CN114044353B

CN114044353B - Harbour logistics manipulator with adjustable grabbing state

Info

Publication number: CN114044353B
Application number: CN202210023022.4A
Authority: CN
Inventors: 杨怡婷; 王洪军; 刘兆媛; 刘秋艳; 陈天祥; 曹月; 于世楠
Original assignee: Tianjin Binhai Vocational College Tanggu Branch Of Tianjin Radio And Television University
Current assignee: Tianjin Binhai Vocational College Tanggu Branch Of Tianjin Radio And Television University
Priority date: 2022-01-10
Filing date: 2022-01-10
Publication date: 2022-03-15
Anticipated expiration: 2042-01-10
Also published as: CN114044353A

Abstract

The invention discloses a port logistics manipulator with an adjustable grabbing state, which belongs to the technical field of manipulators and comprises a supporting mechanism, a transmission mechanism, a driving mechanism, a clamping mechanism and a lifting mechanism, wherein the lifting mechanism is arranged at the top of the supporting mechanism, the transmission mechanism is arranged at the top of the lifting mechanism, and the driving mechanism and the clamping mechanism are arranged at the top of the transmission mechanism.

Description

Harbour logistics manipulator with adjustable grabbing state

Technical Field

The invention relates to the technical field of manipulators, in particular to a port logistics manipulator with an adjustable grabbing state.

Background

In the process of transferring materials, when a first conveying workbench and a second conveying workbench are positioned at two right-angled ends and a turning connecting conveying belt is not convenient to arrange, multi-shaft linkage mechanical arms are required for carrying, the mechanical arms are generally complex in structure and high in manufacturing cost, materials on the first conveying workbench and the second conveying workbench can be carried in a reciprocating mode usually through manual work, a Chinese patent with the publication number of CN107194440A discloses a logistics distribution mechanical arm, the device has the advantages that the logistics distribution mechanical arm belongs to the field of machinery, and the problems that the existing manual sorting speed is low and the work is complex are solved. This equipment mainly distinguishes parcel kind information through the two-dimensional code information on the parcel to there is photoelectric sensor to judge parcel positional information, thereby order the manipulator to sort out the parcel in a certain time. This equipment can sort the parcel accurately, and the accuracy is high, does benefit to the logistics industry, has promoted electronic commerce's development, and the shortcoming can not carry out the adjustment and the rotation of manipulator height, also can not adjust the clamp state of getting.

Disclosure of Invention

Aiming at the technical problems, the technical scheme adopted by the invention is as follows: the utility model provides a harbour commodity circulation manipulator with adjustable snatch state, includes supporting mechanism, drive mechanism, actuating mechanism, presss from both sides and gets mechanism and elevating system, elevating system installs at supporting mechanism's top, drive mechanism installs at elevating system's top, actuating mechanism and clamp are got the mechanism setting at drive mechanism's top.

The driving mechanism comprises a first transmission rod, a second transmission rod, a third transmission rod, a fourth transmission rod and a top plate, the top plate is installed on the driving mechanism, the first transmission rod, the second transmission rod, the third transmission rod and the fourth transmission rod are installed on the top plate in a rotating mode, a first bevel gear is fixedly installed on the first transmission rod, a second bevel gear is fixedly installed on the second transmission rod, a third bevel gear is fixedly installed on the third transmission rod, and a fourth bevel gear is fixedly installed on the fourth transmission rod.

The top plate is fixedly provided with a transmission plate and a support plate, the transmission plate is provided with a plurality of connecting wheels, the transmission plate is internally and rotatably provided with a plurality of connecting wheels, the support plate is fixedly provided with an electromagnet, one end inside the electromagnet is fixedly connected with an iron block, the other end inside the electromagnet is slidably connected with a movable rod, the movable rod is slidably connected with the support plate, one end of the movable rod close to the iron block is fixedly provided with a magnet, the top of the top plate is fixedly provided with a motor, the output end of the motor is fixedly provided with a rotating shaft, the rotating shaft is fixedly provided with four driving rotating wheels, the movable rod, the electromagnet and the iron block are respectively provided with four driving rotating wheels, each movable rod is rotatably connected with a connecting shaft, each connecting shaft is provided with a driven rotating wheel, the driven rotating wheel on the connecting shaft is fixedly connected with the connecting wheel in the transmission plate through a fixed rod, and the connecting wheel and the driven rotating wheel are connected with the connecting shaft through splines, the epaxial driven runner of initiative runner and connecting of axis of rotation is connected through the belt, all rotates on every carriage release lever to install and rotates the wheel, and every carriage release lever and corresponding rotation take turns axial fixity, all overlaps on every carriage release lever to be equipped with the spring, and the one end fixed mounting of spring takes turns on the rotation on the carriage release lever, and the other end fixed mounting of spring is on the fifth wheel on the driving plate.

