CN210790960U

CN210790960U - Sorting and carrying mechanical arm and lifting structure

Info

Publication number: CN210790960U
Application number: CN201920636064.9U
Authority: CN
Inventors: 林佳鹏; 陈文科; 杨浩文; 曾坚锋; 林志灿
Original assignee: Guangzhou Huigu Power Technology Co ltd
Current assignee: Guangzhou Huigu Power Technology Co ltd
Priority date: 2019-05-06
Filing date: 2019-05-06
Publication date: 2020-06-19
Anticipated expiration: 2029-05-06

Abstract

The utility model relates to a transfer robot field discloses a sorting transport arm and elevation structure, which comprises a frame, the bottom of frame becomes triangle-shaped and distributes and has three pulley, and the inboard of frame installs elevating system, elevating system's inboard is installed telescopic machanism, and elevating system's one end installs a set of fork, elevating system's one end is close to the inboard of fork and is installed and grab a mechanism, grab a mechanism including snatching the sleeve, the one end fixedly connected with of snatching the telescopic outside grabs puts the steering wheel. The utility model discloses can once only snatch and transport a plurality of spheroids to can snatch and emit the spheroid one by one, can also fork and get the tray goods and load and unload, the stack, promote the work efficiency of arm effectively, more be fit for being applied to on the mobile robot, through firm triangle-shaped elevation structure, can improve the stability of arm main part lift in-process effectively.

Description

Sorting and carrying mechanical arm and lifting structure

Technical Field

The utility model relates to a transfer robot field specifically is a letter sorting transport arm and elevation structure.

Background

A world skill competition mobile robot project is a small robot competition project, and the design level of competition robots is investigated by simulating the scene of an automatic sorting and carrying process. The robot moves in less competition ground, discerns the task information through machine vision technique, sorts out the material of appointed colour and puts into appointed goods shelves to need carry goods shelves to appointed position and obtain the score, the time that task completion degree and completion task cost is the important index of grading. In addition, the material cost for building the robot can also be used as a grading index, and the cost is low. Therefore, it is also the key to construct a high-precision and high-accuracy sorting and carrying robot with the lowest cost and the lowest parts. In addition, solve the material location under this scene, the letter sorting transport problem also helps to design small-size letter sorting transfer robot in the actual production.

With the continuous development and application of the robot technology, the advantages of the robot are more and more prominent. Especially in the field of mobile sorting and carrying robots, the introduction of the robots into industrial production to replace manual labor has become an unblocked trend, sorting tasks and warehousing and storage tasks in the logistics industry gradually transit from manual work to the robots, so that activities such as storage, carrying, transfer and the like of articles are changed into unit operation, and the logistics transportation efficiency is greatly improved.

In the mobile transfer robot, a mechanical arm for realizing the position positioning and grabbing task of an object is a key part for realizing the function of the robot, a delicate arm determines the quality of the function of the robot, the existing mechanical arm for grabbing a sphere mostly adopts a clamping jaw form, does not have the function of grabbing and transporting a plurality of spheres at one time, is generally installed on a fixed base, is only suitable for small-range operation, and has quite low working efficiency when being applied to the mobile robot for carrying out long-distance transfer operation. Therefore, a sorting and carrying robot and a lifting structure are provided by those skilled in the art to solve the above problems in the prior art.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a letter sorting transport arm and elevation structure to solve the problem of proposing among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a sorting and carrying mechanical arm and a lifting structure comprise a rack, wherein three pulleys are distributed at the bottom end of the rack in a triangular mode, a lifting mechanism is installed on the inner side of the rack, a telescopic mechanism is installed on the inner side of the lifting mechanism, a group of forks are installed at one end of the lifting mechanism, and a grabbing and releasing mechanism is installed at one end of the lifting mechanism, close to the inner sides of the forks;

grab and put mechanism including grabbing the sleeve, the one end fixedly connected with who snatchs the telescopic outside grabs puts the steering wheel, and the lower extreme embedding that snatchs the telescopic outside is provided with main rope, one side embedding that snatchs the telescopic outside is close to main rope is provided with the haulage rope No. two, and snatchs the telescopic outside and be close to one side embedding of haulage rope No. two and be provided with the haulage rope No. three, one side embedding that snatchs the telescopic outside is close to No. three haulage ropes is provided with the haulage rope No. four, and one side embedding that snatchs the telescopic outside is close to the haulage rope No. four is provided with the haulage rope No. one, it installs.

As a further aspect of the present invention: the telescopic mechanism comprises a mechanical arm main body, a rack is fixedly connected to one side of the mechanical arm main body, a sliding rail is fixedly connected to the bottom end of the mechanical arm main body, a sliding block is slidably connected to the outer side of the bottom end of the sliding rail, a gear is meshed and connected to one side of the rack, and a telescopic steering engine is installed at the top end of the gear.

As a further aspect of the present invention: elevating system includes the triangle-shaped crane, the top fixedly connected with chain mounting of triangle-shaped crane, and the top of triangle-shaped crane runs through altogether near the both sides of chain mounting and is provided with four cylinder guide rails, the inboard of triangle-shaped crane is provided with the chain, the lower extreme of the inboard of chain rotates there is the sprocket, the motor is installed to the one end of sprocket.

