CN113305014B - Intelligent mechanical arm for logistics sorting - Google Patents
Intelligent mechanical arm for logistics sorting Download PDFInfo
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- CN113305014B CN113305014B CN202110468283.2A CN202110468283A CN113305014B CN 113305014 B CN113305014 B CN 113305014B CN 202110468283 A CN202110468283 A CN 202110468283A CN 113305014 B CN113305014 B CN 113305014B
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- plate
- mechanical arm
- goods
- base plate
- pressing plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
- B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
- B07C3/082—In which the objects are carried by transport holders and the transport holders form part of the conveyor belts
- B07C3/085—In which the objects are carried by transport holders and the transport holders form part of the conveyor belts making use of transport holders in the form of clamps or grips
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
- B08B5/023—Cleaning travelling work
Abstract
The invention belongs to the technical field of mechanical arms, in particular to an intelligent mechanical arm for logistics sorting, which comprises a conveying device, a logistics cabinet, a mechanical arm and a control system, wherein the mechanical arm comprises a base, a turntable, a mechanical arm main body and a grabbing unit, the grabbing unit comprises a base plate and a pressing plate, the base plate is of an L-shaped design, a mounting groove is formed in the horizontal part of the base plate, a conveying belt is arranged in the mounting groove, and the upper surface of the conveying belt is coplanar with the upper surface of the horizontal part of the base plate; the vertical part of the base plate is provided with a chute, a pressing plate is connected in the chute in a sliding way, the base plate and the pressing plate are integrally of a shape, and a first air cylinder is fixedly connected between the upper surface of the pressing plate and the chute wall; the invention can effectively fix the goods, prevent the goods from slipping and falling due to shaking generated in the conveying process of the mechanical arm, and improve the use safety.
Description
Technical Field
The invention belongs to the technical field of mechanical arms, and particularly relates to an intelligent mechanical arm for logistics sorting.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling, and has been widely used in various fields such as logistics transportation, industrial assembly, safety and explosion prevention due to the unique operation flexibility. In the logistics industry, because the flow directions of a plurality of batches and different products are different, in the final logistics distribution process, product sorting can be involved, sorting of articles is particularly important in the logistics industry, the traditional manual sorting working mode has low sorting efficiency and high labor intensity, and error sorting is easy to cause, so that the requirement of processing logistics in large batches can not be met, and the mechanical arm is widely applied to the field of logistics sorting.
In the prior art, some technical schemes related to mechanical arms for sorting logistics also appear, for example, a chinese patent with application number CN202010716167.3 discloses a small-sized intelligent mechanical arm for sorting logistics, which comprises a sorting conveyor belt, a base and a mechanical arm main body, wherein the base is arranged on one side of the sorting conveyor belt, the mechanical arm main body is arranged on the base, an information identification mechanism is arranged on the sorting conveyor belt, a vacuum adsorption mechanism is arranged at one end of the mechanical arm main body, a rotation control mechanism is arranged at the lower end of the mechanical arm main body, and the rotation control mechanism is connected with the base; but commodity circulation letter sorting arm among the prior art snatchs the goods through gripper or vacuum chuck generally, and the location is comparatively troublesome when the arm snatchs the goods, snatchs inefficiency, and snatchs when the great goods of volume weight, because the arm rocks the swing and produces periodic fluctuation when moving, and then makes the goods produce the shake in the transportation, and the long-time shake can make the goods take place to sideslip, takes place to drop the accident, reduces its safety in utilization.
Disclosure of Invention
In order to make up the defects of the prior art, the problems that in the prior art, the mechanical claw or the vacuum chuck is used for grabbing goods, the mechanical arm is troublesome to position when grabbing the goods, the grabbing efficiency is low, and when grabbing the goods with larger volume and weight, the mechanical arm shakes and swings to generate periodic fluctuation when moving, so that the goods shake in the conveying process, the goods sideslip due to the shake for a long time, the falling accident occurs, and the use safety of the goods is reduced are solved.
