CN112828871A - Multi-station logistics manipulator device - Google Patents

Abstract

The invention discloses a multi-station logistics manipulator device which comprises a mechanical arm, a clamping mechanism and an identification device, wherein the clamping mechanism is arranged on the mechanical arm and can move under the driving of the mechanical arm; the clamping jaw comprises a driving plate and a plurality of clamping plates, a clamping position is arranged on the inner side of the driving plate, the clamping plates are made of different materials, each clamping plate is provided with a first position moving to the clamping position and a second position separated from the clamping position, and the second driving mechanism is used for driving the clamping plates to move between the first position and the second position; the identification device is used for sending a control signal to the second driving mechanism according to the type of the goods outer package, and the second driving mechanism drives the corresponding clamping plate to move to the first position according to the control signal. The station logistics manipulator device has the advantage of protecting goods.

Description

Multi-station logistics manipulator device

Technical Field

The invention relates to the technical field of logistics transportation, in particular to a multi-station logistics manipulator device.

Background

The logistics manipulator is a mechanical device used for carrying goods on a logistics transportation assembly line. Generally, a logistics robot comprises a mechanical arm and a mechanical claw, wherein the mechanical claw can be used for clamping goods, and the mechanical arm can drive the mechanical claw to move freely so as to carry the goods.

At present, the mechanical claw of the logistics manipulator clamps the goods mainly through friction force between the mechanical claw and the goods, and the surface friction coefficient of the mechanical claw is fixed due to the fact that the mechanical claw is made of fixed materials. The outer package of the goods is often not fixed, which may be a carton, a wood frame, an iron sheet, a plastic, etc., that is, the surface friction coefficient of the goods is not fixed. Because frictional force and clamping force are in positive correlation, consequently in order to can stably centre gripping goods, the gripper may exert too big clamping force to the goods to lead to goods extranal packing and even goods damage.

Disclosure of Invention

The invention mainly aims to provide a multi-station logistics manipulator device, and aims to solve the problem that goods are possibly damaged when the logistics manipulator clamps the goods.

In order to achieve the above purpose, the multi-station logistics manipulator device provided by the invention comprises a mechanical arm, a clamping mechanism and a recognition device, wherein,

the clamping mechanism is arranged on the mechanical arm and can move under the driving of the mechanical arm, the clamping mechanism comprises a base, a first driving mechanism, a second driving mechanism and at least two clamping jaws, the base is arranged on the mechanical arm, and the first driving mechanism is arranged on the base and used for driving the at least two clamping jaws to open and close; the clamping jaws comprise a driving plate and a plurality of clamping plates, clamping positions are arranged on the inner side of the driving plate, the clamping plates can move compared with the driving plate, the clamping plates are made of different materials, each clamping plate is provided with a first position moving to the clamping positions and a second position separated from the clamping positions, the second driving mechanism is used for driving the clamping plates to move between the first position and the second position, and when one clamping plate is located at the first position, the other clamping plates are located at the second position;

the identification device is used for identifying the type of the goods outer package and sending a control signal to the second driving mechanism according to the type of the goods outer package, and the second driving mechanism drives the corresponding clamping plate to move to the first position after receiving the control signal.

In one embodiment, a plurality of the clamping plates are rotatably arranged at the inner side of the driving plate.

In an embodiment, the driving plate is connected to a driving end of the first driving mechanism, and the second driving mechanism is disposed on the driving plate.

In an embodiment, the second driving mechanism includes a motor, a turntable, and a plurality of first connecting rods, the motor is disposed on the driving plate, the turntable is disposed at an output end of the motor, one end of the first connecting rod is connected to the turntable, the other end of the first connecting rod is connected to the clamping plate, and the plurality of first connecting rods are disposed at intervals along a circumferential direction of the turntable.

In an embodiment, the driving plate is provided with a containing groove, and the motor is contained in the containing groove.

In an embodiment, the multi-station logistics manipulator device further comprises a limiting assembly, wherein the limiting assembly is arranged on the driving plate and used for limiting the clamping plate when the clamping plate moves to the first position.

