CN208948349U - Transport mechanism, end effector and robot with scalable sucker - Google Patents
Transport mechanism, end effector and robot with scalable sucker Download PDFInfo
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- CN208948349U CN208948349U CN201821202666.5U CN201821202666U CN208948349U CN 208948349 U CN208948349 U CN 208948349U CN 201821202666 U CN201821202666 U CN 201821202666U CN 208948349 U CN208948349 U CN 208948349U
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Abstract
The utility model provides transport mechanism, end effector and robot with scalable sucker, transport mechanism includes transmission track, telescoping mechanism, foreboard component and sucker, transmission track is for receiving cargo, telescoping mechanism is installed on above transmission track, for controllably coming towards cargo to progress stretching motion, sucker is installed on telescoping mechanism telescopic end, cargo for being sucked on transmission track, the connection of the telescopic end of foreboard component and telescoping mechanism, sucker is installed on the outside of foreboard component, and foreboard component is for making sucker downwardly turn over certain angle.Sucker, conveyer belt and telescoping mechanism are incorporated on the end effector of robot by the transport mechanism, increase the reliability and processing speed of cargo crawl, and the foreboard component that sucker can be made to downwardly turn over is added, in telescoping mechanism end convenient for drawing envelope class article.
Description
Technical field
The utility model relates to cargo tranmission techniques fields, in particular to transport mechanism, end with scalable sucker
Actuator and robot.
Background technique
Robot is a kind of installations that can execute work automatically, is widely used in the every profession and trades such as industry, construction industry
In field, wherein logistics transportation industry also has the case for widely applying robot.Such as it can be utilized when traveller is carried on airport
Robot realizes automatic transporting and conveying.
The robot to transport goods at present is the cargo for waiting extraneous conveying mechanism to send, and passes through robot end
The platform on actuator is held to receive cargo, then robot arm is mobile, cargo is sent in sorting or specific accommodating container,
But the platform of end effector can not effectively fix cargo, so that falling during robot arm is mobile
The risk of missing package, while in order to avoid cargo from falling as far as possible, the speed of service of robot is also restricted.
Utility model content
(1) purpose of utility model
To overcome above-mentioned at least one defect of the existing technology, increase the reliability and processing speed of cargo crawl,
The utility model provides following technical scheme.
(2) technical solution
As the utility model in a first aspect, the utility model discloses a kind of conveyers with scalable sucker
Structure, comprising:
For receiving the transmission track of cargo；
The telescoping mechanism being installed on above the transmission track, the telescoping mechanism for controllably towards cargo come into
Row stretching motion；And
At least one sucker being installed on the telescoping mechanism telescopic end, the sucker is for being sucked the transmission track
On cargo.
In a kind of possible embodiment, the sucker includes one or more of: electrostatic chuck, vacuum chuck,
Magnechuck.
In a kind of possible embodiment, the telescoping mechanism includes expansion bracket, the fixing end installation of the expansion bracket
On rear side of the transmission track, the telescopic end of the expansion bracket controllably comes towards cargo to progress stretching motion.
In a kind of possible embodiment, the expansion bracket includes multiple telescopic units, each telescopic unit packet
The first connector and the second connector are included, is hinged in the middle part of the middle part of first connector and second connector, it is non-
In the outermost telescopic unit of expansion bracket, the first connector front end of each telescopic unit, the second connector front end difference
It is hinged with the second connector rear end, the first connector rear end of telescopic unit described in the latter.
In a kind of possible embodiment, the telescoping mechanism further includes the flexible driving for driving the expansion bracket
Component, the flexible driving assembly are connect with the fixing end of the expansion bracket.
In a kind of possible embodiment, the transport mechanism further includes the end being installed on above the transmission track
Baffle, the fixing end of the expansion bracket are fixedly connected with the end stop.
In a kind of possible embodiment, the transport mechanism further includes connecting with the telescopic end of the telescoping mechanism
Foreboard component, at least one described sucker are installed on the outside of the foreboard component.
In a kind of possible embodiment, the foreboard component include fixed plate and with the fixed plate is hinged turns over
Rotating plate, the fixed plate are connected to the telescopic end of the expansion bracket, at least one described sucker is installed on the outside of the returning face plate.
In a kind of possible embodiment, the returning face plate is used for controllably relative to the fixed plate upward or downward
Overturning, flip angle are more than or equal to 90 °.
In a kind of possible embodiment, the transport mechanism further includes driving the overturning driving of the returning face plate overturning
Component.
In a kind of possible embodiment, the transmission track includes:
Track-frame；And
The multiple rolling elements being set on the track-frame.
In a kind of possible embodiment, the rolling element includes:
The shaft that both ends are connect with the track-frame；And
The roller or idler wheel being sheathed in the shaft.
In a kind of possible embodiment, the transmission track further includes being sheathed at least two in the multiple rolling element
The conveyer belt of a rolling element.
In a kind of possible embodiment, the transport mechanism further includes all or part of rolling element rotation of driving
Driving device.
