CN116330255A

CN116330255A - Commodity picking robot

Info

Publication number: CN116330255A
Application number: CN202310591176.8A
Authority: CN
Inventors: 樊春阳
Original assignee: Shenyang Xiangmeng Technology Co ltd
Current assignee: Shenyang Xiangmeng Technology Co ltd
Priority date: 2023-05-24
Filing date: 2023-05-24
Publication date: 2023-06-27
Anticipated expiration: 2043-05-24
Also published as: CN116330255B

Abstract

The invention relates to the technical field of commodity picking, in particular to a commodity picking robot which comprises a bearing truss, wherein a regulating and controlling component is arranged at the vertical driving end of the bearing truss, and a picking and clamping component is arranged on the regulating and controlling component; can realize picking the swing that the subassembly was got to the clamp through the regulation and control subassembly and adjust and control fast by a wide margin to make to pick the swing angle that the subassembly was got to the clamp regulation and control convenience height, and can realize picking the clamp and get the multi-angle of subassembly to commodity and pick, also can realize simultaneously placing picking the multi-angle of commodity of unloading, thereby make the effect of picking the subassembly when commodity is picked and use better, pick the subassembly to adopt linkage structure to drive to pick the splint through picking and control, can press from both sides the commodity with the mode of centering and pick, can effectually avoid commodity to take place the skew to empty, thereby effectually improve the protection to commodity, make the picking clamp get the subassembly and pick when selecting to commodity and put excellent in use effect.

Description

Commodity picking robot

Technical Field

The invention relates to the technical field of commodity picking, in particular to a commodity picking robot.

Background

Automated picking solutions create more efficient jobs for companies that need to deal with large e-commerce orders, severe labor shortages, and sustained low-investment high-return needs, achieving efficient order fulfillment is at odds. Companies are currently transitioning to technical enterprises, optimizing current operations, and improving inventory management to meet consumer needs.

The logistics sorting robot realizes intelligent sorting of goods and packages through different sorting methods and orderly executing steps, and the aim of the logistics sorting robot is to reduce the number of sorting delivery errors and the error rate of the goods and the packages, so that the sorting work efficiency is improved, but the existing sorting robot is not comprehensive in the sorting range of the upper goods and the sorting placement angle when the goods are sorted, so that the using effect of the goods when the goods are sorted is not ideal, and therefore the commodity sorting robot is required to improve the problems.

Disclosure of Invention

In order to solve the problem that the picking range and the picking and placing angle of the upper commodity are not comprehensive enough when the picking robot picks the commodity, so that the use effect of the commodity when picking is not ideal, the invention aims to provide the commodity picking robot so as to solve the problem.

In order to achieve the above purpose, the present invention provides the following technical solutions:

the commodity picking robot comprises a bearing truss, wherein a regulating and controlling component is arranged at the vertical driving end of the bearing truss, and a picking and clamping component is arranged on the regulating and controlling component;

the adjusting and controlling assembly comprises a bearing plate arranged on the vertical driving end of the bearing truss, two mounting plates are arranged on the right upper side of the front surface of the bearing plate, an adjusting and controlling cylinder is arranged between the two mounting plates, a driving end of the adjusting and controlling cylinder is provided with a driving rack plate, a positioning shaft seat is arranged in the middle of the bearing plate, a supporting shaft is rotatably arranged on the positioning shaft seat, a driving gear is arranged on the supporting shaft, a bearing tray is arranged at the front end of the supporting shaft, a rotary cylinder is arranged on the front surface of the bearing tray, a first bearing ring is arranged on the rotary cylinder, a bearing ball is arranged on the first bearing ring, a second bearing ring is arranged on the first bearing ring through the bearing ball, a limiting plate is arranged on the driving end of the rotary cylinder, and a limiting seat is correspondingly arranged on the bearing plate and the driving rack plate;

the picking and clamping assembly comprises a connecting column mounted on a supporting plate, the lower end of the connecting column is provided with a supporting frame plate, the lower end of the supporting frame plate is provided with a guide frame, the guide frame is provided with a positioning guide plate in a left-right corresponding mode, the lower side of the positioning guide plate is provided with a picking clamping plate, the middle of the upper side of the guide frame is provided with a servo motor located inside the supporting frame plate, the driving end of the servo motor is provided with a linkage plate, and two ends of the linkage plate are provided with connecting pulling plates.

As a preferred embodiment of the invention, the drive rack plate is in correspondingly adapted engagement with the drive gear.

As a preferable scheme of the invention, the limit seat is correspondingly provided with a U-shaped groove which is matched with the driving rack plate, and the driving rack plate is in sliding connection with the limit seat.

