CN210452800U - Flexible intelligent logistics sorting robot with rotary joints - Google Patents
Flexible intelligent logistics sorting robot with rotary joints Download PDFInfo
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- CN210452800U CN210452800U CN201921255622.3U CN201921255622U CN210452800U CN 210452800 U CN210452800 U CN 210452800U CN 201921255622 U CN201921255622 U CN 201921255622U CN 210452800 U CN210452800 U CN 210452800U
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Abstract
The utility model relates to an intelligence commodity circulation letter sorting machine people technical field specifically is a flexible formula intelligence commodity circulation letter sorting machine people of rotary joint, including motor mounting panel, clamping jaw mount pad and clamping jaw device, the lower surface of motor mounting panel passes through the first motor of bolt fixedly connected with, second motor and third motor, and clamping jaw mount pad lower surface is equipped with first clamping jaw device, second clamping jaw device and third clamping jaw device, and beneficial effect is: the utility model discloses an adjust and be 120 settings between the clamping jaw in first clamping jaw device, second clamping jaw device and the third clamping jaw device, then this moment the utility model discloses the structure is the same with three-jaw formula manipulator's theory of operation, is convenient for press from both sides cambered surface goods such as pipe column and gets; adjust the clamping jaw in first clamping jaw device and the second clamping jaw device and be 180 symmetries settings, then this moment the utility model discloses the structure is the same with the theory of operation of double-jaw formula manipulator, is convenient for press from both sides the box goods and gets, adjusts comparatively in a flexible way.
Description
Technical Field
The utility model relates to an intelligence commodity circulation letter sorting machine people technical field specifically is a flexible formula intelligence commodity circulation letter sorting machine people of rotary joint.
Background
The intelligent logistics sorting robot is one of necessary facility conditions of an advanced distribution center, has high sorting efficiency, and is a key factor for improving the logistics distribution efficiency. The intelligent logistics sorting robot clamps the goods on the assembly line by controlling the mechanical claws on the mechanical arms, and performs classification operation, and the mechanical claws are extremely important parts in the intelligent logistics sorting robot. Usually the gripper among the intelligence commodity circulation letter sorting robot is two claw formulas or three-jaw formula manipulator, and two claw formula manipulators have the clamping jaw that a pair of symmetry set up to constitute, get the box goods to the clamp and have good clamping effect, and the clamping effect to the cylindrical goods of pipe is relatively poor, and three-jaw formula is because the 120 clamping jaw in interval constitutes between the three, to the cylindrical clamping effect of pipe, but comparatively inconvenient to the centre gripping of box goods.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a flexible formula intelligence commodity circulation letter sorting robot of rotary joint to solve the problem that proposes in the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: a flexible intelligent logistics sorting robot with rotary joints comprises a motor mounting plate, a clamping jaw mounting seat and a clamping jaw device, wherein the motor mounting plate is welded and fixed with the middle of the clamping jaw mounting seat through a connecting column, the lower surface of the motor mounting plate is fixedly connected with a first motor, a second motor and a third motor through bolts, rotating shafts of the first motor, the second motor and the third motor are vertically downward, a driving gear is fixedly arranged at the lower end of the rotating shaft, three groups of clamping jaw devices are connected with the lower surface of the clamping jaw mounting seat and are respectively a first clamping jaw device, a second clamping jaw device and a third clamping jaw device, the clamping jaw device is composed of a clamping jaw adjusting seat, a hydraulic cylinder and a clamping jaw, a transmission shaft is welded at one end of the upper surface of the clamping jaw adjusting seat and is perpendicular to the upper surface of the clamping jaw adjusting seat, the clamping jaw adjusting seat is rotatably connected with the clamping, the upper end of transmission axle upwards runs through out the upper surface of clamping jaw mount pad, and the upper end of transmission axle is equipped with driven gear, and the driven gear that transmission epaxial end was established respectively in first clamping jaw device, second clamping jaw device and the third clamping jaw device has the drive gear meshing transmission in first motor, second motor and the third motor pivot, clamping jaw regulation seat has the articulated ear of clamping jaw near the one side lower surface welding that is equipped with the transmission axle, and the articulated ear of clamping jaw is articulated mutually with the upper end of clamping jaw, and clamping jaw regulation seat keeps away from one side lower surface welding that is equipped with the transmission axle has the articulated ear of pneumatic cylinder, and the articulated ear of pneumatic cylinder is articulated mutually with the base of pneumatic cylinder, the telescopic link of pneumatic cylinder is flexible setting downwards, and the telescopic link lower extreme and the clamping.
