CN209986936U

CN209986936U - Automatic change load handling device

Info

Publication number: CN209986936U
Application number: CN201920133204.0U
Authority: CN
Inventors: 丁航; 刘健伟; 褚旭; 李文军; 王刚
Original assignee: University of Science and Technology Liaoning USTL
Current assignee: University of Science and Technology Liaoning USTL
Priority date: 2019-01-25
Filing date: 2019-01-25
Publication date: 2020-01-24
Anticipated expiration: 2029-01-25

Abstract

The utility model discloses an automatic object taking device, the structure of which comprises a connecting plate, a mounting rack, a first roller, a first connecting rod, a first bevel gear, a second bevel gear, a first motor, a first shell, a second motor, a third bevel gear, a fourth bevel gear, a rotating column, a second connecting rod, a second roller and a fixing piece, a PS2 controller transmits signals to a wireless receiving module through a wireless transmitting module, so that the design is controlled, the first motor is started to drive the first roller to roll through the first bevel gear and the second bevel gear, and the design is moved; the second electric start enables the second roller to rotate through the third bevel gear and the fourth bevel gear, so that the design is steered; moving the clamping jaw to the position of the article through a six-degree-of-freedom mechanical arm; then make the clamping jaw press from both sides tightly through starting the sixth steering wheel on the six degrees of freedom arms, press from both sides article and get, solved prior art relatively poor flexibility, and awkward problem.

Description

Automatic change load handling device

Technical Field

The utility model relates to an automatic change load handling device belongs to the load handling device field.

Background

The article refers to a substance entity which is related to production or sometimes completely unrelated in the field of management, administration, logistics, education and the like, but is not involved in the production process, does not enter a product entity, and generally refers to all articles related to office and living consumption in the field of office and living.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an automatic load handling device to the not enough of prior art existence to solve the prior art flexibility relatively poor, and awkward problem.

In order to achieve the above purpose, the present invention is realized by the following technical solution: an automatic object taking device comprises a connecting plate, a mounting frame, a first roller, a first connecting rod, a first bevel gear, a second bevel gear, a first motor, a first shell, a second motor, a third bevel gear, a fourth bevel gear, a rotating column, a second connecting rod, a second roller, a fixing plate, a six-degree-of-freedom mechanical arm, a second shell, a microprocessor, a wireless receiving module, a wireless transmitting module, a PS2 controller, a reserve power supply and a charging interface, wherein the outer side of the bottom of the connecting plate is welded with the mounting frame, the rear side of the bottom of the mounting frame is in threaded connection with the first roller, the first connecting rod is inserted in the middle of the inner side of the first roller, the outer side of the middle of the first connecting rod is in transmission connection with the second bevel gear through the first bevel gear, the front side of the second bevel gear is inserted in connection with the front output end of the first, the bottom of the first motor is in threaded connection with an installation frame through an installation seat, the middle part of the front side of the bottom of the installation frame is welded with a first shell, the right part of the top inside the first shell is in threaded connection with a second motor through an installation block, the left output end of the second motor is spliced with a third bevel gear, the left top of the third bevel gear is meshed with a fourth bevel gear, the top of the fourth bevel gear is rotatably connected with the first shell, the middle inside of the bottom of the fourth bevel gear is welded with a second connecting rod through a rotating column, the two sides of the left side of the second connecting rod are spliced with second rollers, the middle side of the top of the second roller is rotatably connected with the installation frame, the middle side of the top of the connecting plate is fixedly connected with a six-degree-of-freedom mechanical arm through a fixing plate, and the left part of the rear side of the top of the connecting plate is welded with the, the circuit board at the bottom side in the second shell is welded with the microprocessor through soldering tin, the circuit board at the bottom side in the second shell is welded with the wireless receiving module through the soldering tin, the wireless receiving module is connected with the wireless transmitting module through electric signals, the wireless transmitting module is embedded in the front side of the PS2 controller, the inner side of the mounting frame is in threaded connection with a reserve power supply, the front part of the left side of the reserve power supply is provided with a charging interface, the first motor, the second motor, the six-degree-of-freedom mechanical arm, the microprocessor, the wireless receiving module and the charging interface are all electrically connected with a reserve power supply, the first motor, the second motor and the six-degree-of-freedom mechanical arm are electrically connected with the wireless receiving module through the microprocessor, the wireless receiving module is in electric signal connection with the PS2 controller through the wireless transmitting module.

