CN210207734U - Sorting device with grabbing function - Google Patents

Sorting device with grabbing function Download PDF

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Publication number
CN210207734U
CN210207734U CN201920984297.8U CN201920984297U CN210207734U CN 210207734 U CN210207734 U CN 210207734U CN 201920984297 U CN201920984297 U CN 201920984297U CN 210207734 U CN210207734 U CN 210207734U
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CN
China
Prior art keywords
servo motor
supporting
sorting
mechanical arm
base box
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Active
Application number
CN201920984297.8U
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Chinese (zh)
Inventor
Feng Xu
徐峰
Langjing Xu
徐浪静
Jintao Tong
童锦涛
Juncheng Liu
刘俊成
Chao Wang
王超
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Quzhou College of Technology
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Quzhou College of Technology
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Priority to CN201920984297.8U priority Critical patent/CN210207734U/en
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Abstract

The utility model belongs to the technical field of commodity circulation letter sorting equipment technique and specifically relates to a sorting device with snatch function is related to. The technical scheme of the utility model is realized like this: the utility model provides a sorting device with snatch function, includes the chassis, install on the chassis and rotate the triaxial arm that sets up with the chassis, its characterized in that: the buffer seat is used for supporting the three-axis mechanical arm when the work is stopped; the buffer seat is fixedly arranged beside the chassis; the buffer base comprises a base box, a controller arranged in the base box, a first servo motor, a coupler, a screw rod, a nut and a support plate; a claw used for grabbing the express is arranged at the end part of the three-axis mechanical arm; the clamping jaw comprises a mounting plate, a mounting shaft, a first fixed jaw, a second fixed jaw, a third movable jaw and a second servo motor. The utility model discloses a practicality is strong, easily promotes.

