CN114030888A

CN114030888A - Robot stacking manipulator capable of rotating flexibly

Info

Publication number: CN114030888A
Application number: CN202111496727.XA
Authority: CN
Inventors: 马刚; 赵宏立; 张红岩; 孙翀翔; 朱操; 王喜华; 张晓婷
Original assignee: Liaoning Provincial College of Communications
Current assignee: Liaoning Provincial College of Communications
Priority date: 2021-12-09
Filing date: 2021-12-09
Publication date: 2022-02-11

Abstract

The invention discloses a robot stacking manipulator capable of flexibly rotating, which comprises a lifting mechanism, a rotating mechanism and a grabbing mechanism, the rotating mechanism is arranged at the upper end of the lifting mechanism, the grabbing mechanism is fixedly connected at the upper end of the rotating mechanism, the invention arranges a main body, a rotatable driving screw rod is arranged in the main body, the driving screw rod is driven by a driving motor to rotate, thereby driving the movable block inside to move up and down, the movable block controls the connecting arm to move, the connecting arm is provided with a manipulator for grabbing goods, therefore, when in work, the stroke of the lifting mechanism does not need to be overlarge, after the manipulator grabs the goods, the driving screw rod drives the movable block to move to drive the goods to ascend or descend, the whole device is small and exquisite, and the slewing mechanism can be comparatively nimble the rotation of control grabbing mechanism, adapts to small-scale goods pile up neatly work.

Description

Robot stacking manipulator capable of rotating flexibly

Technical Field

The invention relates to the technical field of stacking robots, in particular to a robot stacking manipulator capable of flexibly rotating.

Background

The palletizing robot is a product of organically combining machinery and a computer program, provides higher production efficiency for modern production, and when the palletizing robot is adopted, an important thing is also considered, namely how the robot grasps a product, and the vacuum gripper is the most common mechanical arm end-of-arm tool, so that the palletizing robot is relatively low in price, easy to operate and capable of effectively loading most loads.

The prior art discloses the application numbers as follows: the mechanical arm rack of the intelligent stacking robot of CN201621824. X structurally comprises a left fixing frame, a fixed beam column, a right fixing frame, a left moving guide rail, a right moving guide rail, a mechanical arm mechanism, a tail frame, a pressure bearing plate, a horizontal transverse guide rail and a horizontal cross beam, wherein the tail end of the left fixing frame is fixedly connected with the right fixing frame through the tail frame, the bottoms of the left fixing frame and the right fixing frame are fixedly connected with the fixed beam column, the left moving guide rail and the right moving guide rail are respectively arranged on the left fixing frame and the right fixing frame, the left moving guide rail and the right moving guide rail are of the same structure, the horizontal transverse guide rail and the horizontal cross beam are erected between the upper end surfaces of the left fixing frame and the right fixing frame, one ends of the horizontal transverse guide rail and the horizontal cross beam are provided with supporting slide blocks, and the other ends of the horizontal transverse guide rail and the horizontal cross beam are provided with stable slide plates, but the prior art has larger occupied area, and is relatively inflexible, so a robot stacking manipulator capable of flexibly rotating is provided.

Disclosure of Invention

The invention aims to provide a robot stacking manipulator capable of flexibly rotating so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a robot stacking manipulator flexible in rotation comprises a lifting mechanism, a rotating mechanism and a grabbing mechanism, wherein the rotating mechanism is arranged at the upper end of the lifting mechanism, the grabbing mechanism is fixedly connected to the upper end of the rotating mechanism, the grabbing mechanism comprises a main body, the main body is in a long strip shape, a movable cavity is arranged inside the main body, the movable cavity is cylindrical, a driving screw is arranged in the movable cavity in a rotating mode, the driving screw and the movable cavity are coaxially arranged, a driving motor is fixedly connected to the upper end of the main body, an output shaft of the driving motor penetrates through the upper side wall of the main body and is fixedly connected with the driving screw, a movable block is movably connected inside the movable cavity, the driving screw penetrates through the movable block, the driving screw and the movable block are in threaded connection, a side wall of the main body penetrates through a strip-shaped groove, the outer surface of the movable block corresponds to one end of the connecting arm fixedly connected with the strip-shaped groove, and the other end of the connecting arm penetrates through the manipulator fixedly connected with the strip-shaped groove.