Further, a protective cover is arranged on the outer side of the first motor, and the thickness of the protective cover is 0.8 cm.

Further, the interface inboard that charges is provided with the protection stopper to the protection stopper carries out clearance fit with the interface that charges.

Further, a rubber sheet is arranged on the inner side of the clamping jaw, and the thickness of the rubber sheet is 1 cm.

Further, the middle part of the rear side of the PS2 controller is provided with a battery mounting opening.

Further, the surface of the PS2 controller is provided with a first button, a second button, a third button, a fourth button, a fifth button, a sixth button, a seventh button, an eighth button, a first remote rod and a second remote rod, wherein the first button is electrically connected with a battery mounting port in the middle of the rear side of the PS2 controller, the first remote rod is in electrical signal connection with a first motor through a wireless transmitting module and a wireless receiving module, the second remote rod is in electrical signal connection with a second motor through a wireless transmitting module and a wireless receiving module, the second button, the third button, the fourth button, the fifth button, the sixth button and the seventh button are in electrical signal connection with six steering engines of a six-degree-of-freedom mechanical arm through a wireless transmitting module and a wireless receiving module, and the eighth button is in electrical signal connection with a microprocessor through a wireless transmitting module and a wireless receiving module.

Further, the wireless transmitting module and the wireless receiving module are 315m wireless transmitting and receiving modules.

Further, the first motor and the second motor are both stepping motors.

Further, the model of the microprocessor is stm32f 103.

The utility model discloses an automatic object taking device, PS2 controller pass through wireless transmitting module with the signal transfer to wireless receiving module, make this design control, first motor start drive first gyro wheel through first conical gear and second conical gear and roll, thereby make this design move; the second electric start enables the second roller to rotate through the third bevel gear and the fourth bevel gear, so that the design is steered; moving the clamping jaw to the position of the article through a six-degree-of-freedom mechanical arm; then make the clamping jaw press from both sides tightly through starting the sixth steering wheel on the six degrees of freedom arms, press from both sides article and get, solved prior art relatively poor flexibility, and awkward problem.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic structural view of the mounting rack of the present invention;

fig. 3 is a schematic structural view of the interior of the first housing of the present invention;

fig. 4 is a schematic structural diagram of the PS2 controller according to the present invention;

in the figure: the device comprises a connecting plate-1, a mounting frame-2, a first roller-3, a first connecting rod-4, a first bevel gear-5, a second bevel gear-6, a first motor-7, a first shell-8, a second motor-9, a third bevel gear-10, a fourth bevel gear-11, a rotating column-12, a second connecting rod-13, a second roller-14, a fixing piece-15, a six-degree-of-freedom mechanical arm-16, a second shell-19, a microprocessor-20, a wireless receiving module-21, a wireless transmitting module-22, a PS2 controller-23, a reserve power supply-24 and a charging interface-25.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