Furthermore, the clamping mechanism comprises a clamping plate for clamping articles, a first supporting rod is rotatably mounted on the top plate, a fifth bevel gear is fixedly mounted at the top of the first supporting rod, a first gear is fixedly mounted at the bottom of the first supporting rod, a lead screw is rotatably mounted on the top plate, a sixth bevel gear is fixedly mounted at the top of the lead screw, a sliding block is connected to the outer surface of the lead screw through threads, a second gear is rotatably mounted at the bottom of one end of the top plate, a fixed block is fixedly mounted at the bottom of the second gear, the fixed block is slidably connected with the sliding block, the lead screw penetrates through the center of the second gear, one end of a first rotating rod and one end of a second rotating rod are hinged to the outer surface of the sliding block, the other ends of the first rotating rod and the second rotating rod are hinged to the clamping plate, and one end of a third rotating rod is hinged to the bottom of the fixed block, and the other end of third bull stick is articulated mutually with the second bull stick, and first bull stick, second bull stick, third bull stick all are provided with a plurality ofly, and splint are provided with two.

Further, a supporting plate is arranged at the bottom of the top plate, a second supporting rod and a third supporting rod are rotatably arranged on the top plate, a seventh bevel gear is fixedly arranged at the top of the second supporting rod, a third gear is fixedly arranged on the second supporting rod, an eighth bevel gear is fixedly arranged at the top of the third supporting rod, a fourth gear is rotatably arranged at the bottom of the top plate and is fixedly connected with the supporting plate, the third supporting rod penetrates through the fourth gear, a fifth gear is fixedly arranged at the bottom of the third supporting rod, a fourth supporting rod is rotatably arranged at the bottom of the supporting plate, a sixth gear is fixedly arranged at the bottom of the fourth supporting rod, a ninth bevel gear is fixedly arranged at the top of the fourth supporting rod, a fifth supporting rod is rotatably arranged at the bottom of the supporting plate, two fifth supporting rods are arranged, and a tenth bevel gear is fixedly arranged at the center of one fifth supporting rod, and seventh gears are fixedly mounted at two ends of the fifth supporting rod fixedly provided with a tenth bevel gear, eighth gears are fixedly mounted at two ends of the other fifth supporting rod, the seventh gears are in meshed connection with the eighth gears, and the ninth bevel gear is in meshed connection with the tenth bevel gear.

Further, supporting mechanism's top is rotated and is installed first dwang and second dwang, the equal fixed mounting in both ends of first dwang has the ninth gear, the both ends installation of second dwang all is fixed with the tenth gear, the equal fixedly connected with third actuating lever in both ends of first dwang and second dwang, it has the second actuating lever to articulate on the third actuating lever, and it has first actuating lever to articulate on the second actuating lever, first actuating lever and fifth branch fixed connection, the quantity of first actuating lever, second actuating lever and third actuating lever is for being four and two liang be a set of, and two sets of first actuating levers, two sets of second actuating levers and two sets of third actuating levers are all connected through the connecting rod, and ninth gear and tenth gear engagement are connected.

Furthermore, four equal fixed mounting of one end of connecting axle has the fixture block, all offer on first transfer line, second transfer line, third transfer line and the fourth transfer line with fixture block size looks adaptation and the corresponding draw-in groove in position.

Compared with the prior art, the invention has the beneficial effects that: (1) the invention adopts a mechanical design, is driven by a single motor to save energy, is easy to maintain and replace and saves the production cost; (2) the lifting mechanism is arranged, so that the use process is more convenient, and the grabbing state can be adjusted through the arrangement of the driving mechanism; (3) the invention can realize non-contact automatic clamping, and greatly improves the safety of the equipment.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural view of the gripping mechanism of the present invention.