Description

Sorting device with grabbing function
Technical Field
The utility model belongs to the technical field of commodity circulation letter sorting equipment technique and specifically relates to a sorting device with snatch function is related to.
Background
With the development of electronic technology, sensing technology, computer control technology and automatic control technology, the tracking trolley is widely applied to logistics transportation of unmanned factories and warehouses, and the application of the tracking trolley can effectively improve the transportation efficiency, reduce the personnel allocation in a factory area, avoid accidents in the transportation process and the like; the sorting device which is complementary with the tracking trolley is also generated concomitantly, the existing logistics trolley is provided with the sorting device with the three-shaft mechanical arm, and when the sorting device does not work, the shaft and the gear between the shafts are in a tensioning state and are easy to damage after a long time; secondly because the weight of every express delivery is different, current robotic arm is at the in-process of snatching the product, and it opens and shuts control accuracy not high enough, can appear the product and can not press from both sides tightly and drop or the arm presss from both sides too tightly and presss from both sides the condition of damaging the thing of express delivery box inside, consequently needs the staff to classify into the product when distributing the express delivery, just can accomplish the express delivery letter sorting, such mode, labour cost is higher and letter sorting inefficiency.
There is therefore a need for improvements to existing sorting apparatus.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art exists, the utility model aims to provide a sorting device with snatch function.
The technical scheme of the utility model is realized like this: the utility model provides a sorting device with snatch function, includes the chassis, install on the chassis and rotate the triaxial arm that sets up with the chassis, its characterized in that: the buffer seat is used for supporting the three-axis mechanical arm when the work is stopped; the buffer seat is fixedly arranged beside the chassis; the buffer base comprises a base box, a controller arranged in the base box, a first servo motor, a coupler, a screw rod, a nut and a support plate; the first servo motor is arranged in the base box, and the output end of a motor shaft of the first servo motor penetrates through the top plate of the base box and is fixedly connected with the screw rod through a coupler; the nut is sleeved at one end of the screw, which is far away from the first servo motor, and is in threaded connection with the screw; the supporting plate is fixedly connected with the nut through a supporting frame; a claw used for grabbing the express is arranged at the end part of the three-axis mechanical arm; the clamping jaw comprises a mounting plate, a mounting shaft, a first fixed jaw, a second fixed jaw, a third movable jaw and a second servo motor; the mounting plate is fixedly arranged at the end part of the triaxial mechanical arm in a rotating mode, and the mounting shaft penetrates through the mounting plate to be connected with the mounting plate in a rotating mode; the first fixed claw and the second fixed claw are both fixedly arranged on the mounting plate; one end of the third movable claw is rotatably connected with the mounting shaft; and the second servo motor is arranged on the first fixed jaw through a fixed plate, and the output end of a motor shaft of the second servo motor is fixedly connected with one end of the third movable jaw.
Preferably: pulling mechanisms are arranged among the shafts of the three-shaft mechanical arm; the pulling mechanism comprises rotating seats respectively arranged on the shafts and telescopic rods used for connecting the rotating seats on the adjacent shafts; both ends of the telescopic rod are rotatably connected with the rotating seat.
Preferably: the upper surface of the base box is provided with a stabilizing frame for stabilizing the up-and-down movement of the supporting plate; the stabilizing frame comprises two parallel supporting rods fixedly arranged on the upper surface of the base box and sliding rods with two ends sleeved on the supporting rods; one end of the supporting rod, which is far away from the base box, is fixedly connected with the lower bottom surface of the supporting plate; the sliding rod and the supporting rod are arranged in a sliding mode and are fixedly connected with the supporting frame.
Preferably: the upper surface of the supporting plate is provided with a rubber pad.
Preferably: and a bar code recognizer is arranged at the end part of the three-axis mechanical arm.
Compared with the prior art, the utility model discloses the beneficial effect who brings does: by arranging the buffer seat, when the three-axis mechanical arm does not work, the three-axis mechanical arm can be stopped to supply power; at the moment, the three-axis mechanical arm naturally swings downwards, the large arm of the three-axis mechanical arm is placed on the buffer seat, the first servo motor on the buffer seat starts to work, the support plate is lifted, the large arm is supported, a motor shaft of the first servo motor bears a torque in the process of driving the large arm, a worker can preset a standard torque value of the first servo motor by using the controller, and when the torque reaches the standard torque value, the first servo motor does not run, and at the moment, the load on a gear inside the mechanical arm is minimum; thereby achieving the purpose of protecting the gear; the clamping jaws are arranged into a first fixed jaw, a second fixed jaw and a third movable jaw; the second servo motor on the first fixed claw controls the opening and closing of the third movable claw, when an express article is grabbed, the second servo motor can receive a torque, a pre-torque value of the second servo motor is preset, and when the express article is grabbed, the opening and closing position of the third movable claw can be automatically controlled according to the express quality, so that the intelligent grabbing effect is realized, the opening and closing precision of the mechanical claw is improved, and the article is prevented from falling or being damaged; the express sorting efficiency is improved; all be provided with six motors on the triaxial arm, realize that the express delivery snatchs, sorting work, six motors control the effect that the robotic arm chassis is rotatory, big arm swing, forearm swing, claw swing, the claw is rotatory, the claw opens and shuts respectively.