In an embodiment, a first slot is formed in the driving plate, a notch is formed in the inner side of the driving plate by the first slot, and the limiting assembly comprises an inserting plate which is telescopically arranged in the first slot.

In an embodiment, a second slot is disposed on a side of the clamping plate facing the driving plate, when the clamping plate is located at the first position, the first slot is communicated with the second slot, and the inserting plate is inserted into the first slot and the second slot at the same time.

In an embodiment, the limiting assembly further comprises an elastic part, the elastic part is provided with the first slot, one end of the elastic part is connected with the driving plate, the other end of the elastic part is connected with the inserting plate, and the inserting plate extends out of the first slot under the action of elastic force of the elastic part.

In one embodiment, a pushing inclined plane is arranged on one side of the inserting plate facing the clamping plate, and the pushing inclined plane extends obliquely from the lower surface of the clamping plate to the upper surface of the clamping plate;

the limiting assembly further comprises a second connecting rod, one end of the second connecting rod is connected with the inserting plate, the other end of the second connecting rod extends towards the direction of the rotary table and extends to one side, facing the motor, of the rotary table;

a plurality of abutting convex parts are arranged on one side of the turntable facing the motor, and the plurality of abutting convex parts and the plurality of first connecting rods are sequentially and alternately arranged in the circumferential direction of the turntable; wherein the content of the first and second substances,

when the clamping plate on the lower side of the driving plate rotates from the second position to the first position, the pressing convex part presses the second connecting rod, so that the inserting plate moves towards the direction of retracting the first slot; when the clamping plate on the lower side of the driving plate moves to the first position, the inserting plate extends out of the first slot under the driving of the elastic part.

The utility model provides a multistation logistics manipulator, it is a plurality of mobile to set up through the inboard at the drive plate, and the grip block that the material is different, when the centre gripping goods, can be earlier through the outer packing type of recognition device discernment goods, pass through second actuating mechanism according to recognition result of recognition device again, the grip block that the drive corresponds with the goods extranal packing moves to the centre gripping position of drive plate, this grip block can be inconsistent with the extranal packing of goods when the jack catch centre gripping goods, so, the manipulator alright change the contact material of jack catch and goods according to the goods self-adaptation of difference, thereby can be on the basis of guaranteeing goods centre gripping stability, reduce the clamping force of applying to the goods, in order to avoid the goods to damage.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a multi-station logistics manipulator device according to an embodiment of the invention;

fig. 2 is a schematic structural diagram of a clamping mechanism in an embodiment of the multi-station logistics robot apparatus of the invention;

fig. 3 is a schematic view illustrating a state where the clamping plate is separated from the first position in an embodiment of the multi-station manipulator device of the present invention;

FIG. 4 is a schematic view illustrating an assembly of a driving plate and a clamping plate in an embodiment of the multi-station manipulator device for logistics of the invention;

FIG. 5 is a cross-sectional view of a drive plate in an embodiment of the multi-station logistics robot apparatus of the present invention;

fig. 6 is a schematic structural view illustrating a position limiting assembly for limiting a clamping plate in an embodiment of the multi-station manipulator device according to the present invention;

fig. 7 is a schematic view illustrating the cooperation between a position-limiting component and a clamping plate in an embodiment of the multi-station manipulator device of the present invention.

The reference numbers illustrate:

10. a mechanical arm; 20. a clamping mechanism; 21. a base; 22. a first drive mechanism; 23. a second drive mechanism; 231. a motor; 232. a turntable; 232a, pressing the convex part; 233. a first link; 24. a claw; 241. a drive plate; 241a, a containing groove; 241b, a first slot; 242. a clamping plate; 242a, a second slot; 30. an identification device; 40. a limiting component; 41. inserting plates; 42. an elastic member; 43. second connecting rod

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

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.

It should be noted that in the description of the present invention, the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of description and simplification of description, and do not indicate or imply that the referred device or element must have a specific orientation, be configured in a specific orientation, and operate, and thus, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides a multi-station logistics manipulator device.

Referring to fig. 1 to 7, in the embodiment of the present invention, the multi-station logistics robot apparatus includes a robot arm 10, a clamping mechanism 20, and an identification device 30.