Fig. 3 is a schematic view of the connection structure of the transmission mechanism and the lifting mechanism of the present invention.

FIG. 4 is an enlarged view of the structure at A in FIG. 3 according to the present invention.

FIG. 5 is a partial structural schematic diagram of the present invention.

FIG. 6 is an enlarged view of the structure at B in FIG. 5 according to the present invention.

FIG. 7 is an enlarged view of the structure of FIG. 5 at C according to the present invention.

FIG. 8 is an enlarged view of the structure shown in FIG. 5.

FIG. 9 is an enlarged view of E of FIG. 5 according to the present invention.

Fig. 10 is a partial structural schematic view of the driving mechanism of the present invention.

In the figure: 1. a support mechanism; 2. a transmission mechanism; 3. a drive mechanism; 4. a gripping mechanism; 5. a lifting mechanism; 201. a support plate; 202. a second support bar; 203. a seventh bevel gear; 204. a third gear; 205. a third support bar; 206. an eighth bevel gear; 207. a fourth gear; 208. a fifth gear; 209. a fourth strut; 210. a sixth gear; 211. a fifth strut; 212. a ninth bevel gear; 213. a tenth bevel gear; 214. a seventh gear; 215. an eighth gear; 301. a top plate; 302. an electromagnet; 303. an iron block; 304. a travel bar; 305. a motor; 306. a rotating shaft; 307. a fourth bevel gear; 308. a drive plate; 309. a first drive lever; 310. a second transmission rod; 311. a third transmission rod; 312. a fourth transmission rod; 313. a first bevel gear; 314. a second bevel gear; 315. a third bevel gear; 316. a connecting shaft; 317. a spring; 401. a first support bar; 402. a lead screw; 403. a fifth bevel gear; 404. a sixth bevel gear; 405. a first gear; 406. a second gear; 407. a fixed block; 408. a slider; 409. a first rotating lever; 410. a second rotating rod; 411. a third rotating rod; 412. a splint; 501. a first drive lever; 502. a second drive lever; 503. a connecting rod; 504. a third drive lever; 505. a first rotating lever; 506. a second rotating lever; 507. a ninth gear; 508. a tenth gear.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

Example (b): as shown in fig. 1-10, the port logistics manipulator with adjustable grabbing state comprises a supporting mechanism 1, a transmission mechanism 2, a driving mechanism 3, a clamping mechanism 4 and a lifting mechanism 5, wherein the lifting mechanism 5 is installed on the top of the supporting mechanism 1, the transmission mechanism 2 is installed on the top of the lifting mechanism 5, and the driving mechanism 3 and the clamping mechanism 4 are arranged on the top of the transmission mechanism 2.

As shown in fig. 1, 5, 6, 7, 8, 9 and 10, the driving mechanism 3 includes a first driving rod 309, a second driving rod 310, a third driving rod 311, a fourth driving rod 312 and a top plate 301, the top plate 301 is mounted on the driving mechanism 2, the first driving rod 309, the second driving rod 310, the third driving rod 311 and the fourth driving rod 312 are rotatably mounted on the top plate 301, a first bevel gear 313 is fixedly mounted on the first driving rod 309, a second bevel gear 314 is fixedly mounted on the second driving rod 310, a third bevel gear 315 is fixedly mounted on the third driving rod 311, and a fourth bevel gear 307 is fixedly mounted on the fourth driving rod 312.

As shown in fig. 1, 5, 6, 7, 8, 9 and 10, a transmission plate 308 and a support plate are fixedly mounted on a top plate 301, the transmission plate 308 is provided with a plurality of connecting wheels, an electromagnet 302 is fixedly mounted on the support plate, an iron block 303 is fixedly connected to one end of the electromagnet 302, a moving rod 304 is slidably connected to the other end of the electromagnet 302, the moving rod 304 is slidably connected to the support plate, a magnet is fixedly arranged at one end of the moving rod 304 close to the iron block 303, a motor 305 is fixedly mounted on the top of the top plate 301, a rotating shaft 306 is fixedly mounted at an output end of the motor 305, four driving rotating wheels are fixedly mounted on the rotating shaft 306, and the number of the moving rods 304 is four.