As the second aspect of the utility model, the utility model discloses a kind of end effectors, comprising:
Transport mechanism described in any of the above-described technical solution；And
The end interface being set in the transport mechanism, the end effector pass through the end interface and robot
Connection.
As the third aspect of the utility model, the utility model discloses a kind of robots, comprising: above-mentioned technical proposal
Described in end effector, the end effector connect by the end interface with the robot.
(3) beneficial effect
Transport mechanism, end effector and robot provided by the utility model with scalable sucker by sucker, passes
It send band and telescoping mechanism to be incorporated on the end effector of robot, increases the reliability and processing speed of cargo crawl,
And the foreboard component that sucker can be made to downwardly turn over is added, in telescoping mechanism end convenient for drawing envelope class article.
Detailed description of the invention
It is exemplary below with reference to the embodiment of attached drawing description, it is intended to it is used for explanation and illustration the utility model, without
It can be interpreted as the limitation to the protection scope of the utility model.
Fig. 1 is the three dimensional structure diagram of the transport mechanism provided by the utility model with scalable sucker, wherein is passed
The telescoping mechanism of mechanism is sent to be in retracted mode.
Fig. 2 is the positive structure diagram of Fig. 1, wherein transmission track is equipped with conveyer belt.
Fig. 3 is the three dimensional structure diagram of end effector and robot provided by the utility model before receiving cargo,
Wherein, the telescoping mechanism of transport mechanism is in retracted mode.
Fig. 4 is the positive structure diagram of Fig. 3.
Three dimensional structure diagram when Fig. 5 is end effector in Fig. 3 and robot is receiving cargo, wherein stretch
Contracting mechanism is in elongation state.
Fig. 6 is the positive structure diagram of Fig. 5.
Three dimensional structure diagram when Fig. 7 is end effector in Fig. 3 and robot is receiving cargo, wherein goods
Object is flat cargo, and telescoping mechanism is in elongation state, and foreboard component is in and opens state.
Fig. 8 is the positive structure diagram of Fig. 7.
Specific embodiment
To keep the purposes, technical schemes and advantages of the utility model implementation clearer, below in conjunction with the utility model
Attached drawing in embodiment, is further described in more detail the technical scheme in the embodiment of the utility model.
It should be understood that in the accompanying drawings, from beginning to end same or similar label indicate same or similar element or
Element with the same or similar functions.The embodiments are a part of the embodiments of the present invention, rather than whole
Embodiment, in the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other.Based on this reality
It is obtained by those of ordinary skill in the art without making creative efforts every other with the embodiment in novel
Embodiment is fallen within the protection scope of the utility model.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion is signified
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this is practical
The limitation of novel protected range.
Herein, " first ", " second " etc. are only used for mutual differentiation, rather than indicate their significance level and sequence
Deng.
The of the transport mechanism with scalable sucker of the offer of the utility model is described in detail below with reference to Fig. 1-Fig. 2
One embodiment.The present embodiment is mainly used in be transmitted on carriage of Cargo, in logistics transportations scenes such as such as airport processing passenger travellers
Under, transport mechanism can receive the cargo that extraneous conveying mechanism is sent, and during receiving cargo, actively stretch
Cargo is sucked by the sucker on telescoping mechanism in contracting mechanism, makes cargo is firm to be placed in transport mechanism, prevents it from falling.
As depicted in figs. 1 and 2, the transport mechanism in the present embodiment specifically includes that transmission track 100, telescoping mechanism and extremely
A few sucker 300.
Transmission track 100 is for receiving cargo.Cargo is transported through on extraneous conveying mechanism to be come, transmission track 100
Entrance cooperates extraneous conveying mechanism close to the outlet of extraneous conveying mechanism, transmission track 100, makes cargo from extraneous conveying mechanism quilt
It is transmitted on transmission track 100.
Telescoping mechanism is installed on 100 top of transmission track, for controllably coming towards cargo to progress stretching motion.It is flexible
Mechanism has fixing end and telescopic end, and fixing end is connect with fixed structure, and as non-moving end, telescopic end is controlled flexible, as fortune
Moved end.
Sucker 300 is installed on telescoping mechanism telescopic end, the cargo for being sucked on transmission track 100.The suction of sucker 300
Attached face and cargo come to opposite, and when cargo is near the exit for being transported to extraneous conveying mechanism, telescoping mechanism can be stretched
Long, until the side of cargo is sucked in sucker 300, then telescoping mechanism shortens, and cargo is drawn to biography by the suction of sucker 300
It send on track 100, alternatively, cargo is moved in transport mechanism by dynamical type transmission track 100 from extraneous conveying mechanism, and stretches
Contracting mechanism does not apply pulling force or tractive force to cargo during cargo is moved to transport mechanism from extraneous conveying mechanism, only
Shortened the thrust in direction by cargo application with the movement of cargo, and then shortened, until cargo is connect by transport mechanism
It receives.No matter cargo is to be drawn in transport mechanism by telescoping mechanism, or pass through frictional force by dynamical type transmission track 110
It is sent in transport mechanism, during transmission, sucker 300 enables to cargo is firm to be securely placed in transmission track
In 100, prevent transport mechanism during subsequent movement, cargo is fallen from transport mechanism.
