CN207030141U - A kind of Mobile Cargo robot arm - Google Patents
A kind of Mobile Cargo robot arm Download PDFInfo
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- CN207030141U CN207030141U CN201720862534.4U CN201720862534U CN207030141U CN 207030141 U CN207030141 U CN 207030141U CN 201720862534 U CN201720862534 U CN 201720862534U CN 207030141 U CN207030141 U CN 207030141U
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- scissors mechanism
- pivot
- support framework
- driving cylinder
- articulated
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Abstract
A kind of Mobile Cargo robot arm disclosed in the utility model, including the first scissor component and the second scissor component；First scissor component includes the first rear support framework, the first scissors mechanism, the first front mounting plate and the first driving cylinder, first scissors mechanism rear end can be articulated on the first rear support framework up or down by pivot, and first driving cylinder one end is articulated on the pivot of the first scissors mechanism rear end；Second scissor component includes the second rear support framework, the second scissors mechanism, the second front mounting plate and the second driving cylinder；Second rear support framework is fixed on front side of the first front mounting plate, and the second scissors mechanism rear end can be articulated on the second rear support framework up or down by pivot, and second driving cylinder one end is articulated on the pivot of the second scissors mechanism rear end；The utility model closely can pick goods with remote staged exactly.
Description
Technical field
Mobile Cargo robotic technology field is the utility model is related to, more particularly to a kind of Mobile Cargo robotic
Arm.
Background technology
Mobile Cargo robot is a kind of automatic installations for performing work.It can both receive mankind commander, again may be used
, can also be according to the principle guiding principle action formulated with artificial intelligence technology to run the program of advance layout.Its task is association
Help or substitute the work of human work, such as production industry, construction industry, or dangerous work
Mobile Cargo robot is directed to improving the efficiency of warehousing management, is mainly reflected in picking picking efficiency, machinery
Arm is the mechanism that in general Mobile Cargo robot all has, and its effect is to directly drive grasping mechanism（Such as manipulator, sucker
Mechanism etc.）Goods on shelf is picked, problem existing for existing mobile robot machinery arm configuration mainly has：
1）Existing mobile robot's mechanical arm is mostly automatic guided vehicle（AGV）With solid mechanical hand simple combination, formed
Multi-joint 5DOF or 6DOF mechanical arm, multi-joint mechanical arm is complicated, and control process is also complex, generally requires
High-performance computer or embedded system control, cost are high.
2）In picking-up in warehouse, working space is coffin, and existing multi-joint is not suitable for coffin then,
Structure design does not meet shelf actual conditions, and operating space is vulnerable to limitation.
The utility model is directed to a kind of Mobile Cargo robot arm that can pick goods at a distance.
Utility model content
The purpose of this utility model is to provide a kind of Mobile Cargo robot arm, its can closely exactly in distance and
Classification picks goods at a distance, and stability is good.
To achieve these goals, the technical solution of the utility model is as follows：
A kind of Mobile Cargo robot arm, including the first scissor component and the second scissor component；
The first scissor component includes the first rear support framework, the first scissors mechanism, the first front mounting plate and first and driven
Dynamic cylinder, the first scissors mechanism rear end can be articulated on the first rear support framework up or down by pivot, and described first
Driving cylinder one end is articulated on the pivot of the first scissors mechanism rear end；Propped up after forming first on rear side of first front mounting plate
Support frame frame, the first scissors mechanism front end can be articulated on the first front support framework up or down by pivot；
The second scissor component includes the second rear support framework, the second scissors mechanism, the second front mounting plate and second and driven
Dynamic cylinder；The second rear support framework is fixed on front side of the first front mounting plate, and the second scissors mechanism rear end can be upper and lower by pivot
Movably it is articulated on the second rear support framework, described second driving cylinder one end is articulated in the pivot of the second scissors mechanism rear end
On axle；Form the second rear support framework on rear side of second front mounting plate, the second scissors mechanism front end by pivot can on move down
It is articulated in dynamicly on the first front support framework.
First scissors mechanism includes two groups of expansion link group, and second scissors mechanism includes five groups of expansion link groups,
Every group of expansion link group is intersected by two and formed in the expansion link of infall pivot joint.
First scissors mechanism also forms the first transverse connecting rod, the first driving cylinder other end and the first transverse connecting rod
Connection.