1. The pulling mechanism is arranged between the shafts of the three-shaft mechanical arm, so that the effect of preventing the mechanical arm from rotating beyond a preset stroke can be achieved in the working process of the mechanical arm, and the mechanical arm is protected.
2. The upper surface at the base case is provided with the steady rest, and such setting can the steady rest board up-and-down motion, prevents that the backup pad slope from leading to actual moment value and measuring the deviation, improves the precision.
3. The upper surface of backup pad with be provided with the rubber pad, can prevent that arm and backup pad relative friction from appearing the condition of wearing and tearing.
4. Be provided with bar code recognizer at manipulator arm tip, can guarantee to scan express delivery material frame in the controller with the bar code digit, place relevant express delivery on corresponding material frame.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic structural view of an embodiment of the present invention;
fig. 2 is a schematic structural diagram of the jaw.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1, the utility model discloses a sorting device with grabbing function, which comprises a chassis 1 and a triaxial mechanical arm 2 installed on the chassis 1 and rotatably arranged with the chassis 1, and in the specific embodiment of the utility model, the sorting device also comprises a buffer seat 3 for supporting the triaxial mechanical arm 2 when the sorting device stops working; the buffer seat 3 is fixedly arranged beside the chassis 1; the buffer base 3 comprises a base box 31, a controller 32 arranged in the base box 31, a first servo motor 33, a coupler 34, a screw 35, a nut 36 and a supporting plate 37; the first servo motor 33 is arranged in the base box 31, and the output end of a motor shaft of the first servo motor penetrates through the top plate of the base box 31 and is fixedly connected with a screw 35 through a coupler 34; the nut 36 is sleeved at one end of the screw rod 35 far away from the first servo motor 33 and is in threaded connection with the screw rod 35; the supporting plate 37 is fixedly connected with the nut 36 through a supporting frame 38; a claw 4 for grabbing the express is arranged at the end part of the three-axis mechanical arm 2; the claw 4 comprises a mounting plate 41, a mounting shaft 42, a first fixed claw 43, a second fixed claw 44, a third movable claw 45 and a second servo motor 46; the mounting plate 41 is fixedly arranged at the end part 2 of the three-axis mechanical arm in a rotating mode, and the mounting shaft 42 penetrates through the mounting plate 41 to be connected with the mounting plate 41 in a rotating mode; the first fixed claw 43 and the second fixed claw 44 are both fixedly arranged on the mounting plate 41; one end of the third movable jaw 45 is rotatably connected with the mounting shaft 42; the second servo motor 46 is mounted on the first fixed jaw 43 through a fixed plate 47, and the output end of a motor shaft of the second servo motor is fixedly connected with one end of the third movable jaw 45.
In the specific embodiment of the present invention, a pulling mechanism 5 is installed between each shaft of the three-shaft mechanical arm 2; the pulling mechanism 5 comprises rotating seats 51 respectively arranged on the shafts and telescopic rods 52 used for connecting the rotating seats 51 on the adjacent shafts; both ends of the telescopic rod 52 are rotatably connected with the rotating seat 51.
In the embodiment of the present invention, the upper surface of the base box 31 is provided with a stabilizer 6 for stabilizing the up-and-down movement of the supporting plate 37; the stabilizing frame 6 comprises two parallel supporting rods 61 fixedly arranged on the upper surface of the base box 31 and sliding rods 62 with two ends sleeved on the supporting rods 61; one end of the support rod 61 far away from the base box 31 is fixedly connected with the lower bottom surface of the support plate 37; the sliding rod 62 and the supporting rod 61 are slidably disposed and fixedly connected to the supporting frame 38.
In the present embodiment, the supporting plate 37 is provided with a rubber pad 39 on the upper surface.
In the embodiment of the present invention, the end of the three-axis robot arm 2 is provided with a bar code recognizer 21.