Can be equipped with any one sucker in one or more above-mentioned three kinds of suckers on the telescopic end of telescoping mechanism, it can also be with
Mixing installation, such as vacuum chuck and magnechuck are housed simultaneously, the two is used cooperatively.
It is understood that telescoping mechanism can be without active expanding-contracting action, for example, extraneous conveying according to field working conditions
Mechanism and transmission track 100 are dynamical type conveying, and the two operates synchronously, and cargo is sent to transmission rail from extraneous conveying mechanism
On road 100, until goods movement is at sucker 300, then sucker 300 is sucked cargo, and in whole process, telescoping mechanism is not necessarily to
Carry out expanding-contracting action.Transmission track 100 or non-powered formula, i.e. cargo are sucked and are pulled by telescoping mechanism by suckers 300
When, it needs to overcome the frictional force between cargo and transmission track 100.
The telescopic direction of telescoping mechanism is not necessarily parallel to the extending direction i.e. length of transmission track 100 of transmission track 100
Direction is spent, telescopic direction there can be certain angle with the extending direction of transmission track 100 in the horizontal plane, because of telescoping mechanism
Telescopic end to be parallel to the side towards telescoping mechanism of cargo as far as possible, and the side towards telescoping mechanism of cargo is not necessarily
It can also be with flexible setting, in above situation perpendicular to the telescopic direction of the extending direction of transmission track 100, therefore telescoping mechanism
Lower preferably reply, processing cargo.
In one embodiment, sucker 300 includes one or more of: electrostatic chuck, vacuum chuck, electromagnetism are inhaled
Disk.The electrode of electrostatic chuck surface can generate between substantially any object and maintain powerful adsorption capacity, can adsorb a variety of
Object, such as jar, box, chest, glass plate, silica gel plate and fiberboard.Vacuum chuck made of rubber can at high temperature into
Row operates, and vacuum chuck made of silicon rubber is very suitable for catching shaggy product.Magnechuck utilizes electromagnetic principle, leads to
Crossing, which makes Inside coil be powered, generates magnetic force, will contact by magnetic conduction panel and is tightly sucked in the workpiece of panel surface, by by line
Circle power-off makes magnetic force disappear, and realizes demagnetization, and then decontrol workpiece.
Under normal conditions, transport mechanism is once only sucked and pulls a cargo, therefore transport mechanism once only receives one
Part cargo, the length of transmission track 100 can be also arranged according to the average-size of cargo.It should be noted that transport mechanism can also
To be once sucked simultaneously and pull two pieces cargo placed side by side.
In one embodiment, telescoping mechanism includes expansion bracket 500, and the fixing end of expansion bracket 500 is installed on transmission rail
100 rear side of road, the telescopic end of expansion bracket 500 controllably come towards cargo to progress stretching motion.The external world is transported in cargo
When structure for conveying near exit, expansion bracket 500 is extended towards cargo under control of the control means, and cargo is sucked to sucker 300
It retracts under control of the control means afterwards, realizes the dragging to cargo.
It is understood that the inlet of transmission track 100 is starting point, the other end is end, above-mentioned transmission track
100 rear sides are i.e. near the end of transmission track 100.
In one embodiment, expansion bracket 500 is scissor angle adjustable frame, and expansion bracket 500 includes multiple telescopic units 510,
Each telescopic unit 510 include first connector 511 and second connector 512, the middle part of the first connector 511 with
The middle part of second connector 512 is hinged, and makes telescopic unit 510 in X shape.In all telescopic units 510 of expansion bracket 500
In, in addition to being located at the outermost telescopic unit 510 of expansion bracket 500, the of each telescopic unit 510 in other telescopic units 510
The front end of a connection piece 511 and the rear end of the second connector 512 of the latter telescopic unit 510 are hinged, and the second connector 512
Front end and the latter telescopic unit 510 511 rear end of the first connector it is hinged.
It should be noted that the front end of the first connector 511 and the second connector 512 refers to closer to expansion bracket fixing end
One end, the rear end of the first connector 511 and the second connector 512 refers to closer to one end of expansion bracket telescopic end.
When needing makes telescoping mechanism carry out extension/contraction movement, need to only apply to expansion bracket 500 can change the first company
The external force of angle between fitting 511 and the second connector 512, the folder between the first connector 511 and the second connector 512
Angle become larger then telescoping mechanism shortening, angle become smaller then telescoping mechanism elongation.
The shape of first connector 511 and the second connector 512, size are usually all identical, but also can permit such as
The length of a connection piece 511 is longer than the second connector 512, if the length between the hinge joint at 511 both ends of the first connector with
Second connector 512 matches, and can be realized the flexible of telescopic unit 510.
