shakes into the limit groove 1004 to be tightly fixed in the process through slight touch when clamping the goods, and then air in the rubber block 1007 is exhausted, so that the better fixing effect on the goods box can be realized by combining the effects, then the goods box is turned to be carried through the control of the rotary switch 204, and the operation is repeated until all the goods boxes which need to be grabbed and carried are grabbed and carried, and finally, an external power supply is cut off.

The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. The utility model provides a machinery snatchs handling device and robotic arm, includes base (1), motor groove (2), supporting seat (3), shift groove (4), impeller (5), promotes axle (501), promotes arm (6), fixed slot (7) and gripper (10), its characterized in that: the right side surface fixed mounting of fixed slot (7) has drive groove (9), the right-hand member afterbody position fixed mounting who promotes axle (501) has pivot board (901), the equipartition adjacent branch of the inside position of gripper (10) is listed as fixed mounting and is had a plurality of dashpot (1002), the outside internal surface central authorities and the both ends position of dashpot (1002) are equallyd divide respectively fixed mounting have first magnet (1003) and spacing groove (1004), the inside of dashpot (1002) has second magnet (1005) to the equal movable mounting of the equal movable mounting in terminal position inwards, the outside surface central authorities position of second magnet (1005) equal fixed mounting of connecting rod (1006), the equal fixed mounting in other end position of connecting rod (1006) has block of rubber (1007).

2. The mechanical grabbing and carrying device and the mechanical arm according to claim 1, wherein: the motor groove (2) is fixedly provided with a motor base (201) at the center of the inner surface of the bottom side, the outer surface of the top side of the motor base (201) is fixedly provided with a rotating motor (202), the top end of the rotating motor (202) is vertically and rotatably provided with a motor shaft (203) at the center up and down, and the top end of the motor shaft (203) penetrates through the inner lower end of the displacement groove (4).

3. The mechanical grabbing and carrying device and the mechanical arm according to claim 1, wherein: the rotary switch (204) is fixedly installed in the middle of the left end of the outer surface of the top side of the base (1), the rotary switch (204) is electrically connected with an external power supply to control the starting and stopping of the rotary motor (202), and a shaft hole (301) is vertically formed in the central position of the inside of the supporting seat (3) from top to bottom.

4. The mechanical grabbing and carrying device and the mechanical arm according to claim 1, wherein: a connecting piece (401) is fixedly installed at the center of the inner surface of the top side of the displacement groove (4), a rotating shaft (402) is rotatably installed at the center of the bottom end of the connecting piece (401), and the bottom end of the rotating shaft (402) is fixedly connected with the top end of the motor shaft (203) through a coupler (403).

5. The mechanical grabbing and carrying device and the mechanical arm according to claim 1, wherein: the push switch (502) is fixedly installed in the middle of the left end of the outer surface of the top side of the pusher (5), the push switch (502) is electrically connected with an external power supply to control the starting and stopping of the pusher (5), and the shaft stabilizer (601) is fixedly installed on the inner surface of the right side of the push arm (6).

6. The mechanical grabbing and carrying device and the mechanical arm according to claim 1, wherein: the left side of fixed slot (7) and right side internal surface respectively fixed mounting have fixing base (701) and fixed plate (702), the right side surface front end and the rear end level of fixed slot (7) have linking arm (8) to the equal fixed mounting in position, the equal fixed mounting in right-hand member outside position of linking arm (8) has connection tongue (801).

7. The mechanical grabbing and carrying device and the mechanical arm according to claim 1, wherein: the hinge plate is characterized in that the front and rear positions of the right end of the hinge plate (901) are respectively and movably connected with a first connecting strip (902), the tail position of the right end of the first connecting strip (902) is respectively and movably connected with a second connecting strip (903), the head positions of the outer ends of the second connecting strips (903) are respectively and movably mounted in the connecting convex groove (801), the outer surfaces of the right sides of the second connecting strips (903) are respectively and fixedly connected with the outer surfaces of the left sides of the mechanical claws (10), and the tail position of the right end of the mechanical claw (10) is respectively and fixedly mounted with a mechanical angle bead (1001).

8. The mechanical grabbing and carrying device and the mechanical arm according to claim 1, wherein: the appearance of the first magnet (1003) is hemispherical, the inner hole of the limiting groove (1004) is conical, the appearance of the second magnet (1005) is semi-cylindrical, the appearances of the tail parts of the two ends of the second magnet (1005) are conical, and the diameter of the second magnet (1005) is larger than that of the first magnet (1003).

9. The mechanical grabbing and carrying device and the mechanical arm according to claim 1, wherein: the inside of rubber block (1007) is dug out, a plurality of exhaust hole (1008) have all been seted up to the both sides of rubber block (1007), a plurality of butt joint hole (1009) have all been seted up to the internal surface upper end position of spacing groove (1004), a plurality of and butt joint piece (1010) that butt joint hole (1009) suited have all been seted up to the both ends afterbody upper end position of second magnet (1005).