Preferably, the manipulator comprises a fixed sleeve, the fixed sleeve is fixedly connected to the outer surface of one end of the connecting arm, which is correspondingly far away from the movable block, the bottom of the fixed sleeve is fixedly connected with a shell which is cylindrical, a rotating gear is rotatably arranged in the shell, a plurality of fixed frames penetrate through the side wall of the shell, the fixed frames are uniformly distributed in a ring shape, the inner surfaces of the fixed frames are respectively connected with movable plates in a sliding way, one end of the movable plate far away from the shell is respectively and fixedly connected with a clamping plate, the other end of the movable plate is respectively and fixedly connected with a rack, the rack is respectively engaged with the rotating gears, the axes of the rotating gears are fixedly connected with a fixed shaft, and the upper ends of the fixed shafts penetrate through the fixed sleeves and are fixedly connected with transmission rollers.

Preferably, the fixed frames are arranged in a staggered mode in layers.

Preferably, the movable block includes movable sleeve, movable sleeve with the driving screw spiro union, movable sleeve's outer peripheral face is equipped with the ring channel, the surface rotation of ring channel is equipped with rotates the sleeve pipe, it is equipped with the annular chamber to rotate sheathed tube inner peripheral surface, the inside of annular chamber is equipped with the torsional spring, the torsional spring respectively with movable sleeve and rotate the bushing, the linking arm with rotate sleeve pipe fixed connection, movable sleeve's upper end fixedly connected with drive running roller, drive running roller with through belt transmission between the drive running roller.

Preferably, the bottom of the driving screw is fixedly connected with a connecting block, and the lower end of the movable sleeve is provided with a connecting groove matched with the connecting block.

Preferably, through grooves for the belt to pass through are respectively formed in the side wall of the main body corresponding to the two sides of the strip-shaped groove.

Preferably, slewing mechanism includes the base, the last fixed surface of base is connected with the gear, the last surface rotation of gear is equipped with the rolling disc, main part fixed connection be in the upper surface of rolling disc, fixedly connected with motor on the rolling disc, the output shaft fixedly connected with of motor with gear engagement's drive gear.

Compared with the prior art, the invention has the beneficial effects that: the utility model provides a rotate nimble robot pile up neatly machinery hand, through setting up hoist mechanism, slewing mechanism and snatch the mechanism, it rises or descends by hoist mechanism control its to snatch the mechanism, it rotates by slewing mechanism control, through setting up the main part, the inside rotatable drive screw that sets up of main part, drive screw rotates under driving motor's drive, thereby it reciprocates to drive inside movable block, movable block control linking arm removes, be provided with the manipulator that is used for snatching the goods on the linking arm, thereby in operation, elevating mechanism's stroke need not too big, after grabbing the goods by the manipulator, it moves and drives the goods and rise or descend to drive the movable block removal by drive screw, and the device is whole small and exquisite, slewing mechanism can be comparatively nimble control snatch the rotation of mechanism, adapt to small-scale goods pile up neatly work.

Drawings

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

FIG. 2 is a schematic top sectional view of a robot of the present invention;

FIG. 3 is a schematic cross-sectional front view of the present invention;

FIG. 4 is a schematic top view of a movable block according to the present invention;

FIG. 5 is a schematic view of the driving screw structure of the present invention.