As a preferable scheme of the invention, the first support ring and the second support ring are positioned on the rotary cylinder and are correspondingly arranged with the driving end of the rotary cylinder, the opposite surfaces of the first support ring and the second support ring are correspondingly provided with annular grooves which are correspondingly matched with the bearing balls, and a plurality of groups of bearing balls are arranged between the first support ring and the second support ring.

As a preferable scheme of the invention, the limiting plate is positioned on the driving end of the rotary cylinder and is correspondingly and fixedly connected with the second supporting ring.

As a preferable scheme of the invention, the cross section of the bearing plate is in an L-shaped structure.

As a preferable scheme of the invention, one end of the connecting column is arranged in a disc-shaped structure, and the connecting column is correspondingly and fixedly connected with the bearing plate through a fixing bolt.

As a preferable scheme of the invention, limit clamping seats matched with the guide frames are arranged at four corners of the upper side of the positioning guide plate, and the limit clamping seats are in sliding connection with the guide frames.

As a preferable scheme of the invention, the front upper side of the positioning guide plate is provided with a rotating connecting plate, and one ends of the connecting pull plates at two sides, which are far away from the linkage plate, are respectively and correspondingly connected with the rotating connecting plates at two sides in a rotating way.

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

1. according to the invention, the swinging fine adjustment and rapid and large-amplitude adjustment and control of the picking and clamping assembly can be realized through the adjustment and control assembly, so that the adjustment and control convenience of the swinging angle of the picking and clamping assembly is high, the picking and clamping assembly can pick and clamp commodities at multiple angles, and meanwhile, the multi-angle unloading placement of the picking commodities can be realized, so that the picking and clamping assembly has a better effect when the commodities are picked and used.

2. According to the invention, the stress of the driving end of the rotary cylinder can be effectively reduced through the first support ring and the second support ring, so that the safety of the rotary cylinder in use is high, the use effect of the regulating and controlling assembly is effectively improved, and the meshing switching stability between the driving rack plate and the driving gear in operation is high through the limiting seat.

3. According to the invention, the picking clamping assembly is driven and controlled by adopting the linkage structure, so that the commodities can be clamped and picked in a centering manner, and the commodities can be effectively prevented from being inclined in an offset manner, so that the protection of the commodities is effectively improved, the use effect of the picking clamping assembly when the commodities are picked and placed is good, the transfer positioning stability between the positioning guide plate and the guide frame is better through the limiting clamping seat, meanwhile, the stability of the positioning guide plate in the operation regulation and control process is high, and the effect of the picking clamping assembly in the use process is good.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic diagram of a control assembly according to the present invention;

FIG. 3 is a schematic diagram of a front view of a control module according to the present invention;

FIG. 4 is a schematic diagram of a front view of a control module according to the present invention;

FIG. 5 is a schematic view of a pick-up assembly according to the present invention.

In the figure: 1. carrying out truss installation; 2. a regulatory component; 201. a bearing plate; 202. a mounting plate; 203. regulating and controlling an air cylinder; 204. driving the rack plate; 205. positioning shaft seat; 206. a support shaft; 207. a drive gear; 208. a tray; 209. a rotary cylinder; 210. a first support ring; 211. bearing balls; 212. a second support ring; 213. a limiting plate; 214. a receiving plate; 215. a limit seat; 3. a picking and gripping assembly; 301. a connecting column; 302. receiving a frame plate; 303. a guide frame; 304. positioning a guide plate; 305. picking the clamping plates; 306. a servo motor; 3061. a linkage plate; 307. a connecting pulling plate; 308. a limit clamping seat; 309. and a transfer plate.

Detailed Description

The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention are included in the protection scope of the present invention.

Examples: referring to fig. 1-5, a commodity picking robot comprises a bearing truss 1, wherein a regulating and controlling component 2 is arranged at a vertical driving end of the bearing truss 1, and a picking and clamping component 3 is arranged on the regulating and controlling component 2;

in this embodiment, referring to fig. 1 to 4, the regulating assembly 2 includes a bearing plate 201 mounted on a vertical driving end of the bearing truss 1, two mounting plates 202 are disposed on a right upper side of a front surface of the bearing plate 201, a regulating cylinder 203 is mounted between the two mounting plates 202, a driving rack plate 204 is disposed on a driving end of the regulating cylinder 203, a positioning shaft seat 205 is disposed in a middle of the bearing plate 201, a supporting shaft 206 is rotatably mounted on the positioning shaft seat 205, a driving gear 207 is mounted on the supporting shaft 206, a bearing plate 208 is disposed at a front end of the supporting shaft 206, a revolving cylinder 209 is mounted on a front surface of the bearing plate 208, a first bearing ring 210 is disposed on the revolving cylinder 209, a bearing ball 211 is mounted on the first bearing ring 210, a second bearing ring 212 is mounted through the bearing ball 211, a limiting plate 213 is disposed on a driving end of the revolving cylinder 209, a bearing plate 214 is disposed on the limiting plate 213, and a limiting seat 215 is disposed on the bearing plate 201 corresponding to the driving rack plate 204; can realize picking up the swing fine tuning and quick regulation and control by a wide margin of the subassembly 3 of getting through regulation and control subassembly 2 to it is high to make the swing angle regulation and control convenience that the subassembly 3 was got to the picking clamp, and can realize picking up the multi-angle of getting the subassembly 3 to commodity and pick up, also can realize simultaneously placing picking up the multi-angle of commodity and unloading, thereby make to pick up the effect of picking up the subassembly 3 when commodity is picked up and use better.