Compared with the prior art, the utility model discloses the beneficial effect who brings does: by arranging the buffer seat, when the three-axis mechanical arm does not work, the three-axis mechanical arm can be stopped to supply power; at the moment, the three-axis mechanical arm naturally swings downwards, the large arm of the three-axis mechanical arm is placed on the buffer seat, the first servo motor on the buffer seat starts to work, the support plate is lifted, the large arm is supported, a motor shaft of the first servo motor bears a torque in the process of driving the large arm, a worker can preset a standard torque value of the first servo motor by using the controller, and when the torque reaches the standard torque value, the first servo motor does not run, and at the moment, the load on a gear inside the mechanical arm is minimum; thereby achieving the purpose of protecting the gear; the clamping jaws are arranged into a first fixed jaw, a second fixed jaw and a third movable jaw; the second servo motor on the first fixed claw controls the opening and closing of the third movable claw, when an express article is grabbed, the second servo motor can receive a torque, a pre-torque value of the second servo motor is preset, and when the express article is grabbed, the opening and closing position of the third movable claw can be automatically controlled according to the express quality, so that the intelligent grabbing effect is realized, the opening and closing precision of the mechanical claw is improved, and the article is prevented from falling or being damaged; the express sorting efficiency is improved; all be provided with six motors on the triaxial arm, realize that the express delivery snatchs, sorting work, six motors control the effect that the robotic arm chassis is rotatory, big arm swing, forearm swing, claw swing, the claw is rotatory, the claw opens and shuts respectively.
1. The pulling mechanism is arranged between the shafts of the three-shaft mechanical arm, so that the effect of preventing the mechanical arm from rotating beyond a preset stroke can be achieved in the working process of the mechanical arm, and the mechanical arm is protected.
2. The upper surface at the base case is provided with the steady rest, and such setting can the steady rest board up-and-down motion, prevents that the backup pad slope from leading to actual moment value and measuring the deviation, improves the precision.
3. The upper surface of backup pad with be provided with the rubber pad, can prevent that arm and backup pad relative friction from appearing the condition of wearing and tearing.
4. Be provided with bar code recognizer at manipulator arm tip, can guarantee to scan express delivery material frame in the controller with the bar code digit, place relevant express delivery on corresponding material frame.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. The utility model provides a sorting device with snatch function, includes the chassis, install on the chassis and rotate the triaxial arm that sets up with the chassis, its characterized in that: the buffer seat is used for supporting the three-axis mechanical arm when the work is stopped; the buffer seat is fixedly arranged beside the chassis; the buffer base comprises a base box, a controller arranged in the base box, a first servo motor, a coupler, a screw rod, a nut and a support plate; the first servo motor is arranged in the base box, and the output end of a motor shaft of the first servo motor penetrates through the top plate of the base box and is fixedly connected with the screw rod through a coupler; the nut is sleeved at one end of the screw, which is far away from the first servo motor, and is in threaded connection with the screw; the supporting plate is fixedly connected with the nut through a supporting frame; a claw used for grabbing the express is arranged at the end part of the three-axis mechanical arm; the clamping jaw comprises a mounting plate, a mounting shaft, a first fixed jaw, a second fixed jaw, a third movable jaw and a second servo motor; the mounting plate is fixedly arranged at the end part of the triaxial mechanical arm in a rotating mode, and the mounting shaft penetrates through the mounting plate to be connected with the mounting plate in a rotating mode; the first fixed claw and the second fixed claw are both fixedly arranged on the mounting plate; one end of the third movable claw is rotatably connected with the mounting shaft; and the second servo motor is arranged on the first fixed jaw through a fixed plate, and the output end of a motor shaft of the second servo motor is fixedly connected with one end of the third movable jaw.
2. A sorting apparatus with a gripping function according to claim 1, characterised in that: pulling mechanisms are arranged among the shafts of the three-shaft mechanical arm; the pulling mechanism comprises rotating seats respectively arranged on the shafts and telescopic rods used for connecting the rotating seats on the adjacent shafts; both ends of the telescopic rod are rotatably connected with the rotating seat.
3. A sorting apparatus with a gripping function according to claim 1, characterised in that: the upper surface of the base box is provided with a stabilizing frame for stabilizing the up-and-down movement of the supporting plate; the stabilizing frame comprises two parallel supporting rods fixedly arranged on the upper surface of the base box and sliding rods with two ends sleeved on the supporting rods; one end of the supporting rod, which is far away from the base box, is fixedly connected with the lower bottom surface of the supporting plate; the sliding rod and the supporting rod are arranged in a sliding mode and are fixedly connected with the supporting frame.
4. A sorting apparatus with a gripping function according to claim 1, characterised in that: the upper surface of the supporting plate is provided with a rubber pad.
5. A sorting apparatus with a gripping function according to claim 1, characterised in that: and a bar code recognizer is arranged at the end part of the three-axis mechanical arm.
CN201920984297.8U 2019-06-27 2019-06-27 Sorting device with grabbing function Active CN210207734U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920984297.8U CN210207734U (en) 2019-06-27 2019-06-27 Sorting device with grabbing function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920984297.8U CN210207734U (en) 2019-06-27 2019-06-27 Sorting device with grabbing function

Publications (1)

Publication Number Publication Date
CN210207734U true CN210207734U (en) 2020-03-31

Family

ID=69934460

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201920984297.8U Active CN210207734U (en) 2019-06-27 2019-06-27 Sorting device with grabbing function

Country Status (1)

Country Link
CN (1) CN210207734U (en)

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