Specifically, the mechanical arm 10 may be formed by combining a plurality of joint arms that can rotate with each other, or may be a gantry structure, and a specific form thereof may be adaptively adjusted according to different actual use scenarios, which is not specifically limited in this application.

And a gripping mechanism 20 provided on the robot arm 10 and movable by the drive of the robot arm 10. The clamping mechanism 20 is used for clamping goods, and the mechanical arm 10 drives the clamping mechanism 20 to move so as to carry the goods among a plurality of stations of the logistics production line.

Specifically, the gripper mechanism 20 includes a base 21, a first drive mechanism 22, a second drive mechanism 23, and at least two jaws 24. Wherein, the base 21 is disposed on the mechanical arm 10, and the first driving mechanism 22 is disposed on the base 21 for driving the at least two jaws 24 to open and close. It will be appreciated that the gripper mechanism 20 may be used to grip the goods when the first drive mechanism 22 drives the jaws 24 closed; when the first driving mechanism 22 drives the claws 24 to open, the goods can be put down.

Illustratively, the at least two jaws 24 may be capable of translating or rotating on the base 21, and the power member of the first driving mechanism 22 may be at least one of a motor, a cylinder, and a hydraulic cylinder, according to the movement manner of the jaws 24, and a corresponding transmission mechanism, such as a gear, a rack, a lead screw slider, etc., may be adaptively disposed between the power member and the jaws 24.

Further, the claw 24 includes a driving plate 241 and a plurality of clamping plates 242, a clamping position (not shown) is disposed inside the driving plate 241, the plurality of clamping plates 242 are movable relative to the driving plate 241, and the plurality of clamping plates 242 are made of different materials, each clamping plate 242 has a first position moving to the clamping position and a second position departing from the clamping position, the second driving mechanism 23 is configured to drive the clamping plates 242 to move between the first position and the second position, wherein when one clamping plate 242 is located at the first position, the other clamping plates 242 are located at the second position (that is, only one clamping plate 242 is disposed at the clamping position of the driving plate 241 at the same time).

It should be noted that, when the inner clamping mechanism of the driving plate 241 clamps the goods, the driving plate 241 faces the goods.

Further, the identification device 30 is configured to identify the type of the external package of the goods, and send a control signal to the second driving mechanism 23 according to the type of the external package of the goods, and after receiving the control signal, the second driving mechanism 23 drives the corresponding clamping plate 242 to move to the first position.

Through the above scheme, when clamping goods, the type of external package of goods (such as carton, wooden frame, iron sheet, plastics, snakeskin bag, etc.) can be identified through the identification device 30, after the identification device 30 determines the type of external package of goods, the identification device 30 sends a control signal to the second driving mechanism 23, and after receiving the control signal, the second driving mechanism 23 can drive the clamping plate 242 corresponding to the control signal to move to the first position. Because the material of a plurality of grip blocks 242 is different, like this, when jack catch 24 centre gripping goods, alright set up different grip blocks 242 in the inboard of drive plate 241 according to the difference of goods extranal packing type to make jack catch 24 can be according to the difference of goods extranal packing and the coefficient of friction of self-adaptation clamping part, thereby can be on the basis of guaranteeing goods centre gripping stability, reduce the clamping force of applying to the goods, in order to avoid the goods to damage.

For example, when the cargo package is a carton, the second driving mechanism 23 can drive the clamping plate 242 made of rubber to move to the first position according to the signal of the identification device 30, so that the clamping jaw 24 is in rubber contact with the carton when clamping the carton, and thus, compared with the way that the clamping jaw 24 made of metal is in contact with the carton, the friction force between the clamping jaw 24 and the carton can be increased, so as to improve the stability of clamping the cargo by the clamping jaw, and the cargo package and the cargo can be protected by the elasticity of the rubber itself. For example, when the outer package of the cargo is made of iron sheet, the clamping plate 242 made of permanent magnet material may be driven to move to the first position, so as to improve the clamping stability by the attraction force of the iron sheet of the permanent magnet; also for example, when the outer package of the goods is a snake leather bag, the clamping plate 242 made of felt material can be driven to move to the first position.