In one embodiment, telescoping mechanism further includes the flexible driving assembly for driving expansion bracket 500, stretches and drives
Dynamic component is connect with the fixing end of expansion bracket 500.Flexible driving assembly can be by hydraulic stem or servo actuator etc. as execution
The of one of telescopic unit 510 in one end of mechanism, hydraulic stem or servo actuator and the expansion bracket 500 of telescoping mechanism
A connection piece and/or the second connector apply the first connector and/or the second connector by hydraulic stem or servo actuator
Push/pull drives the first connector connecting with hydraulic stem or servo actuator and/or the second connector to rotate, changes with this
Become the angle between the rwo, so changed simultaneously in all telescopic units 510 first connector and the second connector it
Between angle, realize expansion bracket 500 extension/contraction.Wherein, the application direction of push/pull is typically normal to telescoping mechanism
Telescopic direction, can also with the telescopic direction of telescoping mechanism have angle at an acute angle, as long as push/pull is in vertical direction
It is upper that there is component.
In another example can also be cut with scissors at the middle part of the first connector and the second connector in a wherein telescopic unit 510
The end hinged place of the first connector and the second connector of the place of connecing or adjacent expansion unit 510 is provided with pin shaft, pin shaft and liquid
The connection of one end of compression bar or servo actuator, hydraulic stem or servo actuator, also can be real by applying push/pull to pin shaft
The extension/contraction of existing expansion bracket 500.
In one embodiment, transport mechanism further includes being installed on the end stop 200 of 100 top of transmission track, is stretched
The fixing end of contracting frame 500 is fixedly connected with end stop 200.End stop 200 is motionless fixed structure, is typically normal to pass
Track 100 is sent to be arranged.511 rear end of the first connector of the innermost telescopic unit 510 of expansion bracket 500 and the second connector 512
Rear end is hinged with end stop 200, so that end stop 200 is that expansion bracket 500 provides support.End stop 200 is usually set
It is placed in the clearing end of transmission track 100 or the position close to clearing end.
In one embodiment, transport mechanism further includes the foreboard component 600 connecting with the telescopic end of telescoping mechanism,
Sucker 300 is installed on 600 outside of foreboard component.Foreboard component 600 is the component for following telescoping mechanism flexible, and expansion bracket 500 is most
511 rear end of the first connector and 512 rear end of the second connector of the telescopic unit 510 in outside are hinged with foreboard component 600,
At least one end and foreboard component 600 are movably hinged in 512 rear end of first connector, 511 rear end and the second connector.Before
Board group part 600 is also responsible for carrying each sucker 300 simultaneously, is the platform for installing sucker 300.
In one embodiment, foreboard component 600 includes fixed plate 610 and the returning face plate hinged with fixed plate 610
620.The hinged place of returning face plate 620 and fixed plate 610 is usually located at the bottom edge of returning face plate 620, fixed plate 610 and overturning
The hinged place of plate 620 is also normally positioned at the bottom edge of fixed plate 610, and the bottom of the two can be connected by common rotating shaft.Gu
Fixed board 610 is connected to the telescopic end of expansion bracket 500, moves with the flexible of expansion bracket 500.Sucker 300 is installed on returning face plate 620
Outside.
In logistics transportation, volume, the size of cargo are different, the direction of sucker 300 be set as coming towards cargo to,
That is the side of cargo can be sucked under the action of telescoping mechanism in sucker 300, that is, can be used for being sucked the goods with certain altitude
Object.And setting and the hinged returning face plate 620 of fixed plate 610, it is to be able to that a lower height of cargo such as shaped flat is sucked, example
Such as envelope mail and other items.Specifically, the driving assembly that stretches drives expansion bracket 500 when envelope is shipped by extraneous conveying mechanism
Elongation, fixed plate 610 therewith to goods movement, when elongation to a certain extent when, sucker 300 be located at envelope normal side or it is oblique on
Side drives returning face plate 620 to downwardly turn over around 610 edge of fixed plate at this time, and foreboard component 600 is in and opens state, sucker 300
Adsorption plane is approximately parallel to envelope top surface from being approximately parallel to envelope side and turn to, and envelope is sucked, afterwards turn over plate 620 around
610 edge of fixed plate is flipped up, and envelope is taken away extraneous conveying mechanism, and foreboard component 600 is in retracted state at this time, is stretched
Driving assembly drives expansion bracket 500 to shorten again, and envelope is received in transport mechanism therewith, and the reception for completing flat cargo obtains
It takes.
In one embodiment, returning face plate 620 is turned over for controllably overturning upward or downward relative to fixed plate 610
Gyration is more than or equal to 90 °.Fixed plate 610 and 620 hinged place of returning face plate are the rotary shaft of returning face plate 620, and rotary shaft is usually set
It is placed parallel to the upper surface of transmission track 100 and extraneous conveying mechanism, the adsorption plane of sucker 300 is also configured as perpendicular to biography
Send the upper surface of track 100 and extraneous conveying mechanism.The flip angle of returning face plate 620 is usually 90 °.When 620 turns of returning face plate
When 90 ° dynamic, the upper surface that the adsorption plane of sucker 300 also becomes being parallel to cargo from the upper surface perpendicular to cargo is (in class
The cargo of cuboid or class square), improve the success rate that cargo is sucked.