After such scheme, utility model works principle is as follows：
First scissors mechanism and the second scissors mechanism have the first driving cylinder and the second driving cylinder to promote and carry out flexible fortune respectively
It is dynamic, need it is remote pick goods when, the first scissors mechanism and the second scissors mechanism are promoted into expansion, the second scissors mechanism the
Two front mounting plates are used to install grasping mechanism, and now grasping mechanism can reach farthest distance, can cover any position on shelf
Put, after capturing goods, the first driving cylinder and the second driving cylinder retraction, the goods picked is removed, certainly, the utility model is near
When distance picks goods, as long as the first scissors mechanism of expansion or the second scissors mechanism can meet to require.
The utility model beneficial effect is：This hair utility model is simple in construction and ingenious, by combining two individually behaviour
The first scissors mechanism and the second scissors mechanism made, realize bigger telescopic extensions and more classification goods pick at a distance,
The convenience that short distance goods picks is ensure that simultaneously, there is the characteristics of easily manipulation.
The utility model is described further below in conjunction with the drawings and specific embodiments.
Brief description of the drawings
Fig. 1 is the utility model unfolding state figure；
Fig. 2 is the utility model retracted state figure；
Fig. 3 is the retracted state figure of the utility model the first scissor component；
Fig. 4 is explosive view of the present utility model；
Fig. 5 is the explosive view of the utility model the first scissor component；
Fig. 6 is the explosive view of the utility model the second scissor component；
Fig. 7 and 8 is the use state figure that the utility model is applied to Mobile Cargo robot.
Label declaration
First scissor component 1, the first rear support framework 11, the first scissors mechanism 12, the first front mounting plate 13, the first driving
Cylinder 14, the first front support framework 15, pivot 16, the first transverse connecting rod 17, the second scissor component 2, the second rear support framework 21,
Second scissors mechanism 22, the second front mounting plate 23, the second driving cylinder 24, the second rear support framework 25, pivot 26, second laterally connects
Extension bar 27, grasping mechanism 3, expansion link group 4, expansion link 41, Mobile Cargo robot 8.
Embodiment
As illustrated in fig. 1 and 2, a kind of Mobile Cargo robot arm that the utility model discloses, including the first scissor group
The scissor component 2 of part 1 and second；
As shown in Fig. 1,3-5, before the first scissor component 1 includes the first rear support framework 11, the first scissors mechanism 12, first
The driving cylinder 14 of installing plate 13 and first, the rear end of the first scissors mechanism 12 is propped up after being articulated in first up or down by pivot 16
On support frame frame 11, the one end of the first driving cylinder 14 is articulated on the pivot of the rear end of the first scissors mechanism 12；After first front mounting plate 13
Side forms the first rear support framework 15, and the front end of the first scissors mechanism 12 can be articulated in the first front support up or down by pivot
On framework 15；
As shown in Fig. 1,4 and 6, the second scissor component 2 includes the second rear support framework 21, the second scissors mechanism 22, second
The driving cylinder 24 of front mounting plate 23 and second；Second rear support framework 21 is fixed on the front side of the first front mounting plate 13, the second scissor machine
The rear end of structure 22 can be articulated on the second rear support framework 21 up or down by pivot 26, and the one end of the second driving cylinder 24 is articulated in
On the pivot of the rear end of second scissors mechanism 22；The rear side of second front mounting plate 23 forms the second rear support framework 25, the second scissor machine
The front end of structure 22 can be articulated on the first front support framework 25 up or down by pivot.
As shown in figure 1, the first scissors mechanism 1 includes two groups of expansion link group 4, the second scissors mechanism 2 stretches including five groups
Bar group 4, every group of expansion link group 4, which is wrapped, to be intersected by two and is formed in the expansion link 41 of infall pivot joint.
The first scissors mechanism 12 is acted on for the ease of the first driving cylinder 14, the first scissors mechanism 12 also forms first laterally
Connecting rod 17, the other end of the first driving cylinder 14 are connected with the first transverse connecting rod 17.
