CN210001154U

CN210001154U - robot clamping mechanism based on automatic sorting platform

Info

Publication number: CN210001154U
Application number: CN201920577143.7U
Authority: CN
Inventors: 张卫平; 毛义华; 乔玥
Original assignee: Binhai Industrial Technology Research Institute of Zhejiang University
Current assignee: Binhai Industrial Technology Research Institute of Zhejiang University
Priority date: 2019-04-25
Filing date: 2019-04-25
Publication date: 2020-01-31
Anticipated expiration: 2029-04-25

Abstract

The utility model discloses a mechanism is got to robot clamps based on automatic sorting platform, which comprises a fixed base, the fixing base lateral wall is equipped with the fixed plate, the fixed plate is kept away from the side of fixed base is equipped with the fixed part, sliding connection has the rotation portion on the fixed plate, follows the width direction of fixed plate, the rotation portion place in the side of fixed part, the rotation portion is close to or keeps away from along width direction the fixed part, the fixed part includes splint, the rotation portion includes the fixed block, rotate on the fixed block and connect the second splint, when pressing from both sides the product, splint with the second splint are parallel robot based on automatic sorting platform press from both sides and get the mechanism, can press from both sides the convenient quick clamp of product of placing on the conveyer belt and get, especially be suitable for the condition of one-way conveying, press from both sides the stability and get better, the practicality is stronger.

Description

robot clamping mechanism based on automatic sorting platform

Technical Field

The utility model belongs to the robot field especially relates to robot based on automatic sorting platform presss from both sides and gets mechanism.

Background

In recent years, with the progress of the technological level, the manual work and the intellectualization gradually become fields of the development of capital invested by a big house in competition, and along with the development of the fields, the automatic sorting platform is gradually applied to different fields along with the rise of logistics and the explosive growth in a short time, so that the automatic sorting platform is brought up to realize the rapid and convenient sorting of articles, in the existing automatic sorting platform, the robots playing different roles perform sequential work to complete the whole sorting, the whole robot can realize the steps of positioning, grabbing, rotating, storing and the like, wherein a clamping mechanism adopted during clamping is a connecting rod type manipulator structure , the structure is complex, wherein the damage of part can cause the whole rejection, the linkage function is strong, the clamping of products is not beneficial, and the damage of product packaging is easily caused.

This section is intended to summarize aspects of embodiments of the present invention and to present a brief summary of of the preferred embodiments in this section, as well as the abstract and the title of the disclosure, to avoid obscuring the purpose of this section, abstract and the title, and it is not intended to limit the scope of the disclosure.

In view of the problem that exists in the description of above-mentioned background art, the utility model discloses, consequently, the utility model discloses wherein aims at providing robot based on automatic sorting platform and press from both sides the mechanism, press from both sides the design of getting the mechanism through the clamp of this kind of simple structure, can press from both sides the convenient quick clamp of going on of product of placing on the conveyer belt and get the time sparingly, especially be suitable for the condition of one-way conveying, press from both sides and get stability better, press from both sides the convenience.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model discloses a technical scheme is that robot based on automatic sorting platform presss from both sides and gets mechanism, which comprises a fixed base, the fixing base lateral wall is equipped with the fixed plate, the fixed plate is kept away from the side of fixed base is equipped with the fixed part, sliding connection has the rotation portion on the fixed plate, follows the width direction of fixed plate, the rotation portion place in the side of fixed part, the rotation portion is close to or keeps away from along width direction the fixed part, the fixed part includes splint, the rotation portion includes the fixed block, rotate on the fixed block and connect the second splint, when pressing from both sides the product, th splint with the second splint are parallel.

, a sliding groove is arranged on the fixing plate along the width direction, and the fixing block is matched with the sliding groove and slides on the sliding groove.

, the end of the fixed block, far away from the sliding groove, is rotatably connected with the second clamping plate through a rotating shaft, and the end part of the rotating shaft is connected with a motor and is driven by a motor.

, the axis of the th rotating shaft is parallel to the plane of the fixing plate, and the axis of the th rotating shaft is perpendicular to the sliding direction of the fixing block.

And , the fixed block is connected with the second clamping plate through two symmetrically arranged connecting rods.

, a limit rod is arranged at the end part of the connecting rod close to the second clamping plate, so that the second clamping plate and the th clamping plate stop rotating after being parallel.

, connecting the fixed seat with the fixed plate through symmetrical cushion blocks to form a gap, wherein a second motor is arranged on the fixed plate in the gap, the second motor is connected with a speed reducer, an output shaft of the speed reducer is connected with a second rotating shaft which is coaxial, and the second rotating shaft is in threaded connection with the fixed block.

, a buffering pad is detachably connected to the side of the second splint corresponding to the second splint, the cross section of the buffering pad is triangular, a plurality of uniformly distributed protrusions are arranged on the side of the buffering pad close to the second splint, and the symmetrical center line between the adjacent protrusions is perpendicular to the axis of the th rotating shaft.

, a supporting rod is arranged on the fixing plate and detachably connected with the th clamping plate through a bolt.