The technical scheme adopted for solving the technical problems is as follows: the intelligent mechanical arm for logistics sorting comprises a conveying device, a logistics cabinet, a mechanical arm and a control system, wherein the mechanical arm is arranged at the terminal of the conveying device, an information identification unit is arranged on the conveying device, and the information identification unit is used for scanning and identifying address information of cargoes and sending the information to the control system to control the mechanical arm to move; a plurality of logistics cabinets are arranged on the periphery of the mechanical arm;
the mechanical arm comprises a base, a turntable, a mechanical arm main body and a grabbing unit, wherein the turntable is rotationally connected to the base, the mechanical arm main body is installed on the turntable, and the grabbing unit is installed at the end part of the mechanical arm main body; the grabbing unit comprises a base plate and a pressing plate, wherein the base plate is of an L-shaped design, an installation groove is formed in the horizontal part of the base plate, a conveyor belt is installed in the installation groove, and the upper surface of the conveyor belt is coplanar with the upper surface of the horizontal part of the base plate; the vertical part of the base plate is provided with a chute, a pressing plate is connected in the chute in a sliding way, the base plate and the pressing plate are integrally of a shape, a first cylinder is fixedly connected between the upper surface of the pressing plate and the chute wall, and balls which are uniformly arranged are arranged on the lower surface of the pressing plate; a pressure sensor is arranged on the inner wall of the chute close to the conveyor belt; the base plate and the pressing plate are fixedly connected with fixing rods which are in an inclined design relative to one end of the conveying device, the two fixing rods are in an splayed design, clamping plates are hinged to one end of the base plate and one end of the pressing plate relative to the conveying device, the clamping plates are arranged in one-to-one correspondence with the fixing rods, and second air cylinders are hinged between the clamping plates and the corresponding fixing rods; in the initial state, the second cylinder is in a contracted state, so that the clamping plate is positioned close to the fixed rod;
when the mechanical arm is in operation, the mechanical arm is controlled to move to the terminal of the conveying device, so that the horizontal part of the substrate is parallel to the conveying device, cargoes on the conveying device are conveyed to the conveying belt in the substrate, the cargoes are directly conveyed from the conveying device to the substrate by the conveying belt, the adjusting and positioning time when the mechanical arm grabs the cargoes can be reduced, and the grabbing efficiency is improved; meanwhile, the goods move along with the conveyor belt in the direction approaching to the pressure sensor until the goods are contacted with the pressure sensor, and at the moment, the first air cylinder is controlled to drive the pressing plate to press downwards to fix the goods; when the size and the quality of the goods are smaller, the pressing plate directly presses down, and the conveying belt always drives the goods to move in the direction close to the pressure sensor, so that the goods always receive force pointing to the direction of the pressure sensor, the pressing plate is matched to press down the goods, the goods can be effectively fixed, and the mechanical arm is convenient to drive the goods to move into the logistics cabinet; when the size weight of goods is big, the clamp plate pushes down and controls the piston rod of second cylinder to stretch out, and then drives the cardboard to the direction rotation that is close to the goods for the cardboard card is at the side of goods and to the direction that is close to the pressure sensor support tight goods, thereby further fixed goods, prevents that the arm from producing the shake in transportation and makes the goods skid and take place the accident that drops, improves the safety in utilization.
According to the invention, the goods are directly transported from the conveyor to the substrate through the conveyor belt, the adjusting and positioning time when the mechanical arm grabs the goods is reduced, the grabbing efficiency is improved, the conveyor belt enables the goods to always receive the force of moving in the direction of the pressure sensor, the goods are pressed down by matching with the pressing plate, the goods can be effectively fixed, meanwhile, the fixing mode can be adjusted according to the type of the sorted goods, the using range of the mechanical arm is improved, the falling accident caused by slipping of the goods is prevented, and the use safety is improved.
Preferably, a rubber layer is arranged on the side surface of the clamping plate, which is far away from the fixed rod, and the surface of the rubber layer, which is far away from the fixed rod, is of a saw-tooth rough surface design; when the size and weight of goods are large, the pressing plate presses down and controls the piston rod of the second cylinder to extend out, and then the clamping plate is driven to rotate in the direction away from the fixed rod, so that the clamping plate clamps the side edge of the goods and abuts against the goods in the direction close to the pressure sensor, a buffering protection effect can be achieved by arranging the rubber layer, the clamping plate is prevented from being directly collided with the goods, the service life of the clamping plate is prolonged, and meanwhile the clamping plate is prevented from excessively extruding the goods to deform; and because the rubber layer surface is the rough surface design of cockscomb structure, can improve the frictional resistance between goods and the cardboard, strengthen the fixed effect to the goods, prevent that the goods from skidding and dropping.
