CN210307801U

CN210307801U - Warehouse style manipulator

Info

Publication number: CN210307801U
Application number: CN201920699097.8U
Authority: CN
Inventors: 任胜乐; 李伟东; 王明旭
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2019-05-16
Filing date: 2019-05-16
Publication date: 2020-04-14
Anticipated expiration: 2029-05-16

Abstract

The utility model discloses a warehouse style manipulator mainly includes base, casing, top cap, rotation mechanism, longitudinal movement mechanism, anchor clamps mechanism. The swing mechanism comprises: a rotary motor, a motor connecting plate, a base rotary disc and a roller. The longitudinal movement mechanism includes: roller screw slip table, motor, slip table connecting plate etc.. The utility model provides an automatic problem of cargo handling in the warehouse, reduce personnel intensity of labour, improved production efficiency, the structure is scientific, reasonable.

Description

Warehouse style manipulator

Technical Field

The utility model relates to a product automated processing field specifically is a warehouse style manipulator.

Background

In industrial production, the work of carrying, transporting, adjusting the movement track and the like of goods in a warehouse is manually operated at present, time and labor are wasted, and the manipulator is adopted under the condition that automatic production is increasingly expanded, so that the repeated labor of manpower can be reduced, and the production efficiency is improved.

Disclosure of Invention

An object of the utility model is to provide a warehouse style manipulator to solve the problem that proposes among the above-mentioned background art. In order to achieve the above object, the utility model provides a following technical scheme:

a warehouse type mechanical arm comprises a base, a shell, a top cover, a swing mechanism, a longitudinal movement mechanism and a clamp mechanism; the rotary motor is placed in the base and fixedly connected onto the motor connecting plate through bolts, the motor connecting plate is fixedly connected onto the base through bolts, the base rotary disc is fixedly connected onto a rotary motor spindle through bolts, the base rotary disc is connected with two rollers through flat cone head rivets and can roll on the base, the longitudinal movement mechanism comprises a shell, the shell is fixedly connected onto the base rotary disc through bolts, the roller screw sliding table is fixedly connected onto the shell through bolts, the top cover is fixedly connected onto the shell through bolts, the roller screw sliding table is fixedly connected with the motor through bolts, the motor fixedly connects the spindle with the screw through a coupler, the sliding table connecting plate is fixedly connected with the sliding table through bolts, the clamp mechanism is fixedly connected with the sliding table connecting plate through bolts, the sliding block connecting plate is fixedly connected with the clamp connecting plate through bolts, and the clamp motor is fixedly connected onto the clamp connecting plate through bolts, the motor is adjusted the pole and is used bolt and anchor clamps motor spindle to connect admittedly, but motor adjustment pole both ends are used flat conical head rivet and anchor clamps quarter butt to carry out swivelling joint, but the anchor clamps quarter butt is connected in the anchor clamps stock with flat conical head rivet swivelling joint, the pot head is sealed as swivelling joint with the round pin on the anchor clamps connecting plate projecting shaft in the middle of the anchor clamps stock, anchor clamps stock end uses the bolt with anchor clamps body rather than linking admittedly, but the anchor clamps body carries out swivelling joint through half round head rivet and anchor clamps head.

Furthermore, the main shaft of the rotary motor is fixedly connected with a base rotary disc, the base rotary disc is connected with two rollers through flat cone head rivets and can roll on the base, and the two rollers realize the effect of uniform load distribution and realize the rotary motion of the part above the base.

Further, the roller screw sliding table is fixedly connected to the shell through bolts, the sliding table connecting plate is fixedly connected to the clamp mechanism through bolts, and the motor works to drive the sliding table to move up and down to drive the clamp mechanism to move up and down.

Furthermore, the lower part of the base is fixedly connected to the 2-freedom-degree workbench, so that the planar motion of the whole manipulator is realized.