In the figure: 1-main body, 2-movable cavity, 3-driving screw, 4-driving motor, 5-strip groove, 6-connecting arm, 7-fixed sleeve, 8-shell, 9-rotating gear, 10-fixed frame, 11-movable plate, 12-clamping plate, 13-rack, 14-driving gear, 15-driving roller, 16-movable sleeve, 17-annular groove, 18-rotating sleeve, 19-annular cavity, 20-belt, 21-connecting block, 22-connecting groove, 23-through groove, 24-base, 25-gear, 26-rotating disc, 27-motor and 28-driving roller.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides a technical solution: a robot stacking manipulator flexible in rotation comprises a lifting mechanism, a rotating mechanism and a grabbing mechanism, wherein the rotating mechanism is arranged at the upper end of the lifting mechanism, the grabbing mechanism is fixedly connected to the upper end of the rotating mechanism, the lifting mechanism is used for controlling the whole device to ascend or descend, the rotating mechanism is used for controlling equipment to rotate, the grabbing mechanism comprises a main body 1, as shown in figure 1, the main body 1 is in a long strip shape, a movable cavity 2 is arranged inside the main body 1, the movable cavity 2 is in a cylindrical shape, a driving screw rod 3 is rotatably arranged inside the movable cavity 2, the driving screw rod 3 and the movable cavity 2 are coaxially arranged, a driving motor 4 is fixedly connected to the upper end of the main body 1, and an output shaft of the driving motor 4 penetrates through the upper side wall of the main body 1 and is fixedly connected with the driving screw rod 3, driving motor 4 is used for controlling drive screw 3 and rotates, the inside swing joint of activity cavity 2 has the movable block, drive screw 3 runs through the movable block, just drive screw 3 with the movable block spiro union, thereby work as drive screw 3 can drive the movable block during the rotation and reciprocate in the inside of activity cavity 2, one side lateral wall of main part 1 runs through and is equipped with bar groove 5, the vertical setting in bar groove 5, the surface correspondence of movable block 5 fixedly connected with linking arm 6's one end is located in the bar groove, linking arm 6's the other end passes 5 fixedly connected with manipulators in bar groove.

Specifically, as shown in fig. 3, the manipulator includes a fixing sleeve 7, the fixing sleeve 7 is fixedly connected to the connecting arm 6, the outer surface of one end of the movable block is correspondingly kept away from the connecting arm, a housing 8 is fixedly connected to the bottom of the fixing sleeve 7, the housing 8 is cylindrical, the housing 8 and the fixing sleeve 7 are coaxially arranged, a rotating gear 9 is rotatably arranged inside the housing 8, as shown in fig. 2, the rotating gear 9 and the fixing sleeve 7 are coaxially arranged, a fixing frame 10 is arranged on the side wall of the housing 8 in a penetrating manner, the fixing frame 10 is provided in a plurality of numbers, the fixing frame 10 is uniformly distributed in an annular shape, the two ends of the fixing frame 10 are respectively open, a movable plate 11 is slidably connected to the inner surface of the fixing frame 10, the outer surface of the movable plate 11 and the inner surface of the fixing frame 10 are uniformly laminated, guarantee fly leaf 11 can be in the inside steady slip of fixed frame 10, fly leaf 11 is kept away from shell 8's one end difference fixedly connected with grip block 12, fly leaf 11's the other end difference fixedly connected with rack 13, rack 13 respectively with the meshing of running gear 9, rack 13 along the tangential direction of running gear 9 sets up, the axle center department fixedly connected with fixed axle of running gear 9, the upper end of fixed axle is passed fixing sleeve 7 fixedly connected with drive running roller 15, when the drive when drive running roller 15 rotates, can drive running gear 9 through the fixed axle and rotate to running gear 9 drives rack 13 and removes, and rack 13 drives fly leaf 11 synchronous motion, and fly leaf 11 drives grip block 12 and removes, carries out the centre gripping to the goods.

Specifically, the fixed frames 10 are arranged in a staggered manner in layers, so that the movement of the racks 13 is not interfered.

