CN114289323A - Flexible arm assembly for high-speed sorting robot - Google Patents
Flexible arm assembly for high-speed sorting robot Download PDFInfo
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- CN114289323A CN114289323A CN202210003461.9A CN202210003461A CN114289323A CN 114289323 A CN114289323 A CN 114289323A CN 202210003461 A CN202210003461 A CN 202210003461A CN 114289323 A CN114289323 A CN 114289323A
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Abstract
The invention discloses the technical field of sorting robots, in particular to a flexible arm assembly for a high-speed sorting robot, which comprises a connecting shell, wherein a first hydraulic cylinder is arranged in an inner cavity of the connecting shell, one end of the first hydraulic cylinder penetrates through the connecting shell to be fixedly connected with an E-shaped supporting seat, grooves are symmetrically formed in the upper and lower sides of the side surface of the E-shaped supporting seat, and a threaded rod is rotatably connected in the groove in the upper end of the side surface of the E-shaped supporting seat, and the flexible arm assembly has the beneficial effects that: drive the pinion rack motion through the second hydraulic cylinder, pinion rack drives two axe shape fluted discs and rotates, axe shape fluted disc drives the driving plate and removes, driving pinion rack drives the cylinder and removes, the cylinder drives the U-shaped plate and slides along the movable slot, the U-shaped plate drives the guide block and slides along the guide slot, thereby guarantee the slip that the U-shaped plate can be stable, the U-shaped plate drives the gripper jaw and slides along leading to the groove, through gripper jaw centre gripping article, the centre gripping mode is simple and convenient, and the centre gripping article that can stabilize, the efficiency of letter sorting has been improved greatly.
Description
Technical Field
The invention relates to the technical field of sorting robots, in particular to an arm flexible assembly for a high-speed sorting robot.
Background
In some logistics industries and production and processing industries, sorting operation is required, and is an important link on most flow production lines. The existing sorting operation is mostly manually sorted by manpower, so that the efficiency is low, the error rate is high, and the production efficiency is greatly reduced. Some current commodity circulation trades and production and processing trades replace manual sorting through sorting robot, but current sorting robot is at the during operation, and robot arm's flexibility is poor, and the letter sorting scope is little, the present demand of unable fine adaptation. To this end, we propose an arm flexible assembly for a high-speed sorting robot to solve the above drawbacks.
Disclosure of Invention
The present invention is directed to a flexible arm assembly for a high-speed sorting robot, which solves the above problems of the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: an arm flexible assembly for a high-speed sorting robot comprises a connecting shell, wherein a first hydraulic cylinder is installed in an inner cavity of the connecting shell, one end of the first hydraulic cylinder penetrates through the connecting shell to be fixedly connected with an E-shaped supporting seat, grooves are symmetrically formed in the side surface of the E-shaped supporting seat in the vertical direction, a threaded rod is rotatably connected in the groove in the upper end of the side surface of the E-shaped supporting seat, a sliding rod is welded in the groove in the lower end of the side surface of the E-shaped supporting seat, a fixing seat is arranged on the side surface of the E-shaped supporting seat, a limiting groove is formed in the lower end of the fixing seat, a sliding block is welded on the side surface of the fixing seat, a concave plate is welded at the upper end of the fixing seat, a walking nut is welded on the side surface of the concave plate, a transmission mechanism is arranged in the limiting groove, clamping mechanisms are symmetrically arranged at the lower end of the transmission mechanism in the horizontal direction, a guide seat is welded at the lower end of the fixing seat, the upper end of the guide seat is provided with a movable groove, a pair of guide grooves are symmetrically formed in the movable groove in the vertical direction, and the lower end of the movable groove is symmetrically formed in the horizontal direction.
Preferably, the end of the first hydraulic cylinder is connected with the E-shaped supporting seat through a bolt, and the first hydraulic cylinder is embedded in the connecting shell.
Preferably, the upper end of the sliding block is provided with a round hole in a penetrating manner, the sliding rod penetrates through the round hole, the sliding block is connected with the sliding rod in a sliding manner, the walking nut is sleeved on the threaded rod, and the walking nut is in threaded connection with the threaded rod.
Preferably, the transmission mechanism comprises: the novel electric spindle comprises a second hydraulic cylinder, a movable toothed plate, an axe-shaped toothed plate, a transmission plate and a sliding groove, wherein the second hydraulic cylinder is installed at the upper end of a fixing seat, one end of the second hydraulic cylinder penetrates through the fixing seat to be welded with the movable toothed plate, the axe-shaped toothed plate is symmetrically arranged in the limiting groove in the left and right direction, the transmission plate is welded to the side faces of the two axe-shaped toothed plates which are symmetrically distributed in the left and right direction, and the sliding groove is formed in one end, far away from the axe-shaped toothed plate, of the transmission plate.