As shown in fig. 1, 5, 6, 7, 8, 9, and 10, four electromagnets 302 and four iron blocks 303 are provided, each of the first transmission rod 309, the second transmission rod 310, the third transmission rod 311, and the fourth transmission rod 312 is provided with a slot corresponding to the size of the corresponding block, each of the movable rods 304 is rotatably connected with a connecting shaft 316, each of the connecting shafts 316 is provided with a driven rotating wheel, the driven rotating wheel on the connecting shaft 316 is fixedly connected with the connecting wheel in the transmission plate 308 via a fixing rod, the connecting wheel and the driven rotating wheel are connected with the connecting shaft 316 via a spline, the driving rotating wheel on the rotating shaft 306 is connected with the driven rotating wheel on the connecting shaft 316 via a belt, each of the movable rods 304 is rotatably provided with a rotating wheel, each of the movable rods 304 is axially fixed with the corresponding rotating wheel, each of the movable rods 304 is sleeved with a spring 317, one end of a spring 317 is fixedly arranged on a rotating wheel on the moving rod 304, the other end of the spring 317 is fixedly arranged on a connecting wheel on the transmission plate 308, when the spring 317 is in a natural state, the rotating wheel is tightly attached to the support plate, and when the spring 317 is in a compressed state, the rotating wheel is separated from the support plate; starter motor 305, the output of motor 305 drives axis of rotation 306 and rotates, axis of rotation 306 pivoted in-process drives the initiative runner and rotates, the initiative runner passes through the belt and drives driven runner and rotate, driven runner drives connecting axle 316 and rotates, the equal fixed mounting of one end of four connecting axles 316 has the fixture block, for electro-magnet 302 circular telegram, make iron plate 303 produce magnetism after electro-magnet 302 circular telegram, because the homopolar repulsion of magnet on iron plate 303 and the carriage release lever 304, iron plate 303 promotes carriage release lever 304 through magnetic force, carriage release lever 304 promotes connecting axle 316 and removes, carriage release lever 304 drives the compression of spring 317 (be used for driving carriage release lever 304 and reset) through the runner, four electro-magnet 302 drive corresponding connecting axle 316 through iron plate 303 and carriage release lever 304 respectively and remove.

As shown in fig. 1, 3, 4, 5, and 8, a supporting plate 201 is disposed at the bottom of a top plate 301, a second supporting rod 202 and a third supporting rod 205 are rotatably mounted on the top plate 301, a seventh bevel gear 203 is fixedly mounted at the top of the second supporting rod 202, a third gear 204 is fixedly mounted on the second supporting rod 202, an eighth bevel gear 206 is fixedly mounted at the top of the third supporting rod 205, a fourth gear 207 is rotatably mounted at the bottom of the top plate 301, the fourth gear 207 is fixedly connected with the supporting plate 201, the third supporting rod 205 passes through the fourth gear 207, a fifth gear 208 is fixedly mounted at the bottom of the third supporting rod 205, a fourth supporting rod 209 is rotatably mounted at the bottom of the supporting plate 201, a sixth gear 210 is fixedly mounted at the bottom of the fourth supporting rod 209, a ninth bevel gear 212 is fixedly mounted at the top of the fourth supporting rod 209, a fifth supporting rod 211 is rotatably mounted at the bottom of the supporting plate 201, and two fifth supporting rods 211 are disposed, a tenth bevel gear 213 is fixedly installed at the center of one fifth supporting rod 211, seventh gears 214 are fixedly installed at both ends of the fifth supporting rod 211 fixedly installed with the tenth bevel gear 213, eighth gears 215 are fixedly installed at both ends of the other fifth supporting rod 211, the seventh gears 214 are meshed with the eighth gears 215, and the ninth bevel gear 212 is meshed with the tenth bevel gear 213.