Preferably, the horizontal part of the base plate is provided with two sliding grooves, and the two sliding grooves are respectively positioned at two sides of the conveyor belt; the sliding plate is connected in a sliding way in the sliding groove, an elastic piece is fixedly connected between the lower surface of the sliding plate and the wall of the sliding groove, and the side surface of the sliding plate opposite to one side of the conveying device is designed into an inclined surface which is inclined downwards; when the conveyer belt is in operation, the goods on the conveyer are conveyed onto the base plate, and the goods with large size move upwards along the inclined plane end of the sliding plate when moving along with the conveyer belt, so that the sliding plate is extruded to move downwards to convert the force applied by the goods to the sliding plate into the elastic potential energy of the elastic piece, and then the base plate is buffered and protected, and the service life of the device is prolonged.
Preferably, the upper surface of the sliding plate is provided with a gravity sensor, and the gravity sensor is connected with a control system; the side surfaces of the two clamping plates, which are opposite to each other, are respectively provided with a connecting plate, and the insides of the opposite sides of the two connecting plates are respectively provided with an electromagnet and a first magnet, and the electromagnets and the first magnets are attracted to each other; during operation, the clamping plate rotates in a direction away from the fixing rod to fix the goods, and then the connecting plate, the electromagnet and the first magnet are driven to move, so that the distance between the electromagnet and the first magnet is reduced, and the electromagnet and the first magnet are attracted to each other to drive the clamping plate to move in a direction approaching to each other, so that the fixing effect of the clamping plate on the goods is further improved; meanwhile, the control system adjusts the current through the electromagnet according to the pressure sensed by the gravity sensor, so that the attractive force between the electromagnet and the first magnet can be adjusted, and the clamping degree of the clamping plate can be adjusted according to the weight of goods.
Preferably, a first cavity is formed in the rubber layer, the connecting plate is made of elastic metal materials, a second cavity is formed in the connecting plate, and the first cavity is communicated with the second cavity; during operation, cardboard and rubber layer extrusion chucking goods, the rubber layer receives the extrusion and makes the interior gas of first cavity get into the second cavity, and the interior gas of second cavity increases and drives two connecting plates and extend to one side opposite each other to reduce the distance between electro-magnet and the first magnet, improve the magnetic force effect between electro-magnet and the first magnet.
Preferably, the side surface of the vertical part of the base plate, which is opposite to one side of the clamping plate, is provided with uniformly distributed micropores, and the micropores face the conveyor belt; a placing groove is formed in one side, far away from the clamping plate, of the vertical part of the substrate, a movable plate is connected in a sliding manner in the placing groove, and the micropores are communicated with a space above the movable plate through air passages; the inside of the movable plate and the inside of one end of the pressing plate, which is opposite to the movable plate, are respectively provided with a second magnet, and the two second magnets are attracted to each other; when the movable plate is driven to move downwards by the pressing plate, the pressure intensity is reduced, and gas is absorbed from the outside of the substrate through the micropores; when the pressure plate drives the movable plate to move upwards, the space above the movable plate is reduced, gas is extruded from the micropores, the micropores are used for ejecting the gas to the conveying belt to clean dust on the surfaces of the conveying belt and the substrate, and the phenomenon that the surfaces of the conveying belt and the substrate are adhered with excessive dust after the conveying belt and the substrate are used for a long time is prevented, so that the normal operation of the device is affected.
The beneficial effects of the invention are as follows:
1. according to the intelligent mechanical arm for logistics sorting, disclosed by the invention, the conveying belt, the pressing plate and the clamping plate are arranged, the goods are directly transported from the conveying device to the substrate by utilizing the conveying belt, the adjusting and positioning time when the mechanical arm grabs the goods is reduced, the grabbing efficiency is improved, meanwhile, the conveying belt enables the goods to always bear the force pointing to the direction of the pressure sensor, the pressing plate is matched to press the goods downwards, the goods can be effectively fixed, the clamping plate is driven by the second air cylinder to rotate towards the direction close to the goods to further fix the large goods, the goods are prevented from slipping and falling due to shaking generated in the conveying process of the mechanical arm, and the use safety is improved.
2. According to the intelligent mechanical arm for logistics sorting, the sliding groove, the sliding plate and the elastic piece are arranged, when the conveying belt conveys goods on the conveying device to the substrate, the goods with large size move upwards along the inclined surface end of the sliding plate when moving along the conveying belt, so that the sliding plate is extruded to move downwards to convert the force exerted by the goods on the sliding plate into elastic potential energy of the elastic piece, the substrate is buffered and protected, and the service life of the device is prolonged.