Referring to fig. 1, fig. 2, fig. 3 and fig. 4, the present invention provides an automatic material taking device: comprises a connecting plate 1, a mounting frame 2, a first roller 3, a first connecting rod 4, a first bevel gear 5, a second bevel gear 6, a first motor 7, a first shell 8, a second motor 9, a third bevel gear 10, a fourth bevel gear 11, a rotating column 12, a second connecting rod 13, a second roller 14, a fixing piece 15, a six-degree-of-freedom mechanical arm 16, a second shell 19, a microprocessor 20, a wireless receiving module 21, a wireless transmitting module 22, a PS2 controller 23, a reserve power supply 24 and a charging interface 25, wherein the outer side of the bottom of the connecting plate 1 is welded with the mounting frame 2, the rear side of the bottom of the mounting frame 2 is in threaded connection with the first roller 3, the first connecting rod 4 is inserted in the middle of the inner side of the first roller 3, the outer side of the middle of the first connecting rod 4 is in transmission connection with the second bevel gear 6 through the first bevel gear 5, the inner side of the front of the second bevel gear 6 is inserted with, the bottom of a first motor 7 is in threaded connection with an installation frame 2 through an installation seat, the middle part of the front side of the bottom of the installation frame 2 is welded with a first shell 8, the right part of the top inside the first shell 8 is in threaded connection with a second motor 9 through an installation block, the left output end of the second motor 9 is spliced with a third bevel gear 10, the left top of the third bevel gear 10 is meshed with a fourth bevel gear 11, the top of the fourth bevel gear 11 is in rotary connection with the first shell 8, the middle side of the bottom of the fourth bevel gear 11 is welded with a second connecting rod 13 through a rotating column 12, the two sides of the left side of the second connecting rod 13 are spliced with a second roller 14, the middle side of the top of the second roller 14 is in rotary connection with the installation frame 2, the middle side of the top of a connecting plate 1 is fixedly connected with a six-degree-of-freedom mechanical arm 16 through a fixing sheet 15, the left part of, the circuit board at the bottom side inside the second shell 19 is welded with the microprocessor 20 through soldering tin, the circuit board at the bottom side inside the second shell 19 is welded with the wireless receiving module 21 through soldering tin, the wireless receiving module 21 is in electric signal connection with the wireless transmitting module 22, the wireless transmitting module 22 is embedded in the front side inside the PS2 controller 23, the inner side inside the mounting rack 2 is in threaded connection with the reserve power supply 24, the charging interface 25 is arranged at the front part of the left side of the reserve power supply 24, the first motor 7, the second motor 9 and the six-degree-of-freedom mechanical arm 16 are arranged, the microprocessor 20, the wireless receiving module 21 and the charging interface 25 are all electrically connected with the reserve power supply 24, the first motor 7, the second motor 9 and the six-degree-of-freedom mechanical arm 16 are all electrically connected with the wireless receiving module 21 through the microprocessor 20, and the wireless receiving module 21 is in electric signal connection with the PS2 controller 23 through the wireless transmitting module 22.

Wherein, the first motor 7 outside is provided with the protection casing to the thickness of protection casing is 0.8cm, is favorable to protecting first motor 7.

Wherein, interface 25 inboard that charges is provided with the protection stopper to the protection stopper carries out clearance fit with interface 25 that charges, is favorable to protecting interface 25 that charges.

Wherein, the inboard of clamping jaw 18 is provided with the sheet rubber to the thickness of sheet rubber is 1cm, increases the frictional force between the article.

The middle part of the rear side of the PS2 controller 23 is provided with a battery mounting port, and power is supplied by an external battery.

Wherein, the surface of the PS2 controller 23 is provided with a first button 231, a second button 232, a third button 233, a fourth button 234, a fifth button 235, a sixth button 236, a seventh button 237, an eighth button 238, a first remote rod 239, a second remote rod 240, the first button 231 is electrically connected with a battery mounting port at the middle of the rear side of the PS2 controller 23, the first remote rod 239 is electrically connected with the first motor 7 through the wireless transmitting module 22 and the wireless receiving module 21, the second remote rod 240 is electrically connected with the second motor 9 through the wireless transmitting module 22 and the wireless receiving module 21, the second button 232, the third button 233, the fourth button 234, the fifth button 235, the sixth button 236 and the seventh button 237 are electrically connected with six steering engines of the six-degree-of-freedom mechanical arm 16 through the wireless transmitting module 22 and the wireless receiving module 21, the eighth button 238 is electrically connected with the microprocessor 20 through the wireless transmitting module 22 and the wireless receiving module 21, the control is carried out through a first button 231, a second button 232, a third button 233, a fourth button 234, a fifth button 235, a sixth button 236, a seventh button 237, an eighth button 238, a first remote lever 239 and a second remote lever 240.

