CN113184528A

CN113184528A - Material back-off carrying mechanism based on rotating pallet

Info

Publication number: CN113184528A
Application number: CN202110513836.1A
Authority: CN
Inventors: 刘慧斯; 钱立胜; 梁铭烨; 朱梦园; 肖子欣; 张翀; 苏亮
Original assignee: Xiangtan University
Current assignee: Xiangtan University
Priority date: 2021-05-12
Filing date: 2021-05-12
Publication date: 2021-07-30

Abstract

The invention discloses a material back-off carrying mechanism based on a rotating pallet. Its simple structure, the sexual valence relative altitude, the total degree of freedom is 3, can guarantee to place the material in the arbitrary position on the plane of rotating pallet, and the different vacancies can realize the depositing of different materials on the rotating pallet, once carries multiple goods moreover, improves handling efficiency, grabs from ground in the rotating pallet or grabs from the rotating pallet and to the subaerial in-process, can place the material back-off.

Description

Material back-off carrying mechanism based on rotating pallet

Technical Field

The invention relates to the field of material carrying, in particular to a material back-off carrying mechanism based on a rotary pallet.

Background

Now, along with science and technology rapid development, under the condition that artificial intelligence constantly expands, many commodity circulation transfer robots have appeared in the aspect of the commodity circulation transport, and it can replace the mankind to get into narrow and small space and carry and the transport in danger area, nevertheless for present, some commodity circulation floor truck transport goods quantity on the market is few, has the condition that can only once carry a goods, leads to work efficiency low, so improves handling efficiency, has extensive using value and benefit.

Disclosure of Invention

In order to reduce the complexity of the material carrying mechanism and improve the material carrying efficiency, the invention provides a material back-off carrying mechanism based on a rotating pallet.

The first mechanical arm is fixed on the base, one end of the second mechanical arm is hinged with the first mechanical arm to form a first revolute pair, and the other end of the second mechanical arm is hinged with the grabber to form a second revolute pair;

a motor is arranged at the first rotating pair, and the second mechanical arm can be driven to swing back and forth relative to the first mechanical arm by controlling the motor; a motor is arranged at the second rotating pair, the grabber can be driven to swing back and forth relative to the second mechanical arm by controlling the motor, the motor is arranged at the center of the rotating pallet, and the rotating pallet can be driven to rotate circumferentially around an axis perpendicular to the base by controlling the motor;

the rotating pallet is provided with vacant spaces with the same size for placing materials;

the rotary pallet is arranged on the base, can rotate circumferentially around an axis perpendicular to the base and is located behind the mechanical arm.

In order to conveniently place materials on the rotating pallet, when the grabber is in a to-be-loaded state after grabbing the materials, the rotating pallet can automatically rotate a vacant site to be in the same plane with the center of the grabber, so that the materials can be reversely placed in the vacant site on the rotating pallet only by turning the mechanical arm backwards;

in order to conveniently place materials on the ground from the rotating pallet, when the grabber is in a state of waiting for no load, the rotating pallet can automatically rotate a vacant position in which the materials are placed to be in the same plane with the center of the grabber, so that the mechanical arm can overturn backwards after grabbing the materials in the vacant position to enable the materials to be reversely buckled on the ground.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention has simple structure, high cost performance and 3 total degrees of freedom, and can ensure that materials are placed at any position on the plane of the rotary pallet;

2. the rotary pallet can store different materials in different vacant positions, and can transport various goods at one time, thereby improving the transport efficiency.

3. The invention can place the material upside down in the process of grabbing from the ground to the rotating pallet or grabbing from the rotating pallet to the ground.

Drawings

Fig. 1 is a schematic diagram of the movement of a material reversing and carrying mechanism based on a rotating pallet (the dotted line is the position where the mechanism grabs the material to a rotating rudder disk);

FIG. 2 is a front view of a rotating pallet based inverted material carrier of the present invention;

figure 3 is a top view of a rotating pallet based inverted material carrier of the present invention.

In the figure

1-base, 2-first mechanical arm, 3-second mechanical arm, 4-gripper and 5-rotating pallet

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, the first mechanical arm is fixed on the base, one end of the second mechanical arm is hinged to the first mechanical arm to form a first revolute pair, and the other end of the second mechanical arm is hinged to the gripper to form a second revolute pair;

Referring to fig. 2-3, the mechanism is shown in the position taken by the entire device when it is gripping material.

In order to place materials on the rotating pallet conveniently, when the grabber is in a to-be-loaded state after grabbing the materials, the rotating pallet can automatically rotate a vacant site to be in the same plane with the center of the grabber, so that the materials can be reversely placed in the vacant site on the rotating pallet only by turning the mechanical arm backwards.

In conclusion, the rotary pallet has a simple structure, the degree of freedom is 3, and the material can be placed at any position on the plane of the rotary pallet; during the process of grabbing the material from the ground into the rotating pallet or grabbing the material from the rotating pallet onto the ground, the material can be placed in an inverted manner; and different vacant positions on the rotary pallet can realize the storage of different materials, and various goods are carried at one time, so that the carrying efficiency is improved.

The above embodiments are merely illustrative of the present invention and not restrictive, and it should be understood by those skilled in the art that the present invention may be modified and equivalents may be substituted for some or all of the features of the embodiments, and any modifications, equivalents, improvements and the like within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A material inversion carrying mechanism based on a rotating pallet, comprising a base (1), a first robotic arm (2), a second robotic arm (3), a gripper (4), a rotating pallet (5) ), characterized by:

The first mechanical arm (2) is fixed on the base (1), one end of the second mechanical arm (3) is hinged with the first mechanical arm (2) to form a first rotating pair (a), and the other end is connected with the gripping arm (2). The extractor (4) is hinged to form a second rotating pair (b);

A motor is provided at the first rotating pair (a), and the second mechanical arm (3) can be driven to swing back and forth relative to the first mechanical arm (2) by controlling the motor; and a second rotating pair (b) is provided with a motor. A motor, which can drive the grabber (4) to swing back and forth relative to the second mechanical arm (3) by controlling the motor, a motor is provided at the center of the rotating pallet (5), and the rotating pallet (5) can be driven by controlling the motor ) circumferentially rotates around an axis perpendicular to the base (1);

The rotating pallet (5) is provided with empty spaces of the same size for placing materials;

The rotating pallet (5) is arranged on the base (1), can rotate circumferentially around an axis perpendicular to the base (1), and is located behind the mechanical arm.

2. a kind of material inversion carrying mechanism based on rotating pallet according to claim 1, is characterized in that:

In order to conveniently place the material on the rotating pallet (5), when the grabber (4) grabs the material and is in the state of being loaded, the rotating pallet (5) will automatically rotate a vacant position to be in contact with the grabber (4). (4) The center is in the same plane, so that the material can be inverted into the empty space on the rotating pallet (5) only by turning the mechanical arm backward;

In order to conveniently place the material from the rotating pallet (5) to the ground, when the grabber (4) is in an unloaded state, the rotating pallet (5) will automatically turn a vacant position where the material is placed to the same position as the grabber (4). The center of the picker (4) is in the same plane, so that the mechanical arm can flip the material upside down on the ground after grabbing the material in the vacant position.