In one embodiment, transport mechanism further includes the overturning driving assembly for driving returning face plate 620 to overturn.Overturning is driven
Dynamic component may include a micro-machine, control motor by electric signal, drives and turns between fixed plate 610 and returning face plate 620
Moving axis rotation, and then rotate returning face plate 620.Can also by both ends respectively with fixed plate 610 and returning face plate 620 are hinged stretches
Contracting hydraulic stem drives returning face plate 620 to rotate, by the flexible of control hydraulic stem, to control between fixed plate 610 and returning face plate 620
Relative distance, and then rotate returning face plate 620.
In one embodiment, transmission track 100 includes track-frame 110 and multiple rolling elements 120, track-frame
110 can be connected and fixed with end stop 200, and rolling element 120 is all set on track-frame 110.Rolling element 120 usually hangs down
Directly it is arranged in track-frame 110.
Transmission track 100 can be dynamic formula or unpowered type, 120 meeting of rolling element of dynamic formula transmission track
The stretching speed rotation for cooperating telescoping mechanism, drives cargo to move on transmission track 100, mitigates sucker 300 by frictional force
The load that suction undertakes.Unpowered type transmission track is not any to the dynamic pulling force of cargo application, frictional force etc. to facilitate goods
Object continues the power transmitted, and the suction for relying only on sucker 300 drives goods movement, and passes through rolling element 120 in transmit process
Come reduce on transmission track 100 hinder goods movement frictional force, also can reduce the load that 300 suction of sucker undertakes.
In one embodiment, rolling element 120 includes shaft and the roller 121 or idler wheel that are sheathed in shaft, shaft
Both ends are connect with track-frame 110.
The quantity of rolling element 120 is arranged according to the length of transmission track 100 and the length of cargo, makes cargo in transmission rail
When on road 100, no matter when all carried by least two rolling elements 120.Specifically, rolling element 120 can be disposed proximate to, i.e.,
The quantity of rolling element 120 be slightly less than transmission track 100 length and 120 diameter of rolling element quotient in view of each rolling element 120 it
Between have certain interval.Rolling element 120 can be drum-type rolling element, be also possible to roller type rolling element, drum-type rolling element
Shaft on be arranged a complete roller 121, the axial length of roller 121 is slightly less than the width of track-frame 110, roller type
The idler wheel of multiple gap settings is arranged in the shaft of rolling element.The case where transmission track 100 is dynamic formula transmission track
Under, shaft cooperates the stretching speed rotation of telescoping mechanism, roller and/or idler wheel rotation is driven, to drive cargo by frictional force
It is mobile.In the case where transmission track 100 is unpowered type transmission track, either roller type rolling element or roller type are rolled
Body can play the carrying of unpowered type under the premise of minimizing obstructive frictional force and transmit cargo.
When cargo is located on extraneous conveying mechanism, when pulling cargo by sucker 300, extraneous conveying mechanism can also be with
The stretching speed of telescoping mechanism is got, and synchronizes and is operated, at this time extraneous conveying mechanism, transmission track and telescoping mechanism
Running speed it is synchronous, to reduce the resistance that transport mechanism receives cargo.
In one embodiment, as shown in Fig. 2, transmission track 100 further includes being sheathed in multiple rolling elements 120 extremely
The conveyer belt 122 of few two rolling elements 120.Cargo can be when being pulled on transmission track 100 by sucker 300 and pass through idler wheel
And/or 121 auxiliary telescopic mechanism of roller is transmitted cargo, is also possible to through 122 auxiliary telescopic mechanism of conveyer belt to goods
Object is transmitted.The quantity of conveyer belt 122 is arranged according to the quantity of rolling element 120, if rolling element 120 is to be disposed proximate to, passes
It send band 122 can be to cover in all 120 outsides of rolling element, is also possible to for rolling element 120 being grouped, one conveyer belt of every group of set
122, it is also possible to only be arranged conveyer belt 122 in the rolling element 120 of 100 inlet of transmission track.If rolling element 120 is scattered sets
It sets, a conveyer belt 122 is then usually set on all rolling elements 120 by each rolling element 120 apart from farther out.
It, can be between rolling element 120 and conveyer belt 122 in the case where transmission track 100 is dynamic formula transmission track
It prevents from skidding between the two by way of engagement contact.
In one embodiment, transport mechanism further includes the driving device for driving all or part of rolling element 120 to rotate.
Specifically, driving device is connected with shaft, roller 121 and/or idler wheel is made to cooperate telescoping mechanism rotation by rotating shaft.?
When driving device operates, transmission track 110 is dynamic formula transmission track, driving device drive part or whole rolling elements 120
With linear velocity identical with the stretching speed of telescoping mechanism operating, the load of the receiving of sucker 300 is shared.