Therefore, according to the multi-station logistics manipulator of the technical scheme, the plurality of movable clamping plates 242 which are made of different materials are arranged on the inner side of the driving plate 241, when goods are clamped, the outer package type of the goods can be identified through the identification device 30, then the clamping plates 242 corresponding to the outer package of the goods are driven to move to the clamping positions of the driving plate 241 through the second driving mechanism 23 according to the identification result of the identification device 30, the clamping plates 242 can be abutted to the outer package of the goods when the clamping jaws 24 clamp the goods, therefore, the manipulator can adaptively change the contact materials of the clamping jaws 24 and the goods according to different goods, and therefore the clamping force applied to the goods can be reduced on the basis of guaranteeing the clamping stability of the goods, and the goods are prevented from being damaged.

It should be noted that the identification device 30 can identify the type of the outer package of the goods through the trained neural network model, or identify the type of the outer package of the goods by reading the label on the outer package of the goods.

Alternatively, in the present embodiment, the driving plate 241 is movably provided to the base 21, and only two claws 24 are provided to the base 21. That is, the first drive mechanism 22 effects the closing and opening of the jaws 24 by urging the two jaws 24 toward and away from each other. Of course, the design of the present application is not limited thereto, and in other embodiments, the claws 24 may be rotatably connected to the base 21, and the number of the claws 24 may also be set to 3, 4, 5 or even more.

In one embodiment, a plurality of clamping plates 242 are rotatably disposed inside the driving plate 241. It can be appreciated that by rotatably disposing the plurality of clamping plates 242 on the inner side of the driving plate 241, the clamping plates 242 can be switched between the first position and the second position conveniently, and the occupied space of the plurality of clamping plates 242 can be saved. Of course, the design of the present application is not limited thereto, and in other embodiments, the plurality of clamping plates 242 may be disposed to be slidably disposed inside the driving plate 241.

Further, the driving plate 241 is connected to the driving end of the first driving mechanism 22, and the second driving mechanism 23 is provided on the driving plate 241.

It can be understood that the second driving mechanism 23 is disposed on the driving plate 241, such that the movement of the driving plate 241 drives the second driving mechanism 23 and the clamping plate 242 to move, thereby achieving the synchronous movement of the driving plate 241 and the clamping plate 242. Meanwhile, since the driving plate 241 is connected to the driving end of the first driving mechanism 22, the first driving mechanism 22 only needs to be connected to the driving plate 241 to drive the driving plate 241 and the clamping plate 242 to move simultaneously. In this way, the connection structure between the first driving mechanism 22 and the driving plate 241 can be simplified, which is beneficial to reducing the structural complexity of the clamping mechanism 20, and is further beneficial to reducing the assembly difficulty and the generation cost of the clamping mechanism 20. Of course, the design of the present application is not limited thereto, and in other embodiments, the second driving mechanism 23 may also be slidably connected to the base 21, and at this time, the second driving mechanism 23 may be slid by the driving plate 241.

Specifically, the second driving mechanism 23 includes a motor 231, a rotating disc 232 and a plurality of first connecting rods 233, the motor 231 is disposed on the driving plate 241, the rotating disc 232 is disposed at an output end of the motor 231, one end of the first connecting rod 233 is connected to the rotating disc 232, the other end of the first connecting rod 233 is connected to the clamping plate 242, and the plurality of first connecting rods 233 are disposed at intervals along a circumferential direction of the rotating disc 232.

It can be understood that, with the above structure, when the clamping position of the driving plate 241 is changed to a different clamping plate 242, the motor 231 can drive the rotating disc 232 to rotate, and then the first connecting rod 233 can drive the clamping plate 242 to rotate, so that the replacement of the different clamping plate 242 at the clamping position of the driving plate 241 can be completed. Here, since the clamping plates 242 are connected to the rotary plate 232 through the first connecting rods 233, and the plurality of first connecting rods are spaced apart in the circumferential direction of the rotary plate 232, the plurality of clamping plates 242 can be kept away from each other, and only one clamping plate 242 can be ensured to be in the clamping position of the driving plate 241 at the same time by the limitation of the rotary plate 232 and the first connecting rods 233.