3. According to the intelligent mechanical arm for logistics sorting, the placement groove, the movable plate, the second magnet and the micropores are arranged, the movable plate is driven to move when the pressing plate moves, when the pressing plate drives the movable plate to move downwards, the space above the movable plate is increased, the pressure intensity is reduced, and gas is absorbed from the outside of the substrate through the micropores; when the pressure plate drives the movable plate to move upwards, the space above the movable plate is reduced, gas is extruded from the micropores, the micropores spray out the gas to the conveyor belt to carry out ash removal treatment on the surfaces of the conveyor belt and the substrate, and excessive dust is prevented from adhering to the surfaces of the conveyor belt and the substrate after the conveyor belt and the substrate are used for a long time, so that the normal operation of the device is influenced.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a top view of the present invention;
FIG. 2 is a perspective view of a robotic arm;
fig. 3 is a perspective view of the grasping unit;
FIG. 4 is a cross-sectional view of FIG. 3;
FIG. 5 is an enlarged view of a portion of FIG. 2 at A;
FIG. 6 is an enlarged view of a portion of FIG. 4 at B;
FIG. 7 is a schematic view of a movable bar mounting a second magnet;
in the figure: the conveying device 1, a logistics cabinet 11, a base 12, a turntable 13, a mechanical arm main body 14, a base plate 2, a pressing plate 21, a first cylinder 22, a conveying belt 23, a sliding chute 24, a pressure sensor 25, a sliding chute 26, a sliding plate 27, an elastic piece 28, a fixed rod 3, a clamping plate 31, a second cylinder 32, a rubber layer 33, a connecting plate 34, an electromagnet 35, a first magnet 36, a first cavity 37, a second cavity 38, a micropore 4, a placing groove 41, a movable plate 42, an air passage 43 and a second magnet 44.
Detailed Description
The invention is further described in connection with the following detailed description in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
As shown in fig. 1 to 6, the intelligent mechanical arm for sorting logistics comprises a conveying device 1, a logistics cabinet 11, a mechanical arm and a control system, wherein the mechanical arm is arranged at the terminal of the conveying device 1, an information identification unit is arranged on the conveying device 1 and is used for scanning and identifying address information of goods and sending the information to the control system to control the mechanical arm to move; a plurality of logistics cabinets 11 are arranged on the periphery of the mechanical arm;
the mechanical arm comprises a base 12, a rotary table 13, a mechanical arm main body 14 and a grabbing unit, wherein the rotary table 13 is rotatably connected to the base 12, the mechanical arm main body 14 is installed on the rotary table 13, and the grabbing unit is installed at the end part of the mechanical arm main body 14; the grabbing unit comprises a base plate 2 and a pressing plate 21, wherein the base plate 2 is of an L-shaped design, a mounting groove is formed in the horizontal part of the base plate 2, a conveyor belt 23 is arranged in the mounting groove, and the upper surface of the conveyor belt 23 is coplanar with the upper surface of the horizontal part of the base plate 2; a chute 24 is formed in the vertical portion of the base plate 2, a pressing plate 21 is connected in a sliding manner in the chute 24, the base plate 2 and the pressing plate 21 are integrally of a shape, a first air cylinder 22 is fixedly connected between the upper surface of the pressing plate 21 and the wall of the chute 24, and balls which are uniformly arranged are arranged on the lower surface of the pressing plate 21; a pressure sensor 25 is arranged on the inner wall of the chute 24 at a position close to the conveyor belt 23; the base plate 2 and the pressing plate 21 are fixedly connected with fixing rods 3 which are in an inclined design relative to one end of the conveying device 1, the two fixing rods 3 are in an eight-shaped design, clamping plates 31 are hinged to one end of the base plate 2 and the pressing plate 21 relative to the conveying device 1, the clamping plates 31 are arranged in one-to-one correspondence with the fixing rods 3, and second air cylinders 32 are hinged between the clamping plates 31 and the corresponding fixing rods 3; in the initial state, the second cylinder 32 is in the contracted state so that the clamping plate 31 is positioned close to the fixed rod 3;
when the mechanical arm is in operation, the mechanical arm is controlled to move to the terminal of the conveying device 1, so that the horizontal part of the substrate 2 is parallel to the conveying device 1, cargoes on the conveying device 1 are conveyed to the conveying belt 23 in the substrate 2, the cargoes are directly conveyed from the conveying device 1 to the substrate 2 by utilizing the conveying belt 23, the adjustment positioning time when the mechanical arm grabs the cargoes can be reduced, and the grabbing efficiency is improved; simultaneously, the goods move along with the conveyor belt 23 in the direction approaching to the pressure sensor 25 until contacting with the pressure sensor 25, and at the moment, the first cylinder 22 is controlled to drive the pressing plate 21 to press downwards to fix the goods; when the size and the quality of the goods are smaller, the pressing plate 21 directly presses down, and the conveying belt 23 always drives the goods to move towards the direction close to the pressure sensor 25, so that the goods always receive the force pointing to the direction of the pressure sensor 25, and the goods are pressed down by matching with the pressing plate 21, so that the goods can be effectively fixed, and the mechanical arm can conveniently drive the goods to move into the logistics cabinet 11; when the size weight of goods is big, the clamp plate 21 pushes down and controls the piston rod of second cylinder 32 to stretch out, and then drives cardboard 31 to the direction rotation that is close to the goods for cardboard 31 card is at the side of goods and to the direction that is close to pressure sensor 25 support tight goods, thereby further fixed goods, prevents that the arm from producing the shake in the transportation and making the goods skid, takes place to drop the accident, improves the safety in utilization.