As shown in fig. 1, 3, 4, 5, 6, 7, 8, 9, and 10, when the driving mechanism 3 is required to rotate, the fourth connecting shaft 316 is engaged with the engaging slot of the fourth driving rod 312 via the engaging block during the forward movement of the fourth connecting shaft 316, further, the fourth driving rod 312 is driven to rotate by the rotation of the fourth connecting shaft 316, the fourth driving rod 312 drives the fourth bevel gear 307 to rotate during the rotation of the fourth driving rod 312, the seventh bevel gear 203 is engaged with the fourth bevel gear 307, the eighth bevel gear 206 is engaged with the third bevel gear 315, when the fourth bevel gear 307 rotates, the seventh bevel gear 203 rotates, the third gear 204 is engaged with the fourth gear 207, the third gear 204 rotates around the fourth gear 207 during the rotation of the second supporting rod 202, and the top plate 301 rotates via the second supporting rod 202 during the rotation of the third gear 204, and then the driving mechanism 3 is rotated, after the driving mechanism 3 is rotated to a required position, the electromagnet 302 on the movable rod 304 corresponding to the fourth connecting shaft 316 is turned off, after the electromagnet 302 is turned off, the spring 317 drives the movable rod 304 to reset under the action of elasticity, and the corresponding movable rod 304 drives the fixture block of the fourth connecting shaft 316 to be separated from the fixture slot on the fourth transmission rod 312.

As shown in fig. 1, 2, 5, and 9, the gripping mechanism 4 includes a clamping plate 412 for gripping an article, a top plate 301 is rotatably mounted with a first support rod 401, a top of the first support rod 401 is fixedly mounted with a fifth bevel gear 403, a bottom of the first support rod 401 is fixedly mounted with a first gear 405, a top plate 301 is rotatably mounted with a lead screw 402, a top of the lead screw 402 is fixedly mounted with a sixth bevel gear 404, an outer surface of the lead screw 402 is connected with a sliding block 408 by a thread, a bottom of one end of the top plate 301 is rotatably mounted with a second gear 406, a bottom of the second gear 406 is fixedly mounted with a fixed block 407, the fixed block 407 is slidably connected with the sliding block 408, the lead screw 402 passes through a center of the second gear 406, an outer surface of the sliding block 408 is hinged with one end of a first rotating rod 409 and one end of a second rotating rod 410, and the other ends of the first rotating rod 409 and the second rotating rod 410 are hinged with the clamping plate 412, the bottom of fixed block 407 articulates there is third bull stick 411, and the other end and the second bull stick 410 of third bull stick 411 articulate mutually, and first bull stick 409, second bull stick 410, third bull stick 411 all are provided with a plurality ofly, and splint 412 is provided with two.

As shown in fig. 1, 2, 5, and 9, when the gripping mechanism 4 is required to rotate, the first connecting shaft 316 is connected with the first transmission rod 309 in a clamping manner, the first bevel gear 313 is engaged with the fifth bevel gear 403, further, the first transmission rod 309 is driven to rotate by the rotation of the connecting shaft 316, the first transmission rod 309 is driven to rotate during the rotation of the first transmission rod 309, the fifth bevel gear 403 is driven to rotate during the rotation of the first bevel gear 313, the first support rod 401 is driven to rotate during the rotation of the fifth bevel gear 403, the first support rod 401 is driven to rotate during the rotation of the first support rod 401, the first gear 405 is engaged with the second gear 406, the second gear 406 is driven to rotate during the rotation of the first gear 405, the fixed block 407 is driven to rotate during the rotation of the fixed block 407, and the first rotating rod 409, the second rotating rod 410 are driven to rotate during the rotation of the fixed block 407, The third rotating rod 411 and the clamping plate 412 rotate, when the clamping mechanism 4 rotates to a required angle, the electromagnet 302 on the moving rod 304 corresponding to the first connecting shaft 316 is turned off, after the electromagnet 302 is turned off, the spring 317 drives the moving rod 304 to reset under the action of elasticity, and the corresponding moving rod 304 drives the clamping block of the first connecting shaft 316 to be disengaged from the clamping slot on the first transmission rod 309.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10, when the gripping mechanism 4 is required to grip an article, the second connecting shaft 316 is connected to the second transmission rod 310 in a clamping manner, the second bevel gear 314 is engaged with the sixth bevel gear 404, the second connecting shaft 316 rotates to drive the second transmission rod 310 to rotate, the second transmission rod 310 rotates to drive the second bevel gear 314 to rotate, the second bevel gear 314 rotates to drive the sixth bevel gear 404 to rotate, the sixth bevel gear 404 rotates to drive the screw 402 to rotate, the screw 402 rotates to drive the slider 408 to move up and down, the slider 408 moves up and down to drive the first rotating rod 409, the second rotating rod 410, and the third rotating rod 411 to swing, the first rotating rod 409, the second rotating rod 410, and the third rotating rod 411 swing to drive the two clamping plates 412 to move, so as to grip the article, after the article is clamped, the electromagnet 302 on the moving rod 304 corresponding to the second connecting shaft 316 is closed, after the electromagnet 302 is closed, the spring 317 drives the moving rod 304 to reset under the action of elasticity, and the corresponding moving rod 304 drives the clamping block of the second connecting shaft 316 to be separated from the clamping groove on the second transmission rod 310.