Particularly, the movable block includes movable sleeve 16, movable sleeve 16 cover is established drive screw 3's the outside, movable sleeve 16 with drive screw 3 spiro union, movable sleeve 16's outer peripheral face is equipped with ring channel 17, ring channel 17 with the coaxial setting of movable sleeve 16, ring channel 17's surface rotation is equipped with rotating sleeve 18, rotating sleeve 18's inner peripheral surface with ring channel 17 outer peripheral face is evenly laminated, just rotating sleeve 18's outer peripheral face and the even laminating of the internal surface of activity cavity 2, rotating sleeve 18's inner peripheral surface is equipped with annular chamber 19, annular chamber 19 and the coaxial setting of rotating sleeve 18, the inside of annular chamber 19 is equipped with the torsional spring, the torsional spring respectively with movable sleeve 16 and rotating sleeve 18 is connected, linking arm 6 with rotating sleeve 18 fixed connection, the upper end of the movable sleeve 16 is fixedly connected with a driving roller 28, the driving roller 28 and the driving roller 15 are driven by a belt 20, the clamping plate 12 is located at a position close to each other in a normal state, when clamping is needed, the driving motor 4 drives the driving screw 3 to rotate, the driving screw 3 drives the movable sleeve 16 to move downwards, so that the clamping plate 12 is driven to move downwards by the connecting arm 6, when the movable sleeve 16 moves to a limit position, the driving screw 3 continues to rotate, the movable sleeve 16 cannot continue to move, so that the driving screw 3 drives the movable sleeve 16 to rotate, the movable sleeve 16 rotates relative to the rotating sleeve 18, at the moment, the torsion spring is compressed, the driving roller 28 drives the belt 20 to rotate, the driving roller 15 rotates, the driving roller 15 enables the clamping plate 12 to move towards a direction away from the axis of the shell 8, so that the clamping plate 12 is opened, at the moment, the lifting mechanism control device descends, the driving motor 4 rotates reversely, the clamping plate 12 resets under the action of the rotating gear 9 under the action of the torsion spring to clamp the goods, and then the movable sleeve 16 ascends under the action of the driving screw rod 3 to lift the goods.

Particularly, the bottom fixedly connected with connecting block 21 of driving screw 3, the lower extreme of activity sleeve 16 be equipped with connecting block 21 matched with spread groove 22, as shown in fig. 5, connecting block 21 is the round platform shape, just connecting block 21 with 3 coaxial settings of driving screw, the upper surface of connecting block 21 is equipped with the sawtooth, when descending extremely the position under the effect of rotating sleeve 16 word driving screw 3, connecting block 21 gets into the inside of spread groove 22, and the internal surface of spread groove 22 is provided with the sawtooth equally, produces very big frictional force behind the two contact, and then can drive and rotate sleeve 16 and rotate.

Specifically, as shown in fig. 1, the side wall of the main body 1 corresponds to the two sides of the strip-shaped groove 5, through grooves 23 are respectively provided for the belt 20 to pass through, the length of the through grooves 23 is the same as that of the strip-shaped groove 5, and the through grooves 23 are respectively arranged in parallel with the strip-shaped groove 5.

Specifically, as shown in fig. 3, the slewing mechanism includes base 24, the last fixed surface of base 24 is connected with gear 25, gear 25 with base 24 is coaxial to be set up, the upper surface of gear 25 rotates and is equipped with rolling disc 26, main part 1 fixed connection be in the upper surface of rolling disc 26, fixedly connected with motor 27 on the rolling disc 26, motor 27's output shaft fixedly connected with the drive gear 28 of gear 25 meshing, rolling disc 26 are the shell type structure, form good protection to inside gear 25, and drive motor 27 rotates, can make rolling disc 26 rotate to drive the mechanism synchronous revolution that snatchs of its upper end.

The working principle is as follows: when the invention is used, the clamping plates 12 are normally located at positions close to each other, when clamping is needed, the driving motor 4 drives the driving screw 3 to rotate, the driving screw 3 drives the movable sleeve 16 to move downwards, so that the clamping plates 12 are driven to move downwards through the connecting arm 6, when the movable sleeve 16 moves to the limit position, the driving screw 3 continues to rotate, the movable sleeve 16 cannot continue to move, so that the driving screw 3 drives the movable sleeve 16 to rotate, the movable sleeve 16 rotates relative to the rotating sleeve 18, at the moment, the torsion spring is compressed, the belt 20 is driven to rotate through the driving roller 28, so that the driving roller 15 is driven to rotate, the driving roller 15 enables the clamping plates 12 to move towards the direction away from the axis of the shell 8, so that the clamping plates 12 are opened, at the moment, the lifting mechanism control device descends, the driving motor 4 reversely rotates, under the action of the torsion spring, the clamping plate 12 is reset under the action of the rotating gear 9 to clamp the goods, then the movable sleeve 16 is lifted under the action of the driving screw rod 3 to lift the goods, then the rotating mechanism control device rotates to move the goods to a designated position, and the steps are repeated to unload the goods.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a rotate nimble robot pile up neatly machinery hand, includes hoist mechanism, slewing mechanism and snatchs the mechanism, its characterized in that: the rotating mechanism is arranged at the upper end of the lifting mechanism, the grabbing mechanism is fixedly connected at the upper end of the rotating mechanism, the grabbing mechanism comprises a main body (1), the main body (1) is in a long strip shape, a movable cavity (2) is arranged inside the main body (1), the movable cavity (2) is cylindrical, a driving screw (3) is arranged inside the movable cavity (2) in a rotating mode, the driving screw (3) and the movable cavity (2) are coaxially arranged, a driving motor (4) is fixedly connected to the upper end of the main body (1), an output shaft of the driving motor (4) penetrates through the upper side wall of the main body (1) and is fixedly connected with the driving screw (3), a movable block is movably connected inside the movable cavity (2), the driving screw (3) penetrates through the movable block, and the driving screw (3) is in threaded connection with the movable block, one side lateral wall of main part (1) runs through and is equipped with bar groove (5), the surface of movable block corresponds the one end of bar groove (5) fixedly connected with linking arm (6), the other end of linking arm (6) passes bar groove (5) fixedly connected with manipulator.