According to the invention, the goods are directly transported from the conveyor 1 to the substrate 2 through the conveyor belt 23, the adjusting and positioning time when the mechanical arm grabs the goods is reduced, the grabbing efficiency is improved, the conveyor belt 23 enables the goods to always receive the force pointing to the direction of the pressure sensor 25, the goods are pressed down by matching with the pressing plate 21, the goods can be effectively fixed, meanwhile, the fixing mode can be adjusted according to the type of the sorted goods, the using range of the mechanical arm is improved, the falling accident caused by slipping of the goods is prevented, and the use safety is improved.
As an embodiment of the present invention, a rubber layer 33 is provided on a side surface of the clamping plate 31 away from the fixing rod 3, and a surface of the rubber layer 33 away from the fixing rod 3 is designed as a saw-tooth rough surface; when the size and weight of goods are large in working, the pressing plate 21 presses down and controls the piston rod of the second air cylinder 32 to extend out, and then the clamping plate 31 is driven to rotate in the direction away from the fixed rod 3, so that the clamping plate 31 clamps the side edge of the goods and abuts against the goods in the direction close to the pressure sensor 25, a buffering protection effect can be achieved through the arrangement of the rubber layer 33, the clamping plate 31 is prevented from directly colliding with the goods, the service life of the clamping plate 31 is prolonged, and meanwhile the clamping plate 31 is prevented from excessively extruding the goods to deform the goods; and because the surface of the rubber layer 33 is designed to be a saw-tooth rough surface, the friction resistance between the goods and the clamping plate 31 can be improved, the fixing effect on the goods is enhanced, and the goods are prevented from slipping and falling.
As an embodiment of the present invention, the horizontal portion of the substrate 2 is provided with two sliding grooves 26, and the two sliding grooves 26 are respectively located at two sides of the conveyor belt 23; a sliding plate 27 is connected in the sliding groove 26 in a sliding way, an elastic piece 28 is fixedly connected between the lower surface of the sliding plate 27 and the groove wall of the sliding groove 26, and the side surface of the sliding plate 27 opposite to one side of the conveying device 1 is designed into an inclined surface with an inclined downward direction; when the conveyer belt 23 is in operation, the goods on the conveyer device 1 are conveyed onto the base plate 2, and the goods with large size move upwards along the inclined surface end of the sliding plate 27 when moving along with the conveyer belt 23, so that the sliding plate 27 is extruded to move downwards to convert the force exerted by the goods on the sliding plate 27 into elastic potential energy of the elastic piece 28, and then the base plate 2 is buffered and protected, and the service life of the device is prolonged.
As an embodiment of the present invention, the upper surface of the sliding plate 27 is provided with a gravity sensor, and the gravity sensor is connected with a control system; the two clamping plates 31 are respectively provided with a connecting plate 34 on the side surface of one side opposite to each other, an electromagnet 35 and a first magnet 36 are respectively arranged in the side opposite to the two connecting plates 34, and the electromagnet 35 and the first magnet 36 are mutually attracted; during operation, the clamping plate 31 rotates in a direction away from the fixed rod 3 to fix the goods, and then the connecting plate 34, the electromagnet 35 and the first magnet 36 are driven to move, so that the distance between the electromagnet 35 and the first magnet 36 is reduced to be close to each other, and the clamping plate 31 can be driven to move in a direction close to each other due to the attraction of the electromagnet 35 and the first magnet 36, so that the fixing effect of the clamping plate 31 on the goods is further improved; meanwhile, the control system adjusts the current passing through the electromagnet 35 according to the pressure sensed by the gravity sensor, so that the attractive force between the electromagnet 35 and the first magnet 36 can be adjusted, and the clamping degree of the clamping plate 31 can be adjusted according to the weight of goods.