Preferably, the movable toothed plate is slidably connected with the limiting groove, the axe-shaped toothed plate is rotatably connected with the limiting groove through a pin rod, and the axe-shaped toothed plate is meshed with the movable toothed plate.
Preferably, the clamping mechanism comprises: u-shaped plate, cylinder, guide block and gripper jaw, the horizontal symmetry is provided with the U-shaped plate in the activity inslot, the equal longitudinal symmetry welding in both sides of U-shaped plate has the guide block, the inboard welding of U-shaped plate has the cylinder, the lower extreme of U-shaped plate has the gripper jaw through bolted connection.
Preferably, the one end and the U-shaped board sliding connection of driving plate, the cylinder runs through the spout setting, and cylinder and spout sliding connection.
Preferably, the U-shaped plate is slidably connected with the movable groove, the guide block is slidably connected with the guide groove, and the clamping claw is slidably connected with the through groove.
Compared with the prior art, the invention has the beneficial effects that: the invention has reasonable structure and strong functionality, and has the following advantages:
1. the sorting range of the sorting robot is expanded through the arranged first hydraulic cylinder, the walking nut moves up and down along the threaded rod through the rotation of the threaded rod, the walking nut drives the fixing seat to move up and down through the concave plate, the fixing seat drives the sliding block to move up and down along the sliding rod, so that the fixing seat can stably move up and down, and the fixing seat drives the clamping mechanism to move up and down, so that the sorting robot can accurately clamp articles without influencing the positions of other articles, and the sorting accuracy is ensured;
2. drive the pinion rack motion through the second hydraulic cylinder, pinion rack drives two axe shape fluted discs and rotates, axe shape fluted disc drives the driving plate and removes, driving pinion rack drives the cylinder and removes, the cylinder drives the U-shaped plate and slides along the movable slot, the U-shaped plate drives the guide block and slides along the guide slot, thereby guarantee the slip that the U-shaped plate can be stable, the U-shaped plate drives the gripper jaw and slides along leading to the groove, through gripper jaw centre gripping article, the centre gripping mode is simple and convenient, and the centre gripping article that can stabilize, the efficiency of letter sorting has been improved greatly.
Drawings
FIG. 1 is a schematic diagram of a sorting robot according to the present invention;
FIG. 2 is a schematic view of a fixing base of the present invention;
FIG. 3 is a schematic structural view of a guide seat according to the present invention;
FIG. 4 is a schematic view of the drive mechanism and clamping mechanism of the present invention;
fig. 5 is a schematic sectional view of the structure of the clamping mechanism of the present invention.
In the figure: 1. connecting the shell; 11. a first hydraulic cylinder; 2. e-shaped supporting seats; 21. a threaded rod; 22. a slide bar; 3. a fixed seat; 31. a limiting groove; 32. a slider; 33. a concave plate; 34. a traveling nut; 4. a second hydraulic cylinder; 41. a movable toothed plate; 42. an axe-shaped fluted disc; 43. a drive plate; 44. a chute; 5. a guide seat; 51. a movable groove; 52. a guide groove; 53. a through groove; 6. a U-shaped plate; 61. a cylinder; 62. a guide block; 7. a gripper jaw.
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 to 5, the present invention provides a technical solution: the utility model provides a flexible subassembly of arm that high-speed sorting robot used, including connecting shell 1, first hydraulic cylinder 11 is installed to the inner chamber of connecting shell 1, the one end of first hydraulic cylinder 11 is passed and is connected shell 1 and 2 fixed connection of E shape supporting seat, the tip of first hydraulic cylinder 11 passes through the bolt and is connected with E shape supporting seat 2, first hydraulic cylinder 11 imbeds in connecting shell 1, the side welding of connecting shell 1 has fixed otic placode, it is connected with fixed bolster or robot main part to connect shell 1, through the first hydraulic cylinder 11 concertina movement that sets up, first hydraulic cylinder 11 drives the fixture motion, thereby the letter sorting scope of sorting robot has been enlarged, the rate of utilization of sorting robot has been improved simultaneously.