, a through hole is arranged on the fixed seat, and the axis of the through hole is parallel to the axis of the rotating shaft.

Compared with the prior art, the utility model has the advantages and the positive effect that 1, the utility model discloses a design of the mechanism is got to the clamp of this kind of simple structure can be in the convenient quick clamp of the product of placing on the conveyer belt of getting, save and get the time of getting, especially be suitable for the condition of one-way conveying, it is better to get stability to press from both sides, 2, the clamp that has changed traditional connecting rod formula structure gets the design, through fixed, side normal running fit's form in addition, after article and fixed part contact, the fixed clamp of article is realized through the pivoted form to the rotation part, convenient quick, stability is better, 3, avoided getting the in-process because the location error, cause the condition that article damaged, improve letter sorting quality.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is a structural schematic diagram of the entire directions of the robot gripping mechanism based on the automatic sorting platform in types of the present invention, wherein the direction indicated by the arrow is the width direction;

fig. 2 is another directional structural schematic diagrams of the robot gripping mechanism based on the automatic sorting platforms.

Reference numerals:

1-fixed seat, 2-through hole, 3-second rotating shaft, 4-second motor, 5-cushion block, 6-support rod, 7-bolt, 8- th splint, 9-cushion pad, 10- th motor, 11- th rotating shaft, 12-second splint, 13-connecting rod, 14-fixed plate, 15-fixed block, 16-limiting rod and 17-bulge.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be embodied in other specific forms other than those described herein, and one skilled in the art may similarly push without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

Furthermore, while the present invention has been described in detail with reference to the drawings, for the purpose of illustrating the embodiments of the present invention, the sectional views showing the device structure will not be enlarged partially in proportion to , and the drawings are only exemplary and should not limit the scope of the present invention

Again, it should be noted that the embodiments and features of the embodiments of the present invention can be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and are not intended to indicate or imply that the device or element so referred to must be constructed and operated in a particular orientation and are not to be construed as limiting the invention.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" shall be construed , for example, they may be fixedly connected, detachably connected, or physically connected, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediate medium, and communicating between two elements.

In order to make the objects, technical solutions and advantages of the present invention clearer, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

As shown in fig. 1, a robot gripping mechanism based on an automatic sorting platform includes a fixed base 1, a fixed plate 14 is disposed on a side wall of the fixed base 1, a fixing portion is disposed on a side of the fixed plate 14 away from the fixed base 1, a rotating portion is slidably connected to the fixed plate 14 and disposed on a side of the fixing portion in a width direction of the fixed plate 14, the rotating portion is disposed close to or away from the fixing portion in the width direction, the fixing portion includes a th clamping plate 8, the rotating portion includes a fixed block 15, a second clamping plate 12 is rotatably connected to the fixed block 15, when a product is gripped, the 8656 th clamping plate 8 is parallel to the second clamping plate 12, a sliding slot is formed in the width direction of the fixed plate 14, the fixed block 15 is engaged with the sliding slot, the sliding slot is slid on the sliding slot, an end of the fixed block 15 away from the sliding slot is rotatably connected to the second clamping plate 12 through a th rotating shaft 11, an th rotating shaft 11 is connected to a th motor 10, an axis of the th rotating shaft 11 is parallel to a plane of the fixed plate 14, an axis of the fixed block 14, a rotating mechanism is perpendicular to a sliding direction of the fixed block 15, a 4 th rotating mechanism is driven by a th motor 10, an axis of the rotating shaft 11 is parallel to a rotating mechanism, a rotating mechanism is designed to be capable of rapidly and a rotating mechanism, a rotating mechanism.

Preferably, the fixing block 15 is connected with the second clamping plate 12 through two symmetrically arranged connecting rods 13, the connecting rod 13 is provided with a limiting rod 16 at the end part close to the second clamping plate 12, so that the second clamping plate 12 is parallel to the th clamping plate 8 and then stops rotating, the flexibility of the rotation of the second clamping plate 12 is improved through the design of the connecting rod 13, meanwhile, a limiting bulge is arranged on the limiting rod 16, a limiting groove matched with the limiting bulge is arranged on the second clamping plate 12, the connecting rod is electrically connected to a control unit, when the limiting bulge is matched with the limiting groove, a stopping model is formed, the signal is transmitted to the control unit, and the control unit sends a stopping command to the th motor 10 electrically connected with the control unit through the signal.

Preferably, the fixed seat 1 and the fixed plate 14 are connected through the symmetrical cushion blocks 5 to form a gap, the fixed plate 14 in the gap is provided with the second motor 4, the second motor 4 is connected with the speed reducer, the output shaft of the speed reducer is connected with the second rotating shaft 3 which is coaxial, and the second rotating shaft 3 is in threaded connection with the fixed block 15. when the th clamping plate 8 and the second clamping plate 12 are parallel through the matching structure, an article to be clamped is arranged between the two, then the article is clamped in steps through sliding on the sliding groove, a good clamping effect is ensured, dropping in the sorting process is avoided, and stability is good.