As an embodiment of the present invention, a first cavity 37 is formed in the rubber layer 33, the connecting plate 34 is made of an elastic metal material, a second cavity 38 is formed in the connecting plate 34, and the first cavity 37 is communicated with the second cavity 38; during operation, the clamping plate 31 and the rubber layer 33 squeeze and clamp goods, the rubber layer 33 is squeezed to enable gas in the first cavity 37 to enter the second cavity 38, and the gas in the second cavity 38 increases to drive the two connecting plates 34 to extend towards the opposite sides, so that the distance between the electromagnet 35 and the first magnet 36 is reduced, and the magnetic force effect between the electromagnet 35 and the first magnet 36 is improved.
As an embodiment of the present invention, the vertical portion of the substrate 2 is provided with uniformly distributed micro holes 4 on the side surface of one side opposite to the clamping plate 31, and the micro holes 4 are all designed towards the conveyor belt 23; a placing groove 41 is formed in the vertical part of the base plate 2, which is far away from the clamping plate 31, a movable plate 42 is connected in the placing groove 41 in a sliding manner, and the micropores 4 are communicated with a space above the movable plate 42 through air passages 43; the movable plate 42 and the pressing plate 21 are respectively provided with a second magnet 44 at the inner part of one end of the movable plate 42, and the two second magnets 44 are attracted mutually; when the movable plate 42 is driven to move downwards by the pressing plate 21, the pressure intensity is reduced, and gas is absorbed from the outside of the substrate 2 through the micropores 4; when the pressure plate 21 drives the movable plate 42 to move upwards, the space above the movable plate 42 is reduced, gas is extruded to be sprayed out from the micropores 4, and the micropores 4 spray out the gas to the conveying belt 23 to clean dust on the surfaces of the conveying belt 23 and the substrate 2, so that the phenomenon that the surfaces of the conveying belt 23 and the substrate 2 are adhered with excessive dust after long-time use is prevented, and the normal operation of the device is affected.
The specific working procedure of the invention is as follows:
when the mechanical arm is in operation, the mechanical arm is controlled to move to the terminal of the conveying device 1, so that the horizontal part of the substrate 2 is parallel to the conveying device 1, cargoes on the conveying device 1 are conveyed to the conveying belt 23 in the substrate 2, the cargoes are directly conveyed from the conveying device 1 to the substrate 2 by utilizing the conveying belt 23, the adjustment positioning time when the mechanical arm grabs the cargoes can be reduced, and the grabbing efficiency is improved; simultaneously, the goods move along with the conveyor belt 23 in the direction approaching to the pressure sensor 25 until contacting with the pressure sensor 25, and at the moment, the first cylinder 22 is controlled to drive the pressing plate 21 to press downwards to fix the goods; when the size and the quality of the goods are smaller, the pressing plate 21 directly presses down, and the conveying belt 23 always drives the goods to move towards the direction close to the pressure sensor 25, so that the goods always receive the force pointing to the direction of the pressure sensor 25, and the goods are pressed down by matching with the pressing plate 21, so that the goods can be effectively fixed, and the mechanical arm can conveniently drive the goods to move into the logistics cabinet 11; when the size and weight of the goods are large, the pressing plate 21 presses down and controls the piston rod of the second air cylinder 32 to extend out, so that the clamping plate 31 is driven to rotate in the direction close to the goods, the clamping plate 31 is clamped on the side edge of the goods and abuts against the goods in the direction close to the pressure sensor 25, the goods are further fixed, the goods are prevented from slipping due to shaking generated in the conveying process of the mechanical arm, falling accidents occur, and the use safety is improved; meanwhile, the rubber layer 33 plays a role in buffering and protecting, so that the clamping plate 31 is prevented from directly colliding with goods, the service life of the clamping plate 31 is prolonged, and meanwhile, the clamping plate 31 is prevented from excessively extruding the goods to deform; and because the surface of the rubber layer 33 is designed to be a saw-tooth rough surface, the friction resistance between the goods and the clamping plate 31 can be improved, the fixing effect on the goods is enhanced, and the goods are prevented from slipping and falling.