Furthermore, two reinforcing ribs are arranged at the lower end of the clamp connecting plate and used for bearing eccentric load generated by an object clamped by the clamp mechanism.

Further, the anchor clamps motor is connected on the motor adjusting rod admittedly, but the motor adjusting rod both ends use flat conical head rivet and anchor clamps quarter butt to carry out swivelling joint, but the anchor clamps quarter butt is connected in the anchor clamps stock with flat conical head rivet swivelling joint, the anchor clamps stock intermediate hole cover uses the round pin to seal on the anchor clamps connecting plate projecting shaft to be swivelling joint, and the anchor clamps motor drives the motor adjusting rod and rotates and drive the anchor clamps stock around the rotation of anchor clamps connecting plate projecting shaft, the anchor clamps stock can press from both sides when opening different angles and get not unidimensional article.

Furthermore, the end of the long rod of the clamp is fixedly connected with the clamp body by using a bolt, so that different clamp bodies and clamp heads can be replaced to adapt to different working environments.

Furthermore, but the anchor clamps body carries out swivelling joint through half round head rivet and anchor clamps head, the inside semicircle form that is of anchor clamps head, the anchor clamps body is circular-arc with anchor clamps head connecting portion, when the anchor clamps stock opens different angles, ensures that the anchor clamps head can be with plane contact in workpiece surface.

The utility model discloses a theory of operation is: the signal is received, the workstation transports the assigned position with the manipulator, the manipulator utilizes rotation mechanism and longitudinal movement mechanism to carry out the position fine setting, the rotary motor rotates the base revolving disc that drives the solid antithetical couplet promptly and rotates and the top part rotates, and the motor of ball screw slip table rotates and drives the slip table motion arrival assigned position, the anchor clamps stock opens to the biggest this moment, anchor clamps motor work anchor clamps motor spindle rotates and drives motor adjusting lever and rotates, it rotates to drive the anchor clamps quarter butt and the anchor clamps stock rotates around anchor clamps connecting plate projecting shaft, when the anchor clamps head touches article surface, anchor clamps head automatic adjustment position presss from both sides tight article in order to adapt to the work piece size.

The utility model has the advantages that: the warehouse type mechanical arm is novel in design thought, simple and reliable in structure, improves the automation degree in production and reduces the labor intensity of personnel, and the automation of carrying of articles in a warehouse is realized.

Drawings

The contents of the present invention will be further explained with reference to the drawings attached to the specification.

Fig. 1 is a schematic front structural view of the present invention.

Fig. 2 is a schematic structural view of the base portion of the present invention.

Fig. 3 is a schematic view of the base rotary disk of the present invention.

Fig. 4 is a schematic view of the removing case of the present invention.

Fig. 5 is a schematic structural view of the clamp mechanism of the present invention.

Fig. 6 is a schematic view of the long rod pin of the clamp of the present invention.

Fig. 7 is a schematic bottom view of the clamp connection plate of the present invention.

In the figure: 1-base, 11-rotary motor, 12-motor connection plate, 2-rotary mechanism, 21-roller, 22-base rotary disk, 3-longitudinal movement mechanism, 31-top cover, 32-roller screw slide, 33-slide connection plate, 34-housing, 4-clamp mechanism, 41-clamp connection plate, 42-clamp motor, 43-motor adjustment rod, 44-clamp short rod, 45-clamp long rod, 451-clamp body, 452-clamp head, 46-pin.