The side surface of the E-shaped supporting seat 2 is provided with grooves in an up-down symmetrical manner, a threaded rod 21 is rotationally connected in the groove at the upper end of the side surface of the E-shaped supporting seat 2, a sliding rod 22 is welded in the groove at the lower end of the side surface of the E-shaped supporting seat 2, a fixed seat 3 is arranged at the side surface of the E-shaped supporting seat 2, a limiting groove 31 is arranged at the lower end of the fixed seat 3, a sliding block 32 is welded at the side surface of the fixed seat 3, a concave plate 33 is welded at the upper end of the fixed seat 3, the concave plate 33 is a plate made of steel, a walking nut 34 is welded at the side surface of the concave plate 33, a round hole is formed in the upper end of the sliding block 32 in a penetrating manner, the sliding block 32 is in sliding connection with the sliding rod 22, the outer side surface of the sliding rod 22 is a smooth surface, the walking nut 34 is sleeved on the threaded rod 21 and is in threaded connection with the threaded rod 34, a motor is arranged at the upper end of the E-shaped supporting seat 2, the output shaft of the motor is clamped with the threaded rod 21 through a pin block, drive threaded rod 21 through the motor and rotate along E shape supporting seat 2, threaded rod 21 drives walking nut 34 along the up-and-down motion of E shape supporting seat 2, and walking nut 34 drives notch plate 33 up-and-down motion, and notch plate 33 drives fixing base 3 up-and-down motion, and fixing base 3 drives slider 32 along slide bar 22 up-and-down motion to make the up-and-down motion that fixing base 3 can be stable.
Be provided with drive mechanism in spacing groove 31, drive mechanism is including: second hydraulic cylinder 4, movable tooth plate 41, axe shape fluted disc 42, driving plate 43 and spout 44, second hydraulic cylinder 4 is installed to the upper end of fixing base 3, and fixing base 3 and the welding of movable tooth plate 41 are passed to the one end of second hydraulic cylinder 4, and second hydraulic cylinder 4 and fixing base 3 sliding connection, second hydraulic cylinder 4 are installed in concave plate 33, and axe shape fluted disc 42 is a fan-shaped fluted disc and a circular slab integrated into one piece or welding setting.
Bilateral symmetry is provided with axe shape fluted disc 42 in spacing groove 31, the transmission board 43 has all been welded to bilateral symmetry's two axe shape fluted discs 42's of distribution side, the spout 44 has been seted up to the one end that axe shape fluted disc 42 was kept away from to transmission board 43, adjustable toothed plate 41 and spacing groove 31 sliding connection, axe shape fluted disc 42 rotates with spacing groove 31 through the pin rod to be connected, axe shape fluted disc 42 meshes with adjustable toothed plate 41, drive adjustable toothed plate 41 along the motion of spacing groove 31 through second hydraulic cylinder 4, adjustable toothed plate 41 drives two axe shape fluted discs 42 and rotates along fixing base 3, drive transmission board 43 through axe shape fluted disc 42 and rotate, transmission board 43 slides along spacing groove 31.
The lower extreme welding of fixing base 3 has guide holder 5, and movable groove 51 has been seted up to the upper end of guide holder 5, and a pair of guide way 52 has been seted up to the longitudinal symmetry in the movable groove 51, and logical groove 53 has been seted up to the lower extreme bilateral symmetry of movable groove 51, and the guide holder 5 up-and-down motion is driven in the motion of fixing base 3.
The lower extreme bilateral symmetry of drive mechanism is provided with fixture, fixture including: u-shaped plate 6, cylinder 61, guide block 62 and gripper jaw 7, bilateral symmetry is provided with U-shaped plate 6 in the activity groove 51, and the equal longitudinal symmetry welding in both sides of U-shaped plate 6 has guide block 62, and the inboard welding of U-shaped plate 6 has cylinder 61, and the lower extreme of U-shaped plate 6 has gripper jaw 7 through bolted connection, and the lower extreme of gripper jaw 7 becomes to buckle the setting.
One end of a transmission plate 43 is slidably connected with a U-shaped plate 6, a cylinder 61 penetrates through a sliding groove 44 and is arranged, the cylinder 61 is slidably connected with the sliding groove 44, the U-shaped plate 6 is slidably connected with a movable groove 51, a guide block 62 is slidably connected with a guide groove 52, a clamping jaw 7 is slidably connected with a through groove 53, the transmission plate 43 drives the cylinder 61 to move, the cylinder 61 slides along the sliding groove 44, the U-shaped plate 6 is driven by the cylinder 61 to slide along the movable groove 51, the U-shaped plate 6 drives the guide block 62 to slide along the guide groove 52, so that the U-shaped plate 6 and the clamping jaw 7 can stably slide, the U-shaped plate 6 drives the clamping jaw 7 to slide along the through groove 53, two clamping jaws 7 relatively approach to move, the articles are clamped and fixed by the clamping jaws 7, the articles can be stably clamped by the clamping jaws 7 arranged in a bending manner, and the articles can be clamped simply and firmly and conveniently, the articles are prevented from falling off in the moving process of the articles.