Meanwhile, when the conveyor belt 23 conveys the goods on the conveyor 1 to the base plate 2, the goods with large size move upwards along the inclined surface end of the sliding plate 27 when moving along with the conveyor belt 23, so that the sliding plate 27 is extruded to move downwards to convert the force exerted by the goods on the sliding plate 27 into elastic potential energy of the elastic piece 28, thereby playing a buffering protection role on the base plate 2 and prolonging the service life of the device; when the clamping plate 31 rotates in the direction away from the fixed rod 3 to fix the goods, the connecting plate 34, the electromagnet 35 and the first magnet 36 are driven to move, so that the distance between the electromagnet 35 and the first magnet 36 is reduced to be close to each other, and the clamping plate 31 can be driven to move in the direction close to each other due to the attraction of the electromagnet 35 and the first magnet 36, so that the fixing effect of the clamping plate 31 on the goods is further improved; meanwhile, the control system adjusts the current passing through the electromagnet 35 according to the pressure sensed by the gravity sensor, so that the attractive force between the electromagnet 35 and the first magnet 36 can be adjusted, and the clamping degree of the clamping plate 31 can be adjusted according to the weight of goods; simultaneously, the rubber layer 33 is extruded to enable the gas in the first cavity 37 to enter the second cavity 38, and the gas in the second cavity 38 is increased to drive the two connecting plates 34 to extend towards one side opposite to each other, so that the distance between the electromagnet 35 and the first magnet 36 is reduced, and the magnetic force effect between the electromagnet 35 and the first magnet 36 is improved; and because the two second magnets 44 are attracted to each other, the movable plate 42 is driven to move when the pressing plate 21 moves, when the pressing plate 21 drives the movable plate 42 to move downwards, the space above the movable plate 42 is increased, the pressure intensity is reduced, and the gas is absorbed from the outside of the substrate 2 through the micropores 4; when the pressure plate 21 drives the movable plate 42 to move upwards, the space above the movable plate 42 is reduced, gas is extruded to be sprayed out from the micropores 4, and the micropores 4 spray out the gas to the conveying belt 23 to clean dust on the surfaces of the conveying belt 23 and the substrate 2, so that the phenomenon that the surfaces of the conveying belt 23 and the substrate 2 are adhered with excessive dust after long-time use is prevented, and the normal operation of the device is affected.
The movable plate 42 and the connecting plate 34 are formed by welding two plates with empty slots, and a second magnet 44, a first magnet 36 and an electromagnet 35 are arranged during splicing; the same applies to the case where the movable plate 42 is mounted on the base plate 2.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. Intelligent mechanical arm is used in commodity circulation letter sorting, its characterized in that: the automatic cargo handling system comprises a conveying device (1), a logistics cabinet (11), a mechanical arm and a control system, wherein the mechanical arm is arranged at the terminal of the conveying device (1), an information identification unit is arranged on the conveying device (1) and is used for scanning and identifying address information of cargoes and sending the information to the control system to control the mechanical arm to move; a plurality of logistics cabinets (11) are arranged on the periphery of the mechanical arm;
the mechanical arm comprises a base (12), a rotary table (13), a mechanical arm main body (14) and a grabbing unit, wherein the rotary table (13) is rotatably connected to the base (12), the mechanical arm main body (14) is installed on the rotary table (13), and the grabbing unit is installed at the end part of the mechanical arm main body (14); the grabbing unit comprises a base plate (2) and a pressing plate (21), wherein the base plate (2) is of an L-shaped design, a mounting groove is formed in the horizontal part of the base plate (2), a conveying belt (23) is arranged in the mounting groove, and the upper surface of the conveying belt (23) is coplanar with the upper surface of the horizontal part of the base plate (2); a chute (24) is formed in the vertical part of the base plate (2), a pressing plate (21) is connected in a sliding manner in the chute (24), the base plate (2) and the pressing plate (21) are integrally of a shape, a first air cylinder (22) is fixedly connected between the upper surface of the pressing plate (21) and the wall of the chute (24), and balls which are uniformly arranged are arranged on the lower surface of the pressing plate (21); a pressure sensor (25) is arranged on the inner wall of the chute (24) close to the conveyor belt (23); the base plate (2) and the pressing plate (21) are fixedly connected with fixing rods (3) which are obliquely designed relative to one end of the conveying device (1), the two fixing rods (3) are in a splayed design, clamping plates (31) are hinged to one end of the base plate (2) and one end of the pressing plate (21) relative to the conveying device (1), the clamping plates (31) and the fixing rods (3) are arranged in a one-to-one correspondence mode, and second air cylinders (32) are hinged between the clamping plates (31) and the corresponding fixing rods (3); in the initial state, the second cylinder (32) is in a contracted state, so that the clamping plate (31) is positioned close to the fixed rod (3);
the side surface of one side of the clamping plate (31) far away from the fixed rod (3) is provided with a rubber layer (33), and the surface of one side of the rubber layer (33) far away from the fixed rod (3) is of a saw-tooth-shaped rough surface design.