Wherein the drive rack plate 204 is in a correspondingly adapted meshing connection with the drive gear 207. The limit seat 215 is correspondingly provided with a U-shaped groove which is matched with the drive rack plate 204, and the drive rack plate 204 is in sliding connection with the limit seat 215. The first supporting ring 210 and the second supporting ring 212 are arranged on the rotary cylinder 209 and correspond to the driving end of the rotary cylinder, the opposite surfaces of the first supporting ring 210 and the second supporting ring 212 are correspondingly provided with annular grooves matched with the supporting balls 211, and a plurality of groups of supporting balls 211 are arranged between the first supporting ring 210 and the second supporting ring 212. The limiting plate 213 is located at the driving end of the rotary cylinder 209 and is correspondingly and fixedly connected with the second supporting ring 212. The cross section of the receiving plate 214 is provided in an "L" shaped configuration. The stress of the driving end of the rotary cylinder 209 can be effectively reduced through the first supporting ring 210 and the second supporting ring 212, so that the safety of the rotary cylinder 209 in use is high, the using effect of the regulating and controlling assembly 2 is effectively improved, and the meshing switching stability between the driving rack plate 204 and the driving gear 207 in operation is high through the limiting seat 215.

In this embodiment, referring to fig. 1 and 5, the picking and gripping assembly 3 includes a joining post 301 mounted on a joining plate 214, a receiving frame plate 302 is provided at a lower end of the joining post 301, a guide frame 303 is provided at a lower end of the receiving frame plate 302, a positioning guide plate 304 is provided on the guide frame 303 correspondingly left and right, a picking clamp plate 305 is provided at a lower side of the positioning guide plate 304, a servo motor 306 is provided in a middle of an upper side of the guide frame 303 and in the receiving frame plate 302, a linkage plate 3061 is provided at a driving end of the servo motor 306, and joining pull plates 307 are provided at both ends of the linkage plate 3061. The picking clamp assembly 3 drives and controls the picking clamp plate 305 through a linkage structure, so that the commodities can be clamped and picked in a centering mode, the commodities can be effectively prevented from being inclined in a shifting mode, the protection of the commodities is effectively improved, and the picking clamp assembly 3 has a good use effect when the commodities are picked and placed.

One end of the connecting post 301 is arranged in a disc-shaped structure, and the connecting post 301 is correspondingly and fixedly connected with the bearing plate 214 through a fixing bolt. The four corners of the upper side of the positioning guide plate 304 are provided with limiting clamping seats 308 matched with the guide frame 303, and the limiting clamping seats 308 are in sliding connection with the guide frame 303. The upper front side of the positioning guide plate 304 is provided with a rotating connecting plate 309, and one ends of the two side connecting pull plates 307 away from the linkage plate 3061 are respectively connected with the two side rotating connecting plates 309 in a corresponding rotating way. Through spacing cassette 308, can realize that the switching between location baffle 304 and the guide frame 303 is located stability better, can make the stability of location baffle 304 when the regulation and control operation high simultaneously, make the picking clamp get the effect of subassembly 3 when using.

When the commodity picking robot in the scheme is used, the using position of the picking clamping component 3 is regulated and controlled through the bearing truss 1, then the driving rack plate 204 is driven and controlled through the regulating cylinder 203 in the regulating component 2, the driving gear 207 can be acted and driven to drive the supporting shaft 206 to drive the supporting tray 208 to rotate, so that the fine adjustment deflection of the picking clamping component 3 is realized, meanwhile, the supporting plate 214 can be driven to rotate under the action of the rotating cylinder 209, the large-amplitude rotation regulation and control of the picking clamping component 3 can be realized, the angle using regulation and control convenience of the picking clamping component 3 when picking commodities is high, the applicability of the commodity placing position is also realized, the using effect and the picking placing efficiency of the picking clamping component 3 when picking commodities are high, the swinging fine adjustment and rapid large-amplitude regulation of the picking clamping component 3 can be realized through the regulating component 2, the multi-angle picking clamping of the picking clamping component 3 can be realized, and the picking clamping effect of the picking clamping component 3 on commodities can be realized, and the picking and the commodity placing can be realized when picking the picking component 3 is better;