The second embodiment of the end effector of the offer of the utility model is provided below with reference to Fig. 3-Fig. 8.This reality
It applies example and is mainly used in and transmit on carriage of Cargo, under the logistics transportations scenes such as such as airport processing passenger traveller, end effector
The cargo that extraneous conveying mechanism is sent can be received, and during receiving cargo, actively stretches out telescoping mechanism, passes through
Cargo is sucked in sucker on telescoping mechanism, and cargo is drawn on the transmission track of transport mechanism, makes cargo is firm to be placed in
It in transport mechanism, prevents it from falling, while increasing the reliability and processing speed of crawl cargo.
End effector in the present embodiment specifically includes that the transmission with scalable sucker provided in first embodiment
Mechanism and end interface 400.Transport mechanism mainly includes transmission track 100, telescoping mechanism and at least one sucker 300.It passes
Send track 100 for receiving cargo 900.Telescoping mechanism is installed on 100 top of transmission track, for controllably towards cargo 900
Come to progress stretching motion.Sucker 300 is installed on telescoping mechanism telescopic end, the cargo 900 for being sucked on transmission track 100.
End interface 400 is set to the end interface 400 in transport mechanism, and end effector passes through end interface 400 and robot
Robotic arm 700 connects.In Fig. 6 and Fig. 8, since end interface 400 is invisible in outside, it is represented by dotted lines.
In one embodiment, transport mechanism further includes being installed on the end stop 200 of 100 top of transmission track, is stretched
The fixing end of contracting frame 500 is fixedly connected with end stop 200.
In one embodiment, transport mechanism further includes the foreboard component 600 connecting with the telescopic end of telescoping mechanism,
Sucker 300 is installed on 600 outside of foreboard component.
The components such as the transmission track 100 of the present embodiment, telescoping mechanism, sucker 300, end stop 200, foreboard component 600
Specific structure and connection type can refer to structure described in aforementioned first embodiment and connection type setting, no longer
It repeats one by one.
End effector is first moved to extraneous 800 exit of conveying mechanism, and transmission track before preparing to receive cargo
100 keep substantially concordant position with extraneous conveying mechanism 800.Cargo 900 is transported to outlet in extraneous conveying mechanism 800
When place, end effector issues control signal to flexible driving assembly or end effector receives the control sent from robot
Signal is simultaneously sent to flexible driving assembly, and the driving assembly that stretches is extended according to control signal driving expansion bracket 500.
If cargo is the cargo of non-flat type, the sucker 300 on the foreboard component 600 of telescoping mechanism end can be sucked
The side of cargo 900, the driving assembly driving expansion bracket 500 that stretches at this time retract, and during retraction, sucker 300 drives cargo
900 move on transmission track 100 from extraneous conveying mechanism 800, and so that cargo 900 is securely positioned in transmission track by suction
On 100, avoids in subsequent process and generate the risk that cargo is fallen because of the overall movement of end effector.Alternatively, cargo
It is moved in transport mechanism by dynamical type transmission track 100 from extraneous conveying mechanism, and telescoping mechanism is defeated from the external world in cargo
Pulling force or tractive force are not applied to cargo during sending mechanism to be moved to transport mechanism, only with the movement of cargo and by
The thrust in the shortening direction that cargo applies, and then shorten, until cargo is received by transport mechanism.
No matter cargo is to be drawn in transport mechanism by telescoping mechanism, or passed through by dynamical type transmission track 110
Frictional force is sent in transport mechanism, during transmission, the rolling element 120 and conveyer belt 122 of transmission track 100
Can reduce cargo 900 translate when transmission track 100 between frictional force, or even can active transport and keep and telescopic machine
The identical speed rotation of structure retraction speed, to further decrease the frictional force that translation generates.Meanwhile cargo begins in transmit process
Eventually in the state being sucked, securely it is placed in transmission track 100 so that cargo is firm, prevents transport mechanism in subsequent movement
In the process, cargo is fallen from transport mechanism.
If cargo is the cargo of the platypelloid type of such as envelope, after telescoping mechanism is elongated to suitable position, end is held
Row device receives the control signal sent from robot to overturning driving assembly sending control signal or end effector and sends
To overturning driving assembly, overturning driving assembly driving returning face plate 620 is downwardly turned over about around it with 610 hinged place of fixed plate
90 °, foreboard component 600 is in and opens state at this time, and the adsorption plane of sucker 300 also has rotated identical angle, and goods has been sucked
The upper surface of object 900 afterwards turns over driving assembly driving returning face plate 620 and is flipped up and returns to original position, at this time at foreboard component 600
In retracted state, the driving assembly driving expansion bracket 500 that stretches retracts, cargo 900 is transmitted to from extraneous conveying mechanism 800
It send in mechanism, in order to carry out subsequent transmission or other processing.
Since cargo 900, either flat cargo or non-flat cargo is sustainably sucked in sucker 300,
End effector can make cargo is firm to be placed in transport mechanism, prevent it from falling, and increase the reliability of crawl cargo,
Simultaneously during subsequent processing, due to the increase of stability of cargo, the processing speed of end effector can also be properly increased
Degree.