As shown in FIG. 7 and 8, when the utility model is applied to Mobile Cargo robot 8, exhibition is extended in the first scissors mechanism 12
When opening, so that it may realize that short distance goods picks, now need to only control the actuating length of the first driving cylinder 14, needing farther distance
Goods when picking, control the second scissors mechanism 22 gradually to extend by the second driving cylinder 24, whole shelf, this practicality can be covered
It is new to drive grasping mechanism to avoid single several scissors mechanisms compared to a scissors mechanism is used by two scissors mechanisms
Single driving cylinder is short of power when being picked at a distance and position controls the problem of not accurate enough.
Specific embodiment of the utility model is these are only, not to the restriction of the scope of protection of the utility model.It is all according to
The equivalent variations that the mentality of designing of this case is done, each fall within the protection domain of this case.
Claims (3)
- A kind of 1. Mobile Cargo robot arm, it is characterised in that：Including the first scissor component and the second scissor component；The first scissor component includes the first rear support framework, the first scissors mechanism, the first front mounting plate and the first driving cylinder, The first scissors mechanism rear end can be articulated on the first rear support framework up or down by pivot, first driving cylinder One end is articulated on the pivot of the first scissors mechanism rear end；The first rear support frame is formed on rear side of first front mounting plate Frame, the first scissors mechanism front end can be articulated on the first front support framework up or down by pivot；The second scissor component includes the second rear support framework, the second scissors mechanism, the second front mounting plate and the second driving cylinder； The second rear support framework is fixed on front side of the first front mounting plate, and the second scissors mechanism rear end can be up or down by pivot It is articulated on the second rear support framework, described second driving cylinder one end is articulated on the pivot of the second scissors mechanism rear end； Form the second rear support framework on rear side of second front mounting plate, the second scissors mechanism front end can pivot up or down by pivot It is connected on the first front support framework.
- A kind of 2. Mobile Cargo robot arm as claimed in claim 1, it is characterised in that：The first scissors mechanism bag Two groups of expansion link group is included, second scissors mechanism includes five groups of expansion link groups, and every group of expansion link group is intersected by two And in the expansion link composition of infall pivot joint.
- A kind of 3. Mobile Cargo robot arm as claimed in claim 1, it is characterised in that：First scissors mechanism is also The first transverse connecting rod is formed, the first driving cylinder other end is connected with the first transverse connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720862534.4U CN207030141U (en) | 2017-07-17 | 2017-07-17 | A kind of Mobile Cargo robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720862534.4U CN207030141U (en) | 2017-07-17 | 2017-07-17 | A kind of Mobile Cargo robot arm |
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| Publication Number | Publication Date |
|---|---|
| CN207030141U true CN207030141U (en) | 2018-02-23 |
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ID=61464397
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720862534.4U Active CN207030141U (en) | 2017-07-17 | 2017-07-17 | A kind of Mobile Cargo robot arm |
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| Country | Link |
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| CN (1) | CN207030141U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514522A (en) * | 2018-11-13 | 2019-03-26 | 中国科学院合肥物质科学研究院 | It is a kind of can course changing control long-range delivery device |
| CN109516094A (en) * | 2018-11-13 | 2019-03-26 | 中国科学院合肥物质科学研究院 | A kind of long-range driving means |
| CN112520646A (en) * | 2020-11-30 | 2021-03-19 | 安徽宇锋智能科技有限公司 | Automatic sorting transportation vision guide type AGV forklift |
| WO2024021395A1 (en) * | 2022-07-25 | 2024-02-01 | 上海快仓智能科技有限公司 | Transport device, transport robot and warehousing system |
-
2017
- 2017-07-17 CN CN201720862534.4U patent/CN207030141U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514522A (en) * | 2018-11-13 | 2019-03-26 | 中国科学院合肥物质科学研究院 | It is a kind of can course changing control long-range delivery device |
| CN109516094A (en) * | 2018-11-13 | 2019-03-26 | 中国科学院合肥物质科学研究院 | A kind of long-range driving means |
| CN109514522B (en) * | 2018-11-13 | 2021-09-28 | 中国科学院合肥物质科学研究院 | Remote pushing mechanism capable of steering control |
| CN112520646A (en) * | 2020-11-30 | 2021-03-19 | 安徽宇锋智能科技有限公司 | Automatic sorting transportation vision guide type AGV forklift |
| WO2024021395A1 (en) * | 2022-07-25 | 2024-02-01 | 上海快仓智能科技有限公司 | Transport device, transport robot and warehousing system |
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