after position regulation and control are carried out on the picking clamp assembly 3 through the regulating and controlling assembly 2, the linkage plate 3061 is driven through the servo motor 306, regulation and control are carried out on the connecting pulling plates 307 on two sides under the action of the linkage plate 3061, the connecting pulling plates 307 are pulled to the rotating connecting plates 309, positioning guide plates 304 are positioned and guided to slide on the guide frames 303, picking clamp plate 305 is realized to pick and clamp commodities, regulation and control on the picking clamp plate 305 are realized through the reverse rotation of the servo motor 306, picking and unloading placement of the commodities is realized, driving and controlling are carried out on the picking clamp plate 305 through the picking clamp assembly 3 through the linkage structure, commodities can be clamped and picked in a centering mode, deviation dumping of the commodities can be effectively avoided, accordingly protection of the commodities is effectively improved, and the picking clamp assembly 3 is good in use effect when picking and placing the commodities.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein 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 commodity picking robot, includes the spandrel girder (1), its characterized in that: the vertical driving end of the bearing truss (1) is provided with a regulating and controlling assembly (2), and a picking and clamping assembly (3) is arranged on the regulating and controlling assembly (2);

the regulating and controlling assembly (2) comprises a bearing plate (201) arranged on a vertical driving end of a bearing truss (1), two mounting plates (202) are arranged on the right upper side of the front surface of the bearing plate (201), a regulating and controlling cylinder (203) is arranged between the two mounting plates (202), a driving end of the regulating and controlling cylinder (203) is provided with a driving rack plate (204), a positioning shaft seat (205) is arranged in the middle of the bearing plate (201), a supporting shaft (206) is rotatably arranged on the positioning shaft seat (205), a driving gear (207) is arranged on the supporting shaft (206), a bearing tray (208) is arranged at the front end of the supporting shaft (206), a rotary cylinder (209) is arranged on the front surface of the bearing tray (208), a first bearing ring (210) is arranged on the rotary cylinder (209), a bearing ball (211) is arranged on the first bearing ring (210), a second bearing ring (212) is arranged on the first bearing ring (211) through the bearing ball (211), a driving end (213) is arranged on the rotary cylinder (209), and a limit plate (213) is arranged on the corresponding to the driving rack plate (213);

picking and clamping assembly (3) is including installing linking post (301) on accepting board (214), the lower extreme of linking post (301) is provided with and accepts framed board (302), the lower extreme of accepting framed board (302) is provided with guide frame (303), correspond on guide frame (303) about being provided with location baffle (304), the downside of location baffle (304) is provided with picking splint (305), the department is provided with servo motor (306) in the middle of the upside of guide frame (303) and be located the inside of accepting framed board (302), the drive end of servo motor (306) is provided with linkage board (3061), the both ends of linkage board (3061) are provided with and link up arm-tie (307).

2. A commodity sorting robot as claimed in claim 1, wherein: the driving rack plate (204) is correspondingly and adaptively meshed with the driving gear (207).

3. A commodity sorting robot as claimed in claim 1, wherein: and the limiting seat (215) is correspondingly provided with a U-shaped groove which is matched with the driving rack plate (204), and the driving rack plate (204) is in sliding connection with the limiting seat (215).

4. A commodity sorting robot as claimed in claim 1, wherein: the bearing device is characterized in that the first bearing ring (210) and the second bearing ring (212) are arranged on the rotary cylinder (209) and correspond to the driving end of the rotary cylinder, annular grooves which are matched with the bearing balls (211) are correspondingly formed in the opposite surfaces of the first bearing ring (210) and the second bearing ring (212), and a plurality of groups of bearing balls (211) are arranged between the first bearing ring (210) and the second bearing ring (212).

5. A commodity sorting robot as claimed in claim 1, wherein: the limiting plate (213) is positioned at the driving end of the rotary cylinder (209) and is correspondingly and fixedly connected with the second supporting ring (212).

6. A commodity sorting robot as claimed in claim 1, wherein: the cross section of the bearing plate (214) is in an L-shaped structure.

7. A commodity sorting robot as claimed in claim 1, wherein: one end of the connecting column (301) is arranged in a disc-shaped structure, and the connecting column (301) is correspondingly and fixedly connected with the bearing plate (214) through a fixing bolt.

8. A commodity sorting robot as claimed in claim 1, wherein: limiting clamping bases (308) matched with the guide frames (303) are arranged at four corners of the upper side of the positioning guide plate (304), and the limiting clamping bases (308) are connected with the guide frames (303) in a sliding mode.

9. A commodity sorting robot as claimed in claim 1, wherein: the upper front side of the positioning guide plate (304) is provided with a rotating connecting plate (309), and one ends, far away from the linkage plate (3061), of the connecting pulling plates (307) on the two sides are respectively in corresponding rotating connection with the rotating connecting plates (309) on the two sides.