As shown in fig. 1 and fig. 3, a first rotating rod 505 and a second rotating rod 506 are rotatably mounted on the top of the supporting mechanism 1, a ninth gear 507 is fixedly mounted at both ends of the first rotating rod 505, a tenth gear 508 is fixedly mounted at both ends of the second rotating rod 506, a third driving rod 504 is fixedly connected at both ends of the first rotating rod 505 and the second rotating rod 506, a second driving rod 502 is hinged on the third driving rod 504, a first driving rod 501 is hinged on the second driving rod 502, the first driving rod 501 is fixedly connected with the fifth supporting rod 211, the first driving rod 501, the second driving rod 502 and the third driving rod 504 are four in number and form a group in pairs, two groups of the first driving rod 501, two groups of the second driving rod 502 and two groups of the third driving rod 504 are connected through a connecting rod 503, and the ninth gear 507 is meshed with the tenth gear 508.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10, when the driving mechanism 3 is required to ascend and descend, the third connecting shaft 316 is connected to the third driving rod 311, the connecting shaft 316 rotates to drive the third driving rod 311 to rotate, the third driving rod 311 drives the eighth bevel gear 206 to rotate via the third bevel gear 315, the eighth bevel gear 206 drives the third supporting rod 205 to rotate during rotation, the third supporting rod 205 drives the fifth gear 208 to rotate during rotation, the fifth gear 208 is engaged with the sixth gear 210, the fifth gear 208 drives the sixth gear 210 to rotate during rotation, the sixth gear 210 drives the ninth bevel gear 212 to rotate via the fourth supporting rod 209 during rotation, the ninth bevel gear 212 is engaged with the tenth bevel gear 213, the ninth bevel gear 212 drives the tenth bevel gear 213 to rotate during rotation, and the tenth bevel gear 213 drives the connected fifth supporting rod 211 to rotate during rotation, the seventh gear 214 is driven to rotate in the rotating process of the fifth supporting rod 211, the seventh gear 214 is meshed with the eighth gear 215, the eighth gear 215 is driven to rotate in the rotating process of the seventh gear 214, the eighth gear 215 drives the other connected fifth supporting rod 211 to rotate, the first driving rod 501 is driven to rotate in the rotating process of the two fifth supporting rods 211, the second driving rod 502 is driven to rotate in the rotating process of the first driving rod 501, the third driving rod 504 is driven to rotate in the rotating process of the second driving rod 502, the ninth gear 507 and the tenth gear 508 are driven to rotate in the rotating process of the third driving rod 504, so that the lifting function is realized, after the driving mechanism 3 is lifted to a required position, when the electromagnet 302 on the moving rod 304 corresponding to the third connecting shaft 316 is turned off, after the electromagnet 302 is turned off, the spring 317 drives the movable rod 304 to return under the action of elastic force, and the corresponding movable rod 304 drives the latch of the third connecting shaft 316 to disengage from the latch slot of the third driving rod 311.