Preferably, the middle part of the upper surface of the motor mounting plate is welded with a main shaft, and the main shaft and the connecting column are concentric.
Preferably, the first motor, the second motor and the third motor are arranged at an interval of 120 degrees around the central axis of the connecting column, and the three transmission shafts are arranged at an interval of 120 degrees around the central axis of the connecting column.
Preferably, the lower end of the telescopic rod of the hydraulic cylinder is welded with a hinge lug, the back of the clamping jaw is welded with a hinge seat, and the hinge lug at the lower end of the telescopic rod of the hydraulic cylinder is hinged with the hinge seat arranged at the back of the clamping jaw.
Preferably, the clamping side surface of the inner side of the lower part of the clamping jaw is adhered with a non-slip mat, and the surface of the non-slip mat is provided with non-slip friction lines.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses an adjust and be 120 settings between the clamping jaw in first clamping jaw device, second clamping jaw device and the third clamping jaw device, then this moment the utility model discloses the structure is the same with three-jaw formula manipulator's theory of operation, is convenient for press from both sides cambered surface goods such as pipe column and gets;
2. the utility model discloses an adjust the clamping jaw in first clamping jaw device and the second clamping jaw device and be 180 symmetries settings, and the clamping jaw in the third clamping jaw device is interval 90 settings with clamping jaw in first clamping jaw device, the second clamping jaw device, then this moment the utility model discloses the structure is the same with the theory of operation of two claw formula manipulators, is convenient for press from both sides the box goods and gets, adjusts comparatively in a flexible way.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a sectional view of the structure of the present invention;
fig. 3 is a schematic diagram of the present invention switching to the three-jaw type;
fig. 4 is a schematic diagram of the present invention switching to the double claw type.
In the figure: the clamping jaw device comprises a motor mounting plate 1, a clamping jaw mounting base 2, a first motor 3, a second motor 31, a third motor 32, a clamping jaw device 4, a first clamping jaw device 41, a second clamping jaw device 42, a third clamping jaw device 43, a clamping jaw adjusting base 5, a hydraulic cylinder 6, a clamping jaw 7, a transmission shaft 8, a driving gear 9, a driven gear 10, an anti-skid pad 11 and a main shaft 12.
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.
Referring to fig. 1 to 4, the present invention provides a technical solution: a flexible intelligent logistics sorting robot with rotary joints comprises a motor mounting plate 1, a clamping jaw mounting seat 2 and a clamping jaw device 4, as shown in a combined drawing 1 and a drawing 2, the motor mounting plate 1 and the clamping jaw mounting seat 2 are parallel to each other, the middle parts of the motor mounting plate 1 are welded and fixed through a connecting column, the middle part of the upper surface of the motor mounting plate 1 is welded with a spindle 12, the spindle 12 is concentric with the connecting column, the spindle 12 is rotatably connected to a mechanical arm, the rotation of the robot can be realized through a power device of the mechanical arm, the lower surface of the motor mounting plate 1 is fixedly connected with a first motor 3, a second motor 31 and a third motor 32 through bolts, the first motor 3, the second motor 31 and the third motor 32 are arranged at intervals of 120 degrees around the central axis of the connecting column, the rotating shafts of the first motor 3, the second motor 31 and the third motor 32 are vertically downward, and the, the lower surface of the jaw mounting base 2 is connected with three sets of jaw devices 4, which are a first jaw device 41, a second jaw device 42 and a third jaw device 43.