2. A rotationally flexible robotic stacking manipulator as claimed in claim 1, wherein: the manipulator comprises a fixing sleeve (7), the fixing sleeve (7) is fixedly connected to the connecting arm (6) and correspondingly far away from the outer surface of one end of the movable block, the bottom of the fixing sleeve (7) is fixedly connected with a shell (8), the shell (8) is cylindrical, a rotating gear (9) is arranged on the inner rotation of the shell (8), a fixing frame (10) is arranged on the side wall of the shell (8) in a penetrating mode, the fixing frame (10) is multiple in number, the fixing frame (10) is annularly and uniformly distributed, a movable plate (11) is respectively and slidably connected to the inner surface of the fixing frame (10), a clamping plate (12) is respectively and fixedly connected to one end, far away from the shell (8), of the movable plate (11), a rack (13) is respectively and fixedly connected to the other end of the movable plate (11), and the rack (13) is respectively meshed with the rotating gear (9), the axis of the rotating gear (9) is fixedly connected with a fixed shaft, and the upper end of the fixed shaft penetrates through the fixed sleeve (7) and is fixedly connected with a transmission roller (15).

3. A rotationally flexible robotic stacking manipulator as claimed in claim 2, wherein: the fixed frames (10) are arranged in a layered and staggered manner.

4. A rotationally flexible robotic stacking manipulator as claimed in claim 3, wherein: the movable block is including activity sleeve (16), activity sleeve (16) with driving screw (3) spiro union, the outer peripheral face of activity sleeve (16) is equipped with ring channel (17), the surface rotation of ring channel (17) is equipped with rotating sleeve pipe (18), the inner peripheral surface that rotates sleeve pipe (18) is equipped with annular chamber (19), the inside of annular chamber (19) is equipped with the torsional spring, the torsional spring respectively with activity sleeve (16) and rotating sleeve pipe (18) are connected, linking arm (6) with rotating sleeve pipe (18) fixed connection, the upper end fixedly connected with drive running roller (28) of activity sleeve (16), drive running roller (28) with through belt (20) transmission between drive running roller (15).

5. A rotationally flexible robotic stacking manipulator as claimed in claim 4, wherein: the bottom fixedly connected with connecting block (21) of drive screw (3), the lower extreme of activity sleeve (16) be equipped with connecting block (21) matched with spread groove (22).

6. A rotationally flexible robotic stacking manipulator as claimed in claim 5, wherein: the side wall of the main body (1) corresponds to the two sides of the strip-shaped groove (5) and is respectively provided with a through groove (23) for the belt (20) to pass through.

7. A rotationally flexible robotic stacking manipulator as claimed in any one of claims 1 to 6, wherein: slewing mechanism includes base (24), the last fixed surface of base (24) is connected with gear (25), the upper surface rotation of gear (25) is equipped with rolling disc (26), main part (1) fixed connection be in the upper surface of rolling disc (26), fixedly connected with motor (27) on rolling disc (26), the output shaft fixedly connected with of motor (27) with drive gear (14) of gear (25) meshing.