The 3rd embodiment of the robot of the offer of the utility model is provided below with reference to Fig. 3-Fig. 8.The present embodiment
It is mainly used in and transmits on carriage of Cargo, under the logistics transportations scenes such as such as airport processing passenger traveller, robot can be received
The cargo that extraneous conveying mechanism is sent, and during receiving cargo, telescoping mechanism is actively stretched out, telescoping mechanism is passed through
On sucker cargo is sucked, and cargo is drawn on the transmission track of transport mechanism, makes cargo is firm to be placed in transport mechanism
On, prevent it from falling, while increasing the reliability and processing speed of crawl cargo.
Robot in the present embodiment specifically includes that the end effector provided in second embodiment, end effector master
It include: the transport mechanism and end interface 400 with scalable sucker provided in first embodiment.End effector
It is connect by end interface 400 with robot.Transport mechanism mainly includes transmission track 100, telescoping mechanism and at least one suction
Disk 300.Transmission track 100 is for receiving cargo 900.Telescoping mechanism is installed on 100 top of transmission track, for controllably direction
Cargo 900 to carry out stretching motion.Sucker 300 is installed on telescoping mechanism telescopic end, the goods for being sucked on transmission track 100
Object 900.End interface 400 is set to the end interface 400 in transport mechanism, and end effector passes through end interface 400 and machine
The robotic arm 700 of device people connects.In Fig. 6 and Fig. 8, since end interface 400 is invisible in outside, with dotted line table
Show.
In one embodiment, transport mechanism further includes being installed on the end stop 200 of 100 top of transmission track, is stretched
The fixing end of contracting frame 500 is fixedly connected with end stop 200.
In one embodiment, transport mechanism further includes the foreboard component 600 connecting with the telescopic end of telescoping mechanism,
Sucker 300 is installed on 600 outside of foreboard component.
The components such as the transmission track 100 of the present embodiment, telescoping mechanism, sucker 300, end stop 200, foreboard component 600
Specific structure and connection type can refer to structure described in aforementioned first embodiment and connection type setting, no longer
It repeats one by one.
Robot first controls end effector and is moved to the extraneous outlet of conveying mechanism 800 before preparing to receive cargo
Place, and the transmission track 100 of end effector is made to keep substantially concordant position with extraneous conveying mechanism 800.It is conveyed in the external world
When cargo 900 is transported to exit by mechanism 800, end effector voluntarily issues control signal or machine to flexible driving assembly
People's end-effector send control signal, flexible driving assembly is forwarded to by end effector, stretch driving assembly according to
Signal driving expansion bracket 500 is controlled to extend.
If cargo is the cargo of non-flat type, the sucker 300 on the foreboard component 600 of telescoping mechanism end can be sucked
The side of cargo 900, the driving assembly driving expansion bracket 500 that stretches at this time retract.During retraction, sucker 300 drives cargo
900 move on transmission track 100 from extraneous conveying mechanism 800, and so that cargo 900 is securely positioned in transmission track by suction
On 100, avoids in subsequent process and generate the risk that cargo is fallen because of the overall movement of end effector.Alternatively, cargo
It is moved in transport mechanism by dynamical type transmission track 100 from extraneous conveying mechanism, and telescoping mechanism is defeated from the external world in cargo
Pulling force or tractive force are not applied to cargo during sending mechanism to be moved to transport mechanism, only with the movement of cargo and by
The thrust in the shortening direction that cargo applies, and then shorten, until cargo is received by robot.
No matter cargo is to be drawn in transport mechanism by telescoping mechanism, or passed through by dynamical type transmission track 110
Frictional force is sent in transport mechanism, during transmission, the rolling element 120 and conveyer belt 122 of transmission track 100
Can reduce cargo 900 translate when transmission track 100 between frictional force, or even can active transport and keep and telescopic machine
The identical speed rotation of structure retraction speed, to further decrease the frictional force that translation generates.Meanwhile cargo begins in transmit process
Eventually in the state being sucked, securely it is placed in transmission track 100 so that cargo is firm, prevents transport mechanism in subsequent movement
In the process, cargo is fallen from transport mechanism.
If cargo is the cargo of the platypelloid type of such as envelope, after telescoping mechanism is elongated to suitable position, end is held
Row device receives the control signal sent from robot to overturning driving assembly sending control signal or end effector and sends
To overturning driving assembly, overturning driving assembly driving returning face plate 620 downwardly turns over about 90 ° with 610 hinged place of fixed plate around it,
Foreboard component 600 is in and opens state at this time, and the adsorption plane of sucker 300 also has rotated identical angle, and cargo 900 has been sucked
Upper surface, afterwards turn over driving assembly driving returning face plate 620 and be flipped up and return to original position, foreboard component 600, which is in, at this time receives
The state of returning, the driving assembly driving expansion bracket 500 that stretches retract, and cargo 900 is transmitted to conveyer from extraneous conveying mechanism 800
On structure, in order to carry out subsequent transmission or other processing.