The working principle is as follows: during sorting operation, the first hydraulic cylinder 11 is in telescopic motion through the arrangement, the first hydraulic cylinder 11 drives the clamping mechanism to move, so that the sorting range of the sorting robot is enlarged, meanwhile, the utilization rate of the sorting robot is improved, the threaded rod 21 is driven by the motor to rotate along the E-shaped supporting seat 2, the threaded rod 21 drives the walking nut 34 to move up and down along the E-shaped supporting seat 2, the walking nut 34 drives the concave plate 33 to move up and down, the concave plate 33 drives the fixing seat 3 to move up and down, the fixing seat 3 drives the sliding block 32 to move up and down along the sliding rod 22, so that the fixing seat 3 can stably move up and down, the clamping mechanism is driven by the fixing seat 3 to move up and down, the sorting robot can accurately clamp articles, the positions of other articles cannot be influenced, and the sorting accuracy is guaranteed; when needs centre gripping article, drive the pinion rack 41 through second hydraulic cylinder 4 and move along spacing groove 31, pinion rack 41 drives two axe shape fluted discs 42 and rotates along fixing base 3, it rotates to drive driving plate 43 through axe shape fluted disc 42, driving plate 43 slides along spacing groove 31, it removes to drive cylinder 61 through driving plate 43, cylinder 61 slides along spout 44 simultaneously, rethread cylinder 61 drives U-shaped plate 6 and slides along movable groove 51, U-shaped plate 6 drives guide block 62 and slides along guide way 52, thereby guarantee the slip that U-shaped plate 6 and gripper jaw 7 can be stable, U-shaped plate 6 drives gripper jaw 7 and slides along logical groove 53, make two gripper jaws 7 be close to the motion relatively, it is fixed to carry out the centre gripping through gripper jaw 7 to article, the centre gripping mode is simple and convenient, and the centre gripping article that can stabilize, the efficiency of letter sorting has been improved greatly.
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 (8)
1. An arm flexible assembly for a high-speed sorting robot, comprising a connecting shell (1), characterized in that: the inner cavity of the connecting shell (1) is provided with a first hydraulic cylinder (11), one end of the first hydraulic cylinder (11) penetrates through the connecting shell (1) to be fixedly connected with an E-shaped supporting seat (2), grooves are symmetrically formed in the side surface of the E-shaped supporting seat (2) from top to bottom, a threaded rod (21) is rotatably connected to the upper end of the side surface of the E-shaped supporting seat (2) in the groove, a sliding rod (22) is welded in the groove in the lower end of the side surface of the E-shaped supporting seat (2), a fixing seat (3) is arranged on the side surface of the E-shaped supporting seat (2), a limiting groove (31) is formed in the lower end of the fixing seat (3), a sliding block (32) is welded to the side surface of the fixing seat (3), a concave plate (33) is welded to the upper end of the fixing seat (3), a walking nut (34) is welded to the side surface of the concave plate (33), and a transmission mechanism is arranged in the limiting groove (31), the lower extreme bilateral symmetry of drive mechanism is provided with fixture, the lower extreme welding of fixing base (3) has guide holder (5), movable groove (51) have been seted up to the upper end of guide holder (5), a pair of guide way (52) have been seted up to the longitudinal symmetry in movable groove (51), logical groove (53) have been seted up to the lower extreme bilateral symmetry of movable groove (51).
2. The flexible arm assembly for a high speed sorting robot of claim 1, wherein: the end part of the first hydraulic cylinder (11) is connected with the E-shaped supporting seat (2) through a bolt, and the first hydraulic cylinder (11) is embedded in the connecting shell (1).
3. The flexible arm assembly for a high speed sorting robot of claim 1, wherein: the upper end of slider (32) runs through and has seted up the round hole, and slide bar (22) pass the round hole setting, slider (32) and slide bar (22) sliding connection, nut (34) cover is established on threaded rod (21) and nut (34) and threaded connection are walked.
4. The flexible arm assembly for a high speed sorting robot of claim 1, wherein: the transmission mechanism comprises: the novel limiting device is characterized by comprising a second hydraulic cylinder (4), a movable toothed plate (41), an axe-shaped toothed plate (42), a transmission plate (43) and a sliding groove (44), wherein the second hydraulic cylinder (4) is installed at the upper end of the fixing base (3), one end of the second hydraulic cylinder (4) penetrates through the fixing base (3) to be welded with the movable toothed plate (41), the axe-shaped toothed plate (42) is symmetrically arranged in the limiting groove (31) in a left-right mode, the transmission plate (43) is welded to the side faces of the two axe-shaped toothed plates (42) which are symmetrically distributed in a left-right mode, and the sliding groove (44) is formed in one end, far away from the axe-shaped toothed plate (42), of the transmission plate (43).