The wireless transmitting module 22 and the wireless receiving module 21 are 315m wireless transmitting and receiving modules.

Wherein, the first motor 7 and the second motor 9 are both stepping motors.

The model of the microprocessor 20 is stm32f 103.

This patent wireless transmitting module 22 and wireless receiving module 21 be 315m wireless transmitting and receiving module, 315m wireless transmitting and receiving module's wireless data transmission is widely used in fields such as vehicle monitoring, remote control, telemetering measurement, small-size wireless network, wireless meter reading, access control system, district paging, industrial data acquisition system, wireless tag, identification, non-contact RF smart card, small-size wireless data terminal, safe fire prevention system, wireless remote control system, biological signal collection, hydrological weather control, robot control, wireless 232 data communication, wireless 485/422 data communication, digital audio, digital image transmission.

When a user wants to use the device, the user first charges the reserve power supply 24 through the charging interface 25, inserts the power supply interface at the rear side of the PS2 controller 23 into the battery, and then presses the first button 231 on the PS2 controller 23 to use the device; pressing down a first remote lever 239 on a PS2 controller, sending a signal by a wireless transmitting module 22, enabling a wireless receiving module 21 to drive a microprocessor 20 to start a first motor 7, and enabling the first motor 7 to start to drive a first roller 3 to roll through a first bevel gear 5 and a second bevel gear 6, so that the design moves; pressing the second remote lever 240 on the PS2 controller 23, the wireless transmitter module 22 sends a signal, so that the wireless receiver module 21 drives the microprocessor 20 to start the second motor 9, and the second motor 9 starts to rotate the second roller 14 through the third bevel gear 10 and the fourth bevel gear 11, thereby turning the design; by pressing the second button 232, the third button 233, the fourth button 234, the fifth button 235, the sixth button 236 and the wireless transmitting module 22 on the PS2 controller 23, the wireless receiving module 21 drives the microprocessor 20 to start the first steering engine, the second steering engine, the third steering engine, the fourth steering engine and the fifth steering engine of the six-degree-of-freedom mechanical arm 16, so that the clamping jaws on the six-degree-of-freedom mechanical arm move to the position of an article; pressing a seventh button 237 on the PS2 controller 23, sending a signal by the wireless transmitting module 22, and driving the microprocessor 20 by the wireless receiving module 21 to start a sixth steering engine of the six-degree-of-freedom mechanical arm 16, so that the clamping jaws clamp the article, and the article is taken; pressing the eighth button 238 on the PS2 controller 23, the wireless transmitter module 22 sends a signal, the wireless receiver module 21 transmits data into the microprocessor 20, and the microprocessor 20 can set different article grabbing modes, the utility model discloses an automatic object fetching device, which controls the design through the wireless transmitter module 22 and the wireless receiver module 21, the first motor 7 is started to drive the first roller 3 to roll through the first bevel gear 5 and the second bevel gear 6, thereby moving the design; the second motor 9 starts to rotate the second roller 14 through the third bevel gear 10 and the fourth bevel gear 11, so that the design is steered; the clamping jaw is moved to the position of an article through the six-degree-of-freedom mechanical arm 16, the article is clamped, and the problems that the flexibility is poor and the use is inconvenient in the prior art are solved.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above, it will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides an automatic change load handling device which characterized in that: comprises a connecting plate (1), a mounting rack (2), a first roller (3), a first connecting rod (4), a first bevel gear (5), a second bevel gear (6), a first motor (7), a first shell (8), a second motor (9), a third bevel gear (10), a fourth bevel gear (11), a rotating column (12), a second connecting rod (13), a second roller (14), a fixing piece (15), a six-degree-of-freedom mechanical arm (16), a second shell (19), a microprocessor (20), a wireless receiving module (21), a wireless transmitting module (22), a PS2 controller (23), a reserve power supply (24) and a charging interface (25), wherein the outer side of the bottom of the connecting plate (1) is welded with the mounting rack (2), the rear side of the bottom of the mounting rack (2) is in threaded connection with the first roller (3), the middle part of the inner side of the first roller (3) is inserted with the first connecting rod (4), the utility model discloses a motor, including first connecting rod (4), first motor (7), second bevel gear (6), mounting bracket (2), second bevel gear (6), first motor (7) and second motor (7), first motor (4) middle part outside carries out the transmission through first bevel gear (5) and second bevel gear (6) and is connected, second bevel gear (6) front middle part is pegged graft with the front portion output of first motor (7), threaded connection is carried out through mount pad and mounting bracket (2) in first motor (7) bottom, mounting bracket (2) bottom front middle part welds with first casing (8), first casing (8) inside top right part carries out threaded connection through the installation piece, second motor (9) left side output is pegged graft with third bevel gear (10), third bevel gear (10) left side top meshes with fourth bevel gear (11), fourth bevel gear (11) top is rotated with first casing (8) and is connected, fourth bevel gear (11) bottom middle part inside is carried out the transmission through rotating post (12) and second connecting rod (13) and is connected Welding, two sides of the left side of the second connecting rod (13) are spliced with a second roller (14), the middle side of the top of the second roller (14) is rotatably connected with the mounting frame (2), the middle side of the top of the connecting plate (1) is fixedly connected with the six-degree-of-freedom mechanical arm (16) through a fixing sheet (15), the left part of the rear side of the top of the connecting plate (1) is welded with the second shell (19), a circuit board at the bottom side of the inside of the second shell (19) is welded with the microprocessor (20) through soldering tin, the circuit board at the bottom side of the inside of the second shell (19) is welded with the wireless receiving module (21) through the soldering tin, the wireless receiving module (21) is in electrical signal connection with the wireless transmitting module (22), the wireless transmitting module (22) is embedded in the front side of the inside of the PS2 controller (23), and the inner side of the mounting frame (2) is in threaded connection with the, the storage power supply (24) is provided with a charging interface (25) in the front of the left side, the first motor (7), the second motor (9), the six-degree-of-freedom mechanical arm (16), the microprocessor (20), the wireless receiving module (21) and the charging interface (25) are electrically connected with the storage power supply (24), the first motor (7), the second motor (9) and the six-degree-of-freedom mechanical arm (16) are electrically connected with the wireless receiving module (21) through the microprocessor (20), and the wireless receiving module (21) is in electric signal connection with the PS2 controller (23) through the wireless transmitting module (22).