It should be noted that the motor 231 is used as a power member, which is easy to obtain and simple in driving manner, and has an advantage of being easy to drive the clamping plate 242 in response to a control signal.

Optionally, in some embodiments, the plurality of first links 233 are disposed on the same side of the carousel 232. Thus, the rotation of the turntable 232 can drive the plurality of clamping plates 242 to be separated from the driving plate 241, i.e., all the clamping plates 242 are located at the second position, so that the clamping plates 242 can be conveniently separated from the driving plate 241. When the plurality of first connecting rods 233 are disposed on the same side of the rotating disc 232, the clamping plate 242 located at the clamping position is the main force application object with the goods, and the other clamping plates 242 located at the second position may be separated from the goods or only contact the surface of the goods outer package, without damaging the goods outer package or the goods.

Optionally, the driving plate 241 is provided with a receiving groove 241a, and the motor 231 is received in the receiving groove 241 a.

It can be understood that the accommodating groove 241a is disposed on the driving plate 241 for accommodating the motor 231, which is beneficial to fixing the motor 231 on the driving plate 241 and improving the structural integrity of the pawl 24. Of course, the design of the present application is not limited thereto, and the motor 231 may be connected to the outside of the driving plate 241 in other embodiments.

Further, the multi-station logistics manipulator device of the present application further comprises a limiting assembly 40, wherein the limiting assembly 40 is disposed on the driving plate 241 and is used for limiting the clamping plate 242 when the clamping plate 242 moves to the first position.

It can be understood that, since the clamping plate 242 is movable compared to the driving plate 241, the connection relationship between the clamping plate 242 and the driving plate 241 is not stable, and then, by limiting the clamping plate 242 through the limiting assembly 40, the clamping plate 242 can be supported through the limiting assembly 40, so as to improve the stability of the connection between the clamping plate 242 and the driving plate 241, which is further beneficial to improve the stability of the clamping assembly for clamping goods.

Specifically, the driving plate 241 is provided with a first slot 241b, the first slot 241b forms an opening at an inner side of the driving plate 241, and the position limiting assembly 40 includes an inserting plate 41 telescopically disposed in the first slot 241 b. Specifically, the inserting plate 41 is telescopically disposed in the first slot 241b, such that when the clamping plate 242 moves to the first position, the inserting plate 41 can extend out of the first slot 241b to limit the clamping plate 242, and when the clamping plate 242 is separated from the first position, the inserting plate 41 can retract into the first slot 241b to avoid the movement of the clamping plate 242.

Based on the inserting plate 41, the side of the clamping plate 242 facing the driving plate 241 is provided with a second inserting groove 242a, when the clamping plate 242 is at the first position, the first inserting groove 241b is communicated with the second inserting groove 242a, and the inserting plate 41 is inserted into the first inserting groove 241b and the second inserting groove 242a at the same time. It can be understood that, by the above solution, when the clamping plate 242 is in the first position, the first inserting plate 41 can be inserted into the first slot 241b and the second slot 242a at the same time, so as to complete the position limitation of the clamping plate 242. Among other things, since the claws 24 mainly grip the goods by frictional force when gripping the goods, the insertion plate 41 can provide support for the gripping plate 242 in the direction of the frictional force, which is advantageous in improving the stability of the connection between the driving plate 241 and the gripping plate 242. Of course, the design of the present application is not limited thereto, and in other embodiments, the inserting plate 41 may also extend from the top of the clamping plate 242 or from both the bottom and the top of the clamping plate 242 to limit the clamping plate 242 when the clamping plate 242 is in the first position.

Optionally, in some embodiments, the limiting assembly 40 includes a plurality of insertion plates 41, and a first insertion slot 241b is formed on the driving plate 241 corresponding to each insertion plate 41.

Further, the limiting assembly 40 further includes an elastic member 42, the elastic member 42 is provided with a first slot 241b, one end of the elastic member 42 is connected with the driving plate 241, the other end of the elastic member 42 is connected with the inserting plate 41, and the inserting plate 41 extends out of the first slot 241b under the elastic force of the elastic member 42.