The lateral of the clamp plate 8 corresponding to the second clamp plate 12 is detachably connected with a buffer pad 9, the cross section of the buffer pad 9 is triangular, the of the buffer pad 9 close to the second clamp plate 12 is provided with a plurality of uniformly distributed bulges 17, and the symmetrical center line between the adjacent bulges 17 is vertical to the axial line of the rotating shaft 11. the buffer pad 9 can be designed to have less damage to objects in clamping, and is arranged to be in the triangular structure, and the wider part is arranged at the end close to the transmission belt, so that the objects in clamping are more stable and firm, the bulges 17 are designed to have an anti-skid effect, and the objects can be prevented from falling off.

In addition, a supporting rod 6 is arranged on the fixing plate 14, and the supporting rod 6 is detachably connected with an th clamping plate 8 through a bolt 7, so that the replacement of the part is convenient, and the maintenance cost is saved.

Preferably, the fixed seat 1 is provided with a through hole 2, and the axis of the through hole 2 is parallel to the axis of the th rotating shaft 11.

The working principle of the utility model is that the clamping mechanism is connected to the robot through the through hole 2, the robot drives the clamping mechanism to realize vertical movement and rotation, thereby driving the object on the clamping mechanism to realize sorting, wherein the working process of the clamping mechanism is that the robot controls the vertical movement thereof, the th clamping plate 8 is arranged above the transmission belt, and the moving direction along the transmission belt, the th clamping plate 8 is arranged at the back of the second clamping plate 12, the second clamping plate 12 is arranged at the state perpendicular to the rd clamping plate 8 under the control of the th motor 10 at this time, namely, the th clamping plate 8 is arranged above the transmission belt, the second clamping plate 12 is not at, and the th clamping plate 8 is perpendicular to the transmission direction of the transmission belt, when the clamping is performed, when the object moves to be close to the th clamping plate 8, the identification system on the robot identifies the information on the object, judge where to reach, after finishing, send a command to the th motor 10 after judging, control the th rotating shaft 11 to rotate, send a stop signal to the limiting rod 16, the th clamping plate 8 and the second clamping plate 12, simultaneously, the moving of the second clamping mechanism and the second clamping mechanism are connected to the sorting machine can be connected to the upright position of the second clamping plate, the clamp 368, the sorting machine can be connected to the fixed clamp 368, so as the compressed by the.

It should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the scope of the claims of the present invention.

Claims

The utility model provides a mechanism is got to robot based on automatic sorting platform clamp, its characterized in that includes the fixing base, the fixing base lateral wall is equipped with the fixed plate, the fixed plate is kept away from the side of fixed base is equipped with the fixed part, sliding connection has the rotation portion on the fixed plate, follows the width direction of fixed plate, the rotation portion place in the side of fixed part, the rotation portion is close to or keeps away from along width direction the fixed part, the fixed part includes th splint, the rotation portion includes the fixed block, rotate on the fixed block and connect the second splint, when pressing from both sides the product, th splint with the second splint are parallel.
2. The robot gripping mechanism based on automatic sorting platform as claimed in claim 1, wherein the fixing plate has a sliding slot along its width, the fixing block is engaged with the sliding slot and slides on the sliding slot.
3. The robot gripping mechanism based on automatic sorting platform as claimed in claim 2, wherein the end of the fixed block away from the chute is connected to the second clamp plate by a rotation shaft, the rotation shaft is connected to a motor by the motor.
4. The robot gripper mechanism based on automatic sorting platform, according to claim 3, wherein the axis of the th rotation shaft is parallel to the plane of the fixed plate, and the axis of the th rotation shaft is perpendicular to the sliding direction of the fixed block.
5. The robot gripping mechanism based on automatic sorting platform, according to claim 4, wherein the fixed block and the second clamping plate are connected by two symmetrically arranged connecting rods.
6. The robot gripping mechanism based on automatic sorting platform as claimed in claim 5, wherein the link rod has a stop rod at its end near the second clamping plate to stop the rotation of the second clamping plate after it is parallel to the th clamping plate.
7. The robot clamping mechanism based on automatic sorting platform of claim 6, wherein the fixing base and the fixing plate are connected by symmetrical cushion blocks to form a gap, the fixing plate in the gap is provided with a second motor, the second motor is connected with a speed reducer, an output shaft of the speed reducer is connected with a second rotating shaft which is coaxial, and the second rotating shaft is in threaded connection with the fixing block.
8. The robot gripper mechanism based on automatic sorting platform, wherein a bumper pad is detachably connected to the side of the th clamping plate corresponding to the second clamping plate, the bumper pad has a triangular cross section, and the side of the bumper pad close to the second clamping plate is provided with a plurality of uniformly distributed protrusions, and the center line of symmetry between adjacent protrusions is perpendicular to the axis of the th rotating shaft.
9. The robot gripper mechanism based on automatic sorting platform as claimed in claim 8, wherein the fixing plate has a supporting rod, the supporting rod is detachably connected to the th clamping plate through a bolt.
10. The robot gripping mechanism based on automatic sorting platform, according to claim 7, wherein the fixing base has a through hole with an axis parallel to the axis of the rotation shaft.