5. The flexible arm assembly for a high speed sorting robot of claim 4, wherein: the movable toothed plate (41) is in sliding connection with the limiting groove (31), the axe-shaped toothed disc (42) is in rotating connection with the limiting groove (31) through a pin rod, and the axe-shaped toothed disc (42) is meshed with the movable toothed plate (41).
6. The flexible arm assembly for a high speed sorting robot of claim 4, wherein: the fixture includes: u-shaped plate (6), cylinder (61), guide block (62) and gripper jaw (7), bilateral symmetry is provided with U-shaped plate (6) in activity groove (51), the equal longitudinal symmetry welding in both sides of U-shaped plate (6) has guide block (62), the inboard welding of U-shaped plate (6) has cylinder (61), there are gripper jaw (7) lower extreme through bolted connection of U-shaped plate (6).
7. The flexible arm assembly for a high speed sorting robot of claim 6, wherein: one end of the transmission plate (43) is connected with the U-shaped plate (6) in a sliding mode, the cylinder (61) penetrates through the sliding groove (44), and the cylinder (61) is connected with the sliding groove (44) in a sliding mode.
8. The flexible arm assembly for a high speed sorting robot of claim 6, wherein: the U-shaped plate (6) is in sliding connection with the movable groove (51), the guide block (62) is in sliding connection with the guide groove (52), and the clamping claw (7) is in sliding connection with the through groove (53).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210003461.9A CN114289323A (en) | 2022-01-04 | 2022-01-04 | Flexible arm assembly for high-speed sorting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210003461.9A CN114289323A (en) | 2022-01-04 | 2022-01-04 | Flexible arm assembly for high-speed sorting robot |
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| Publication Number | Publication Date |
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| CN114289323A true CN114289323A (en) | 2022-04-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210003461.9A Pending CN114289323A (en) | 2022-01-04 | 2022-01-04 | Flexible arm assembly for high-speed sorting robot |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU804421A1 (en) * | 1978-03-06 | 1981-02-15 | Севастопольский Приборостроительныйинститут | Gripper |
| CN107150336A (en) * | 2017-07-07 | 2017-09-12 | 佛山市正略信息科技有限公司 | A kind of mechanical arm for automatic loading/unloading |
| CN206677961U (en) * | 2017-03-30 | 2017-11-28 | 北京海风智能科技有限责任公司 | A kind of mechanical arm |
| CN110154075A (en) * | 2019-06-20 | 2019-08-23 | 三峡大学 | Flatly moving type mechanical paw and operating method based on Double-gear |
| CN212096330U (en) * | 2019-12-30 | 2020-12-08 | 苏州国帆自动化设备有限公司 | Automatic sorting manipulator for material flows |
| CN213320182U (en) * | 2020-10-20 | 2021-06-01 | 长安大学 | Picking structure of sorting robot |
| CN213765903U (en) * | 2020-11-05 | 2021-07-23 | 苏州德费尔自动化设备有限公司 | Parallel gas claw based on pneumatics |
-
2022
- 2022-01-04 CN CN202210003461.9A patent/CN114289323A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU804421A1 (en) * | 1978-03-06 | 1981-02-15 | Севастопольский Приборостроительныйинститут | Gripper |
| CN206677961U (en) * | 2017-03-30 | 2017-11-28 | 北京海风智能科技有限责任公司 | A kind of mechanical arm |
| CN107150336A (en) * | 2017-07-07 | 2017-09-12 | 佛山市正略信息科技有限公司 | A kind of mechanical arm for automatic loading/unloading |
| CN110154075A (en) * | 2019-06-20 | 2019-08-23 | 三峡大学 | Flatly moving type mechanical paw and operating method based on Double-gear |
| CN212096330U (en) * | 2019-12-30 | 2020-12-08 | 苏州国帆自动化设备有限公司 | Automatic sorting manipulator for material flows |
| CN213320182U (en) * | 2020-10-20 | 2021-06-01 | 长安大学 | Picking structure of sorting robot |
| CN213765903U (en) * | 2020-11-05 | 2021-07-23 | 苏州德费尔自动化设备有限公司 | Parallel gas claw based on pneumatics |
Non-Patent Citations (1)
| Title |
|---|
| 金国斌: "包装工艺技术与设备（第二版）", vol. 2, 中国轻工业出版社, pages: 192 - 193 * |
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