The invention discloses a port logistics manipulator with adjustable grabbing state, which has the following working principle: when the invention is not used, the driving mechanism 3 and the clamping mechanism 4 are in a descending state, the lifting mechanism 5 is in a contracting state, when the invention is used, the third connecting shaft 316 is clamped with the third transmission rod 311, the driving mechanism 3 and the clamping mechanism 4 are driven to ascend and descend through the transmission mechanism 2 and the lifting mechanism 5 (the ascending and descending working principle refers to the front), the driving mechanism 3 and the clamping mechanism 4 stop moving after ascending and descending to a required position, the driving mechanism 3 and the clamping mechanism 4 are clamped with the fourth transmission rod 312 in the advancing process of the fourth connecting shaft 316, the driving mechanism 3 and the clamping mechanism 4 are driven to rotate (the rotating working principle refers to the front), the driving mechanism 3 and the clamping mechanism 4 stop rotating after rotating to the required position, the first connecting shaft 316 is clamped with the first transmission rod 309, and the clamping mechanism 4 rotates by an angle (the rotating working principle refers to the front), the clamping mechanism 4 rotates to a required angle and stops rotating, and is clamped with the second transmission rod 310 through the second connecting shaft 316, so that the clamping mechanism 4 clamps the articles (the clamping working principle refers to the front), in the clamping and transferring process, the clamping mechanism 4 can rotate and lift along with the driving mechanism 3, but does not rotate around the axis of the clamping mechanism, the articles are loosened until the designated position is reached, and all the movements are performed step by step without interference.

Claims

1. The utility model provides a harbour commodity circulation manipulator with adjustable snatch state, includes supporting mechanism (1), drive mechanism (2), actuating mechanism (3), presss from both sides and gets mechanism (4) and elevating system (5), its characterized in that: the lifting mechanism (5) is arranged at the top of the supporting mechanism (1), the transmission mechanism (2) is arranged at the top of the lifting mechanism (5), and the driving mechanism (3) and the clamping mechanism (4) are arranged at the top of the transmission mechanism (2);

the driving mechanism (3) comprises a first transmission rod (309), a second transmission rod (310), a third transmission rod (311), a fourth transmission rod (312) and a top plate (301), the top plate (301) is installed on the transmission mechanism (2), the first transmission rod (309), the second transmission rod (310), the third transmission rod (311) and the fourth transmission rod (312) are rotatably installed on the top plate (301), a first bevel gear (313) is fixedly installed on the first transmission rod (309), a second bevel gear (314) is fixedly installed on the second transmission rod (310), a third bevel gear (315) is fixedly installed on the third transmission rod (311), and a fourth bevel gear (307) is fixedly installed on the fourth transmission rod (312);

the top plate (301) is fixedly provided with a transmission plate (308) and a support plate, the transmission plate (308) is provided with a plurality of transmission plates, a plurality of connecting wheels are installed in the transmission plate (308) in a rotating manner, the support plate is fixedly provided with an electromagnet (302), one end inside the electromagnet (302) is fixedly connected with an iron block (303), the other end inside the electromagnet (302) is connected with a moving rod (304) in a sliding manner, the moving rod (304) is connected with the support plate in a sliding manner, one end, close to the iron block (303), of the moving rod (304) is fixedly provided with a magnet, the top of the top plate (301) is fixedly provided with a motor (305), the output end of the motor (305) is fixedly provided with a rotating shaft (306), the rotating shaft (306) is fixedly provided with four driving rotating wheels, the moving rod (304), the electromagnet (302) and the iron block (303) are all provided with four driving wheels, and each moving rod (304) is rotatably connected with a connecting shaft (316), all be provided with a driven runner on every connecting axle (316), the driven runner on connecting axle (316) and the fifth wheel in driving plate (308) pass through dead lever fixed connection, fifth wheel and driven runner all pass through spline joint with connecting axle (316), the driving runner on axis of rotation (306) and the driven runner on connecting axle (316) are connected through the belt, all rotate on every carriage release lever (304) and install the rotation wheel, every carriage release lever (304) and corresponding rotation wheel axial fixity, all overlap on every carriage release lever (304) and be equipped with spring (317), the one end fixed mounting of spring (317) takes turns on the rotation on carriage release lever (304), the other end fixed mounting of spring (317) takes turns on the fifth wheel on driving plate (308).