2. The automatic object taking device as claimed in claim 1, wherein: the outer side of the first motor (7) is provided with a protective cover, and the thickness of the protective cover is 0.8 cm.

3. The automatic object taking device as claimed in claim 1, wherein: the protection plug is arranged on the inner side of the charging interface (25), and the protection plug is in clearance fit with the charging interface (25).

4. The automatic object taking device as claimed in claim 1, wherein: the inner side of the clamping jaw (18) is provided with a rubber sheet, and the thickness of the rubber sheet is 1 cm.

5. The automatic object taking device as claimed in claim 1, wherein: the middle part of the rear side of the PS2 controller (23) is provided with a battery mounting opening.

6. The automatic object taking device as claimed in claim 1, wherein: the surface of the PS2 controller (23) is provided with a first button (231), a second button (232), a third button (233), a fourth button (234), a fifth button (235), a sixth button (236), a seventh button (237), an eighth button (238) and a first remote rod (239), the second remote rod (240) is electrically connected with a battery mounting port in the middle of the rear side of the PS2 controller (23), the first remote rod (239) is in electric signal connection with a first motor (7) through a wireless transmitting module (22) and a wireless receiving module (21), the second remote rod (240) is in electric signal connection with a second motor (9) through the wireless transmitting module (22) and the wireless receiving module (21), and the second button (232), the third button (233), the fourth button (234), the fifth button (235), the sixth button (236) and the seventh button (237) are in electric signal connection with a sixth motor (7) through the wireless transmitting module (22) and the wireless receiving module (21) Six steering engines of the mechanical arm (16) are in electric signal connection, and the eighth button (238) is in electric signal connection with the microprocessor (20) through the wireless transmitting module (22) and the wireless receiving module (21).