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 work belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

A warehouse type mechanical arm is shown in the figure and comprises a base 1, a shell 3, a top cover 31, a swing mechanism 2, a longitudinal movement mechanism 3 and a clamp mechanism 4; the internal part of the base 1 is provided with a rotary motor 11 which is fixedly connected onto a motor connecting plate 12 by bolts, the motor connecting plate 12 is fixedly connected onto the base 1 by bolts, a base rotary disc 22 is fixedly connected onto a main shaft of the rotary motor 11 by bolts, the base rotary disc 22 is connected with two rollers 21 by flat cone head rivets and can roll on the base 1, the longitudinal movement mechanism 3 comprises a shell 34, the shell 34 is fixedly connected onto the base rotary disc 22 by bolts, a roller screw sliding table 32 is fixedly connected onto the shell 34 by bolts, a top cover 31 is fixedly connected onto the shell 34 by bolts, the roller screw sliding table 32 is fixedly connected with a motor 35 by bolts, the motor 35 is fixedly connected with the main shaft and a screw rod by a coupler, the sliding table connecting plate 33 is fixedly connected with the sliding table by bolts, and the clamp mechanism 4 is fixedly connected with the sliding table connecting plate 33 by bolts.

Further, the main shaft of the rotary motor 11 is fixedly connected with a base rotary disc 22, the base rotary disc 22 is connected with two rollers 21 through flat cone head rivets and can roll on the base 1, the two rollers 21 achieve the effect of uniform load distribution, and the rotary motion of the part above the base 1 is achieved.

Further, the roller screw sliding table 32 is fixedly connected to the housing 34 through bolts, the sliding table connecting plate 33 is fixedly connected to the clamp mechanism 4 through bolts, and the motor 35 operates to drive the sliding table to move up and down to drive the clamp mechanism 4 to move up and down.

Furthermore, the lower part of the base 1 is fixedly connected to a 2-degree-of-freedom workbench, so that the planar motion of the whole manipulator is realized.

Furthermore, two reinforcing ribs are arranged at the lower end of the clamp connecting plate 41 and used for bearing eccentric load generated by an object clamped by the clamp mechanism.

Further, the clamp motor 42 is fixedly connected to the motor adjusting rod 43, the two ends of the motor adjusting rod 43 are rotatably connected with the clamp short rod 44 through flat conical head rivets, the clamp short rod 44 is rotatably connected to the clamp long rod 45 through the flat conical head rivets, a middle hole of the clamp long rod 45 is sealed on an extension shaft of the clamp connecting plate 41 through a pin 46 to be rotatably connected, the clamp motor 42 drives the motor adjusting rod 43 to rotate to drive the clamp long rod 45 to rotate around the extension shaft of the clamp connecting plate 41, and articles of different sizes can be clamped when the clamp long rod 45 is opened at different angles.

Further, the end of the long clamp rod 45 is fixedly connected with the clamp body 451 through a bolt, and different clamp bodies and clamp heads can be replaced to adapt to different working environments.

Furthermore, the clamp body 451 is rotatably connected with the clamp head 452 through a half-round rivet, the interior of the clamp head 452 is in a half-round shape, the connecting part between the clamp body 451 and the clamp head 452 is in a circular arc shape, and when the clamp long rod 45 is opened at different angles, the clamp head 452 can be in plane contact with the surface of the workpiece.