2. The port logistics manipulator with the adjustable grabbing state as claimed in claim 1, wherein: the clamping mechanism (4) comprises a clamping plate (412) for clamping articles, a first supporting rod (401) is rotatably mounted on a top plate (301), a fifth bevel gear (403) is fixedly mounted at the top of the first supporting rod (401), a first gear (405) is fixedly mounted at the bottom of the first supporting rod (401), a lead screw (402) is rotatably mounted on the top plate (301), a sixth bevel gear (404) is fixedly mounted at the top of the lead screw (402), a sliding block (408) is connected to the outer surface of the lead screw (402) through threads, a second gear (406) is rotatably mounted at the bottom of one end of the top plate (301), a fixed block (407) is fixedly mounted at the bottom of the second gear (406), the fixed block (407) is slidably connected with the sliding block (408), the lead screw (402) penetrates through the center of the second gear (406), and one end of a first rotating rod (409) and one end of a second rotating rod (410) are hinged to the outer surface of the sliding block (408) End, and the other end of first bull stick (409) and second bull stick (410) is articulated mutually with splint (412), the bottom of fixed block (407) articulates the one end that has third bull stick (411), and the other end of third bull stick (411) is articulated mutually with second bull stick (410), and first bull stick (409), second bull stick (410), third bull stick (411) all are provided with a plurality ofly, and splint (412) are provided with two.

3. The port logistics manipulator with the adjustable grabbing state as claimed in claim 1, wherein: the bottom of the top plate (301) is provided with a supporting plate (201), the top plate (301) is rotatably provided with a second supporting rod (202) and a third supporting rod (205), the top of the second supporting rod (202) is fixedly provided with a seventh bevel gear (203), the second supporting rod (202) is fixedly provided with a third gear (204), the top of the third supporting rod (205) is fixedly provided with an eighth bevel gear (206), the bottom of the top plate (301) is rotatably provided with a fourth gear (207), the fourth gear (207) is fixedly connected with the supporting plate (201), the third supporting rod (205) penetrates through the fourth gear (207), the bottom of the third supporting rod (205) is fixedly provided with a fifth gear (208), the bottom of the supporting plate (201) is rotatably provided with a fourth supporting rod (209), and the bottom of the fourth supporting rod (209) is fixedly provided with a sixth gear (210), the top fixed mounting of fourth branch (209) has ninth bevel gear (212), the bottom of backup pad (201) is rotated and is installed fifth branch (211), fifth branch (211) is provided with two, the center department fixed mounting of a fifth branch (211) has tenth bevel gear (213), the equal fixed mounting in both ends of fifth branch (211) that fixed mounting has tenth bevel gear (213) has seventh gear (214), the equal fixed mounting in both ends of another fifth branch (211) has eighth gear (215), seventh gear (214) and eighth gear (215) meshing connection, ninth bevel gear (212) and tenth bevel gear (213) meshing connection.

4. The port logistics manipulator with the adjustable grabbing state of the claim 3 is characterized in that: the top of the supporting mechanism (1) is rotatably provided with a first rotating rod (505) and a second rotating rod (506), both ends of the first rotating rod (505) are fixedly provided with a ninth gear (507), both ends of the second rotating rod (506) are fixedly provided with a tenth gear (508), both ends of the first rotating rod (505) and the second rotating rod (506) are fixedly connected with a third driving rod (504), the third driving rod (504) is hinged with a second driving rod (502), the second driving rod (502) is hinged with a first driving rod (501), the first driving rod (501) is fixedly connected with a fifth supporting rod (211), the number of the first driving rod (501), the second driving rod (502) and the third driving rod (504) is four and two groups of driving rods, and two groups of the first driving rod (501), two groups of the second driving rod (502) and two groups of the third driving rod (504) are connected through a connecting rod (503), the ninth gear (507) is meshed with the tenth gear (508).

5. The port logistics manipulator with the adjustable grabbing state as claimed in claim 1, wherein: clamping blocks are fixedly mounted at one ends of the four connecting shafts (316), and clamping grooves matched with the clamping blocks in size and corresponding in position are formed in the first transmission rod (309), the second transmission rod (310), the third transmission rod (311) and the fourth transmission rod (312).