It can be understood that the insertion plate 41 can be driven to extend out of the first slot 241b by the elastic force provided by the elastic member 42, so that the clamping plate 242 can be automatically limited, thereby facilitating the operation of the worker. In addition, the elastic force provided by the elastic member 42 can also maintain the position of the insert plate 41, which is further beneficial to improving the stability when the driving plate 241 is matched with the clamping plate 242. Of course, the design of the present application is not limited thereto, and in other embodiments, the inserting plate 41 may be driven to extend from the first inserting groove 241b by other mechanisms.

For example, the elastic member 42 may be a spring, a spring plate, a rubber pad, or the like.

Further, a pushing inclined plane (not labeled) is disposed on a side of the inserting plate 41 facing the clamping plate 242, and the pushing inclined plane extends obliquely from the lower surface of the clamping plate 242 to the upper surface of the clamping plate 242;

the limiting assembly 40 further comprises a second connecting rod 43, one end of the second connecting rod 43 is connected with the inserting plate 41, and the other end of the second connecting rod 43 extends towards the direction of the rotating disc 232 and extends to one side of the rotating disc 232 facing the motor 231;

a plurality of pressing convex parts 232a are arranged on one side of the turntable 232 facing the motor 231, and the plurality of pressing convex parts 232a and the plurality of first connecting rods 233 are sequentially and alternately arranged in the circumferential direction of the turntable 232; wherein the content of the first and second substances,

when the clamping plate 242 on the lower side of the driving plate 241 rotates from the second position to the first position, the pressing convex part 232a presses against the second connecting rod 43, so that the inserting plate 41 moves in the direction of retracting the first slot 241 b; when the clamping plate 242 on the lower side of the driving plate 241 moves to the first position, the inserting plate 41 is driven by the elastic member 42 to extend out of the first slot 241 b.

Specifically, when a certain clamping plate 242 is in the first position, the inserting plate 41 is ejected from the first slot 241b by the elastic force of the elastic member 42 to limit the clamping plate 242. Since the reaction force from the cargo is applied to the clamping plate 242 downward when the cargo is clamped, the clamping plate 242 tends to move downward when the cargo is clamped, and the pushing slope is disposed at the lower side of the inserting plate 41, so that the inserting plate 41 can provide support for the clamping plate 242, thereby improving the stability of the clamping plate 242.

When the clamping plate 242 on the lower side of the driving plate 241 rotates from the second position to the first position, the abutting convex portion 232a drives the second connecting rod 43 to move in the direction away from the rotating disc 232, and the inserting plate 41 moves in the direction of retracting the first slot 241b under the driving of the second connecting rod 43, so as to release the limit on the clamping plate 242 and avoid the rotation of the clamping plate 242. When the next clamping plate 242 moves from the second position to the first position, the pressing protrusion 232a is separated from the first connecting rod 233, and the inserting plate 41 is ejected from the first slot 241b by the elastic force of the elastic element 42, so as to limit the clamping plate 242 at the first position.

It can be understood that, by the above solution, the insert plate 41 can be driven to retract into the first slot 241b while the clamping plate 242 rotates, so as to release the limit of the clamping plate 242, and the structure of the clamping mechanism 20 can be simplified, so as to facilitate the operation of the worker. Of course, the design of the present application is not limited thereto, and in other embodiments, the inserting plate 41 may be retracted into the first slot 241b by other power components, such as an air cylinder, a motor 231, etc., to release the position of the clamping plate 242, or the inserting plate 41 may be retracted into the first slot 241b by a manual method.