Referring to fig. 1 and 2, the jaw device 4 is composed of a jaw adjusting seat 5, a hydraulic cylinder 6 and a jaw 7, a transmission shaft 8 is welded at one end of the upper surface of the jaw adjusting seat 5, the transmission shaft 8 is arranged perpendicular to the upper surface of the jaw adjusting seat 5, the jaw adjusting seat 5 is rotatably connected with the jaw mounting seat 2 through the transmission shaft 8, the upper end of the transmission shaft 8 penetrates through the upper surface of the jaw mounting seat 2, a driven gear 10 is arranged at the upper end of the transmission shaft 8, the three transmission shafts 8 are arranged at an interval of 120 degrees around the central axis of a connecting column, the driven gear 10 arranged at the upper end of the transmission shaft 8 in the first jaw device 41, the second jaw device 42 and the third jaw device 43 is respectively meshed with the driving gears 9 on the rotating shafts of the first motor 3, the second motor 31 and the third motor 32 for transmission, and the first jaw device 41, the second motor 31 and the third motor 32 are respectively meshed with the driving gears, The second clamping jaw device 42 and the third clamping jaw device 43 transmit power to control the clamping jaw adjusting seat 5 to rotate.
As shown in fig. 2, the lower surface of the clamping jaw adjusting seat 5 near the side provided with the transmission shaft 8 is welded with a clamping jaw hinge lug, the clamping jaw hinge lug is hinged with the upper end of the clamping jaw 7, the lower surface of one side of the clamping jaw adjusting seat 5 far away from the transmission shaft 8 is welded with a hydraulic cylinder hinge lug, the hinge lug of the hydraulic cylinder is hinged with the base of the hydraulic cylinder 6, the telescopic rod of the hydraulic cylinder 6 is arranged in a downward telescopic way, the lower end of the telescopic rod of the hydraulic cylinder 6 is welded with the hinge lug, the back of the clamping jaw 7 is welded with the hinge seat, the hinge lug at the lower end of the telescopic rod of the hydraulic cylinder 6 is hinged with the hinge seat arranged at the back of the clamping jaw 7, the telescopic link through control pneumatic cylinder 6 stretches out and draws back, orders about the clamping jaw 7 lower part and moves about, accomplishes clamping jaw 7's clamp and gets the action, and the inboard clamp of lower part of clamping jaw 7 is got the side and is got and is glued slipmat 11, and slipmat 11's surface is provided with anti-skidding friction line, increases clamping jaw 7 and gets the frictional force when getting the goods.
The working principle is as follows: when the utility model works, the driving gear 9 on the rotating shafts of the first motor 3, the second motor 31 and the third motor 32 is meshed with the driven gear 10 for transmission by controlling the first motor 3, the second motor 31 and the third motor 32, so as to control the clamping jaw adjusting seat 5 to rotate, as shown in figure 3, the clamping jaws 7 in the first clamping jaw device 41, the second clamping jaw device 42 and the third clamping jaw device 43 are adjusted to be 120 degrees, the structure of the utility model is the same as the working principle of a three-jaw type manipulator, so as to be convenient for clamping arc-shaped goods such as round pipe column, as shown in figure 4, the clamping jaws 7 in the first clamping jaw device 41 and the second clamping jaw device 42 are adjusted to be 180 degrees symmetrical, and the clamping jaws 7 in the third clamping jaw device 43 are arranged at intervals of 90 degrees with the clamping jaws 7 in the first clamping jaw device 41 and the second clamping jaw device 42, so that the structure of the utility model is the same as the working principle of a two-jaw type manipulator, be convenient for press from both sides and get box goods, adjust comparatively nimble.