2. The intelligent mechanical arm for sorting logistics according to claim 1, wherein: the horizontal part of the base plate (2) is provided with two sliding grooves (26), and the two sliding grooves (26) are respectively positioned at two sides of the conveyor belt (23); the sliding plate (27) is connected in the sliding groove (26), an elastic piece (28) is fixedly connected between the lower surface of the sliding plate (27) and the groove wall of the sliding groove (26), and one side surface of the sliding plate (27) opposite to the conveying device (1) is designed to be an inclined surface inclined downwards.
3. The intelligent mechanical arm for sorting logistics according to claim 2, wherein: the upper surface of the sliding plate (27) is provided with a gravity sensor which is connected with a control system; the side surfaces of one sides of the two clamping plates (31) opposite to each other are respectively provided with a connecting plate (34), an electromagnet (35) and a first magnet (36) are respectively arranged in one side of the two connecting plates (34) opposite to each other, and the electromagnet (35) and the first magnet (36) are attracted to each other.
4. An intelligent mechanical arm for sorting logistics according to claim 3, wherein: the rubber layer (33) is internally provided with a first cavity (37), the connecting plate (34) is made of elastic metal materials, the connecting plate (34) is internally provided with a second cavity (38), and the first cavity (37) is communicated with the second cavity (38).
5. The intelligent mechanical arm for sorting logistics according to claim 1, wherein: the vertical part of the base plate (2) is provided with micropores (4) which are uniformly distributed relative to the side surface of one side of the clamping plate (31), and the micropores (4) are all designed towards the conveying belt (23); a placing groove (41) is formed in the vertical part of the base plate (2) away from one side of the clamping plate (31), a movable plate (42) is connected in the placing groove (41) in a sliding mode, and the micropores (4) are communicated with a space above the movable plate (42) through air passages (43); the movable plate (42) and the pressing plate (21) are respectively provided with a second magnet (44) relative to the inside of one end of the movable plate (42), and the two second magnets (44) are attracted to each other.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110468283.2A CN113305014B (en) | 2021-04-28 | 2021-04-28 | Intelligent mechanical arm for logistics sorting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110468283.2A CN113305014B (en) | 2021-04-28 | 2021-04-28 | Intelligent mechanical arm for logistics sorting |
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| CN113305014B true CN113305014B (en) | 2023-05-09 |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10018385A1 (en) * | 2000-04-13 | 2001-10-18 | Abb Patent Gmbh | Method and device for the automatic loading and unloading of piece goods |
| CN106393175A (en) * | 2016-11-25 | 2017-02-15 | 南陵县生产力促进中心 | Mechanical arm preventing shock in transferring process |
| CN109158320B (en) * | 2018-11-08 | 2023-11-14 | 深圳蓝胖子机器智能有限公司 | Logistics sorting system and logistics sorting method |
| WO2020193397A1 (en) * | 2019-03-28 | 2020-10-01 | Flextek A/S | Robot combination emptying unit |
| CN110624835A (en) * | 2019-09-05 | 2019-12-31 | 深圳蓝胖子机器人有限公司 | End effector for gravity sorting, sorting system and sorting method |
| CN111591759A (en) * | 2020-06-04 | 2020-08-28 | 扬州工业职业技术学院 | Cargo gripping device and method for industrial robot |
| CN111776739B (en) * | 2020-07-23 | 2021-01-29 | 北京天圣华信息技术有限责任公司 | Efficient commodity circulation letter sorting is with small-size intelligent arm |
| CN112171708A (en) * | 2020-09-18 | 2021-01-05 | 许敏 | Emulation mechanical finger based on electromagnetic drive |
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