It should be noted that, in some embodiments of the present application, the second link 43 may not be provided, and when the clamping plate 242 rotates, the clamping plate 242 may push the inserting plate 41 to retract into the first slot 241b by pushing the inclined surface. Compared with the technical scheme without the second connecting rod 43, the technical scheme with the second connecting rod 43 can apply force at multiple points when the inserting plate 41 is driven to retract into the first slot 241b, so that the movement stability of the inserting plate 41 can be improved. In addition, the multiple points of force also facilitate increasing the volume of the insert plate 41, thereby providing greater support for the clamping plate 242.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A multi-station logistics manipulator device is characterized by comprising

A mechanical arm;

the clamping mechanism is arranged on the mechanical arm and can move under the driving of the mechanical arm, the clamping mechanism comprises a base, a first driving mechanism, a second driving mechanism and at least two clamping jaws, the base is arranged on the mechanical arm, and the first driving mechanism is arranged on the base and used for driving the at least two clamping jaws to open and close; the clamping jaws comprise a driving plate and a plurality of clamping plates, clamping positions are arranged on the inner side of the driving plate, the clamping plates can move compared with the driving plate, the clamping plates are made of different materials, each clamping plate is provided with a first position moving to the clamping positions and a second position separated from the clamping positions, the second driving mechanism is used for driving the clamping plates to move between the first position and the second position, and when one clamping plate is located at the first position, the other clamping plates are located at the second position; and

the identification device is used for identifying the type of the external packing of the goods and sending a control signal to the second driving mechanism according to the type of the external packing of the goods, and the second driving mechanism drives the corresponding clamping plate to move to the first position after receiving the control signal.

2. A multi-station logistics robot apparatus as claimed in claim 1, wherein a plurality of said clamping plates are rotatably provided inside said drive plate.

3. A multi-station logistics manipulator apparatus as claimed in claim 2, wherein said drive plate is connected to a drive end of said first drive mechanism, and said second drive mechanism is provided on said drive plate.

4. A multi-station manipulator device as claimed in claim 3, wherein the second driving mechanism comprises a motor, a turntable and a plurality of first connecting rods, the motor is disposed on the driving plate, the turntable is disposed at an output end of the motor, one end of each first connecting rod is connected to the turntable, the other end of each first connecting rod is connected to the clamping plate, and the plurality of first connecting rods are spaced along a circumferential direction of the turntable.

5. A multi-station logistics manipulator device as claimed in claim 4, wherein a receiving slot is provided on the drive plate, and the motor is received in the receiving slot.

6. The multi-station logistics manipulator device of claim 4, further comprising a limiting assembly, wherein the limiting assembly is disposed on the drive plate and is used for limiting the clamping plate when the clamping plate moves to the first position.

7. A multi-station logistics manipulator device as claimed in claim 6, wherein the driving plate is provided with a first slot, the first slot forms a notch on the inner side of the driving plate, and the limiting assembly comprises an inserting plate telescopically arranged in the first slot.

8. The multi-station logistics manipulator device of claim 7, wherein a second slot is formed in a side of the clamping plate facing the driving plate, when the clamping plate is in the first position, the first slot is communicated with the second slot, and the inserting plate is inserted into the first slot and the second slot simultaneously.

9. A multi-station logistics manipulator device as claimed in claim 7, wherein the limiting assembly further comprises an elastic member, the elastic member is provided with the first slot, one end of the elastic member is connected with the driving plate, the other end of the elastic member is connected with the inserting plate, and the inserting plate extends out of the first slot under the elastic force of the elastic member.

10. A multi-station logistics manipulator device as claimed in claim 9, wherein a side of the insert plate facing the clamping plate is provided with a pushing inclined surface, and the pushing inclined surface extends obliquely from the lower surface of the clamping plate to the upper surface of the clamping plate;

the limiting assembly further comprises a second connecting rod, one end of the second connecting rod is connected with the inserting plate, the other end of the second connecting rod extends towards the direction of the rotary table and extends to one side, facing the motor, of the rotary table;

a plurality of abutting convex parts are arranged on one side of the turntable facing the motor, and the plurality of abutting convex parts and the plurality of first connecting rods are sequentially and alternately arranged in the circumferential direction of the turntable; wherein the content of the first and second substances,

when the clamping plate on the lower side of the driving plate rotates from the second position to the first position, the pressing convex part presses the second connecting rod, so that the inserting plate moves towards the direction of retracting the first slot; when the clamping plate on the lower side of the driving plate moves to the first position, the inserting plate extends out of the first slot under the driving of the elastic part.

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