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 (5)
1. The utility model provides a flexible formula intelligence commodity circulation letter sorting robot of rotary joint, includes motor mounting panel (1), clamping jaw mount pad (2) and clamping jaw device (4), its characterized in that: through spliced pole welded fastening between the middle part of motor mounting panel (1) and clamping jaw mount pad (2), the lower surface of motor mounting panel (1) passes through bolt fixedly connected with first motor (3), second motor (31) and third motor (32), the pivot of first motor (3), second motor (31) and third motor (32) is perpendicular downwards, and the lower extreme of pivot is fixed and is provided with drive gear (9), the lower surface of clamping jaw mount pad (2) is connected with three clamping jaw devices (4), is first clamping jaw device (41), second clamping jaw device (42) and third clamping jaw device (43) respectively, clamping jaw device (4) comprises clamping jaw regulation seat (5), pneumatic cylinder (6) and clamping jaw (7), and the welding of the upper surface one end of clamping jaw regulation seat (5) has transmission shaft (8), and the upper surface setting of the perpendicular clamping jaw regulation seat (5) of transmission shaft (8), the clamping jaw adjusting seat (5) is rotatably connected with the clamping jaw mounting seat (2) through a transmission shaft (8), the upper end of the transmission shaft (8) upwards penetrates through the upper surface of the clamping jaw mounting seat (2), a driven gear (10) is arranged at the upper end of the transmission shaft (8), the driven gear (10) arranged at the upper end of the transmission shaft (8) in the first clamping jaw device (41), the second clamping jaw device (42) and the third clamping jaw device (43) is respectively in meshing transmission with a driving gear (9) on rotating shafts of a first motor (3), a second motor (31) and a third motor (32), a clamping jaw hinge lug is welded on the lower surface of one side, close to the transmission shaft (8), of the clamping jaw adjusting seat (5), and is hinged with the upper end of a clamping jaw (7), a hydraulic cylinder hinge lug is welded on the lower surface of one side, far away from the transmission shaft (8), of the clamping jaw adjusting seat (5), and is hinged with a base of a hydraulic cylinder (6), the telescopic rod of hydraulic cylinder (6) is arranged in a downward telescopic manner, and the lower end of the telescopic rod of hydraulic cylinder (6) is hinged with the back of clamping jaw (7).
2. The intelligent logistics sorting robot with flexible rotary joints as claimed in claim 1, wherein: the motor mounting plate is characterized in that a main shaft (12) is welded in the middle of the upper surface of the motor mounting plate (1), and the main shaft (12) is concentric with the connecting column.
3. The intelligent logistics sorting robot with flexible rotary joints as claimed in claim 1, wherein: the first motor (3), the second motor (31) and the third motor (32) are arranged at intervals of 120 degrees around the central axis of the connecting column, and the three transmission shafts (8) are arranged at intervals of 120 degrees around the central axis of the connecting column.
4. The intelligent logistics sorting robot with flexible rotary joints as claimed in claim 1, wherein: the lower end of the telescopic rod of the hydraulic cylinder (6) is welded with a hinged lug, the back of the clamping jaw (7) is welded with a hinged seat, and the hinged lug at the lower end of the telescopic rod of the hydraulic cylinder (6) is hinged with the hinged seat arranged at the back of the clamping jaw (7).
5. The intelligent logistics sorting robot with flexible rotary joints as claimed in claim 1, wherein: the clamping side surface of the inner side of the lower part of the clamping jaw (7) is adhered with an anti-skid pad (11), and the surface of the anti-skid pad (11) is provided with anti-skid friction lines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921255622.3U CN210452800U (en) | 2019-08-05 | 2019-08-05 | Flexible intelligent logistics sorting robot with rotary joints |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921255622.3U CN210452800U (en) | 2019-08-05 | 2019-08-05 | Flexible intelligent logistics sorting robot with rotary joints |
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| Publication Number | Publication Date |
|---|---|
| CN210452800U true CN210452800U (en) | 2020-05-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921255622.3U Active CN210452800U (en) | 2019-08-05 | 2019-08-05 | Flexible intelligent logistics sorting robot with rotary joints |
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| CN (1) | CN210452800U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111571622A (en) * | 2020-05-27 | 2020-08-25 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN113681586A (en) * | 2021-09-28 | 2021-11-23 | 江苏电子信息职业学院 | Based on industrial robot anchor clamps of intelligent manufacturing |
-
2019
- 2019-08-05 CN CN201921255622.3U patent/CN210452800U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111571622A (en) * | 2020-05-27 | 2020-08-25 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN113681586A (en) * | 2021-09-28 | 2021-11-23 | 江苏电子信息职业学院 | Based on industrial robot anchor clamps of intelligent manufacturing |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210304 Address after: 516400 Yingjing Zhihui Park, phase IV, ecological science and Technology City, Chengdong Town, Haifeng County, Shanwei City, Guangdong Province Patentee after: Guangdong Yingjing Innovation Technology Co.,Ltd. Address before: 516400 Yingke robot industrial park, Haifeng County, Shanwei City, Guangdong Province Patentee before: Guangdong Yingke robot industry Co.,Ltd. |
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| TR01 | Transfer of patent right |