The utility model discloses a theory of operation is: receiving the signal, the workstation transports the manipulator to the assigned position, the manipulator utilizes rotation mechanism 2 and longitudinal movement mechanism 3 to carry out the position fine setting, rotary motor 11 rotates and drives the base revolving disc 22 of solid antithetical couplet and rotate and the top part rotates, and the motor 35 of ball slide table 32 rotates and drives the slip table motion and reach the assigned position, anchor clamps stock 45 opens to the biggest this moment, anchor clamps motor 42 work anchor clamps motor 42 main shaft rotation drives motor regulating lever 43 and rotates, drive anchor clamps quarter butt 44 and anchor clamps stock 45 around anchor clamps connecting plate projecting shaft rotation, when anchor clamps head 452 touches the article surface, anchor clamps head 452 automatic adjustment position is in order to adapt to the work piece size and press from both sides tight article.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Warehouse style manipulator, its characterized in that: comprises a base (1), a shell (34), a top cover (31), a rotary mechanism (2), a longitudinal movement mechanism (3) and a clamp mechanism (4); the rotary motor (11) is placed inside the base (1) and fixedly connected to the motor connecting plate (12) through bolts, the motor connecting plate (12) is fixedly connected to the base (1) through bolts, and the rotary mechanism (2) comprises: a roller (21) and a base rotary disc (22); base gyration dish (22) are established ties on rotating electrical machines (11) main shaft through the bolt admittedly, base gyration dish (22) are connected two gyro wheels (21) through flat conical head rivet and can roll on base (1), longitudinal motion mechanism (3) include roller lead screw slip table (32), slip table connecting plate (33), casing (34) are established ties on base gyration dish (22) through the bolt admittedly, roller lead screw slip table (32) are established ties on casing (34) through the bolt admittedly, top cap (31) are established ties on casing (34) through the bolt admittedly, roller lead screw slip table (32) are established ties through bolt and motor (35) admittedly, motor (35) are established ties its main shaft and lead screw admittedly through the shaft coupling, slip table connecting plate (33) use the bolt to establish ties with the slip table, fixture mechanism (4) include: the clamp comprises a clamp connecting plate (41), a clamp motor (42) and a motor adjusting rod (43); the clamp mechanism (4) is fixedly connected with the sliding table connecting plate (33) through bolts, the sliding table connecting plate (33) is fixedly connected with the clamp connecting plate (41) through bolts, the clamp motor (42) is fixedly connected on the clamp connecting plate (41) by bolts, the motor adjusting rod (43) is fixedly connected with the main shaft of the clamp motor (42) by bolts, the two ends of the motor adjusting rod (43) are rotatablely connected with the clamp short rod (44) by using a flat conical head rivet, the short clamp rod (44) can be rotatably connected with the long clamp rod (45) through a flat conical head rivet, the middle hole of the long clamp rod (45) is sleeved on the extending shaft of the clamp connecting plate (41) and is sealed by a pin (46) to be in rotatable connection, the tail end of the long clamp rod (45) is fixedly connected with the clamp body (451) by using a bolt, the clamp body (451) is rotatably connected with the clamp head (452) through a semi-circular head rivet.

2. The storage robot of claim 1, wherein: the main shaft of the rotary motor (11) is fixedly connected with the base rotary disc (22), the two rollers (21) realize the effect of uniform load distribution, and the rotary motion of the part above the base (1) is realized.

3. The storage robot of claim 1, wherein: the roller screw sliding table (32) is fixedly connected to the shell (34) through bolts, the sliding table connecting plate (33) is fixedly connected to the clamp mechanism (4) through bolts, and the motor (35) works to drive the sliding table to move up and down to drive the clamp mechanism (4) to move up and down.

4. The storage robot of claim 1, wherein: the lower part of the base (1) is fixedly connected to a 2-degree-of-freedom workbench, so that the planar motion of the whole manipulator is realized.

5. The storage robot of claim 1, wherein: the lower end of the clamp connecting plate (41) is provided with two reinforcing ribs for bearing eccentric load generated by an object clamped by the clamp mechanism.

6. The storage robot of claim 1, wherein: the clamp motor (42) is fixedly connected to the motor adjusting rod (43), the clamp motor (42) drives the motor adjusting rod (43) to rotate to drive the clamp long rod (45) to rotate around the extending shaft of the clamp connecting plate (41), and the clamp long rod (45) can clamp articles with different sizes when being opened at different angles.

7. The storage robot of claim 1, wherein: the tail end of the long clamp rod (45) is fixedly connected with the clamp body (451) through bolts, and different clamp bodies and clamp heads can be replaced to adapt to different working environments.

8. The storage robot of claim 1, wherein: the clamp body (451) is rotatably connected with the clamp head (452) through a semicircular rivet, the clamp head (452) is internally semicircular, the connecting part between the clamp body (451) and the clamp head (452) is arc-shaped, and when the clamp long rod (45) is opened at different angles, the clamp head (452) can be ensured to be in plane contact with the surface of a workpiece.