Since cargo 900, either flat cargo or non-flat cargo is sustainably sucked in sucker 300,
Robot can make cargo is firm to be placed in transport mechanism, prevent it from falling, and increase the reliability of crawl cargo, simultaneously
During subsequent processing of the robot to cargo, such as cargo is further transferred on other delivery tracks or is sorted frame
When interior, due to the increase of stability of cargo, the processing speed of end effector can also be properly increased.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, the change that can be readily occurred in
Change or replace, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with described
Subject to scope of protection of the claims.
Claims (10)
1. a kind of transport mechanism with scalable sucker characterized by comprising
For receiving the transmission track (100) of cargo；
The telescoping mechanism being installed on above the transmission track (100), the telescoping mechanism for controllably towards cargo come to
Carry out stretching motion；And
At least one sucker (300) being installed on the telescoping mechanism telescopic end, the sucker (300) is for being sucked the biography
Send the cargo on track (100).
2. transport mechanism as described in claim 1, which is characterized in that the telescoping mechanism includes expansion bracket (500), described to stretch
The fixing end of contracting frame (500) is installed on rear side of the transmission track (100), the telescopic end of the expansion bracket (500) controllably court
Come to cargo to progress stretching motion.
3. transport mechanism as claimed in claim 2, which is characterized in that the expansion bracket (500) includes multiple telescopic units
(510), each telescopic unit (510) includes the first connector (511) and the second connector (512), first connection
It is hinged in the middle part of the middle part of part (511) and second connector (512), the non-expansion bracket (500) is outermost flexible
In unit (510), the first connector (511) front end of each telescopic unit (510), the second connector (512) front end respectively with
The second connector (512) rear end, the first connector (511) rear end of telescopic unit described in the latter (510) are hinged.
4. transport mechanism as claimed in claim 2 or claim 3, which is characterized in that the telescoping mechanism further includes described for driving
The flexible driving assembly of expansion bracket (500), the flexible driving assembly are connect with the fixing end of the expansion bracket (500).
5. transport mechanism as claimed in claim 2 or claim 3, which is characterized in that the transport mechanism further includes and the telescopic machine
The foreboard component (600) of the telescopic end connection of structure, at least one described sucker (300) are installed on the foreboard component (600) outside
Side.
6. transport mechanism as claimed in claim 5, which is characterized in that the foreboard component (600) include fixed plate (610) with
And the hinged returning face plate (620) with the fixed plate (610), the fixed plate (610) are connected to stretching for the expansion bracket (500)
Contracting end, at least one described sucker (300) are installed on the outside of the returning face plate (620).
7. transport mechanism as claimed in claim 6, which is characterized in that the returning face plate (620) is used for controllably relative to institute
It states fixed plate (610) to overturn upward or downward, flip angle is more than or equal to 90 °.
8. transport mechanism as claimed in claims 6 or 7, which is characterized in that the transport mechanism further includes driving the overturning
The overturning driving assembly of plate (620) overturning.
9. a kind of end effector characterized by comprising
Transport mechanism as described in any claim in claim 1 to 8；And
The end interface (400) being set in the transport mechanism, the end effector by the end interface (400) with
Robot connection.
10. a kind of robot characterized by comprising end effector as claimed in claim 9, the end effector
It is connect by the end interface (400) with the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821202666.5U CN208948349U (en) | 2018-07-26 | 2018-07-26 | Transport mechanism, end effector and robot with scalable sucker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821202666.5U CN208948349U (en) | 2018-07-26 | 2018-07-26 | Transport mechanism, end effector and robot with scalable sucker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208948349U true CN208948349U (en) | 2019-06-07 |
Family
ID=66732596
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821202666.5U Active CN208948349U (en) | 2018-07-26 | 2018-07-26 | Transport mechanism, end effector and robot with scalable sucker |
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| Country | Link |
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| CN (1) | CN208948349U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986230A (en) * | 2019-12-28 | 2020-04-10 | 胡玉平 | Intelligent controller of radiation air conditioner |
| CN114245767A (en) * | 2019-08-05 | 2022-03-25 | 川崎重工业株式会社 | Robot hand, robot system, and transfer method |
-
2018
- 2018-07-26 CN CN201821202666.5U patent/CN208948349U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114245767A (en) * | 2019-08-05 | 2022-03-25 | 川崎重工业株式会社 | Robot hand, robot system, and transfer method |
| EP4011570A4 (en) * | 2019-08-05 | 2023-08-23 | Kawasaki Jukogyo Kabushiki Kaisha | Robot hand, robot, robot system, and conveyance method |
| CN110986230A (en) * | 2019-12-28 | 2020-04-10 | 胡玉平 | Intelligent controller of radiation air conditioner |
| CN110986230B (en) * | 2019-12-28 | 2021-04-16 | 颜丽妹 | Intelligent controller of radiation air conditioner |
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Address after: 518000 h6-1, H6 reservoir, Chiwan oil base, H6 reservoir, Chiwan left battery Road, Chiwan community, zhaoshang street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Lan pangzi machine intelligence Co., Ltd Address before: 518000 h6-1, H6 reservoir, Chiwan oil base, H6 reservoir, left battery Road, Chiwan community, zhaoshang street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Lan pangzi machine intelligence Co., Ltd |
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