As a further aspect of the present invention: the top of the cylindrical guide rail is fixedly connected with the four corners of the top of the rack, and the bottom of the cylindrical guide rail is fixedly connected with the four corners of the bottom of the rack.

As a further aspect of the present invention: one end of the lower side of the chain is fixedly connected with the triangular lifting frame, the other end of the lower side of the chain is fixedly connected with the chain fixing piece, and the motor is fixedly connected with the middle of the bottom end of the inner side of the rack.

As a further aspect of the present invention: the telescopic steering engine and the sliding block are fixedly connected with the triangular lifting frame.

As a further aspect of the present invention: the first traction rope, the second traction rope, the third traction rope and the fourth traction rope are all connected with the rope fixing piece, and the main rope is connected with the grabbing sleeve.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses can once only snatch and transport a plurality of spheroidal functions to can snatch and emit the spheroid one by one, can also fork and get tray goods and load and unload, stack, promote the work efficiency of arm effectively, more be fit for being applied to mobile robot on, through firm triangle-shaped elevation structure, can improve the stability of arm main part lift in-process effectively.

Drawings

FIG. 1 is a schematic view of a robotic arm and lifting structure for sorting and handling;

FIG. 2 is a schematic view of a pick and place mechanism of a pick and place robot and lift mechanism;

FIG. 3 is a schematic view of a robotic arm for sorting and handling and a telescoping mechanism in a lifting mechanism;

FIG. 4 is a schematic view of a robotic arm and a lifting structure of the picking and handling robot;

fig. 5 is a schematic diagram of a sorting and carrying mechanical arm and a steering engine controlling the ball catching and releasing in the lifting structure.

In the figure: 1. a frame; 2. a lifting mechanism; 21. a triangular lifting frame; 22. a cylindrical guide rail; 23. a chain fixing member; 24. a motor; 25. a sprocket; 26. a chain; 3. a pulley; 4. a telescoping mechanism; 41. a robot arm main body; 42. a telescopic steering engine; 43. a rack; 44. a gear; 45. a slider; 46. a slide rail; 5. a pick and place mechanism; 51. grabbing the sleeve; 52. grabbing and releasing a steering engine; 53. a rope fixing piece; 54. a first traction rope; 55. a second traction rope; 56. a third traction rope; 57. a fourth hauling rope; 58. a main rope; 6. a fork.

Detailed Description

Referring to fig. 1 to 5, in an embodiment of the present invention, a sorting and carrying robot arm and a lifting structure include a frame 1, three pulleys 3 are distributed at a bottom end of the frame 1 in a triangular manner, a lifting mechanism 2 is installed at an inner side of the frame 1, a telescopic mechanism 4 is installed at an inner side of the lifting mechanism 2, a set of forks 6 is installed at one end of the lifting mechanism 2, and a grabbing and releasing mechanism 5 is installed at one end of the lifting mechanism 2 close to the inner side of the forks 6;

grab and put mechanism 5 including grabbing sleeve 51, the one end fixedly connected with in the outside of grabbing sleeve 51 grabs puts steering wheel 52, the lower extreme embedding in the outside of grabbing sleeve 51 is provided with main rope 58, the one side embedding that the outside of grabbing sleeve 51 is close to main rope 58 is provided with haulage rope 55 No. two, the one side embedding that the outside of grabbing sleeve 51 is close to haulage rope 55 No. two is provided with haulage rope 56 No. three, the one side embedding that the outside of grabbing sleeve 51 is close to No. three haulage rope 56 is provided with haulage rope 57 No. four, the one side embedding that the outside of grabbing sleeve 51 is close to No. four haulage ropes 57 is provided with haulage rope 54 No. one, grab the front side of putting steering wheel 52.

In fig. 3: the telescopic mechanism 4 comprises a mechanical arm main body 41, a rack 43 is fixedly connected to one side of the mechanical arm main body 41, a sliding rail 46 is fixedly connected to the bottom end of the mechanical arm main body 41, a sliding block 45 is slidably connected to the outer side of the bottom end of the sliding rail 46, a gear 44 is meshed and connected to one side of the rack 43, and a telescopic steering engine 42 is installed at the top end of the gear 44, so that a plurality of spheres can be grabbed and transported at one time, and the spheres can be grabbed and discharged one by one.

In fig. 4: the lifting mechanism 2 comprises a triangular lifting frame 21, a chain fixing part 23 is fixedly connected to the top end of the triangular lifting frame 21, four cylindrical guide rails 22 are arranged on two sides, close to the chain fixing part 23, of the top end of the triangular lifting frame 21 in a penetrating mode, a chain 26 is arranged on the inner side of the triangular lifting frame 21, a chain wheel 25 is rotated at the lower end of the inner side of the chain 26, a motor 24 is installed at one end of the chain wheel 25, and therefore stability of the mechanical arm main body 41 in the lifting process can be effectively.

In fig. 1 and 4: the top end of the cylindrical guide rail 22 is fixedly connected with the four corners of the top end of the machine frame 1, and the bottom end of the cylindrical guide rail 22 is fixedly connected with the four corners of the bottom end of the machine frame 1, so that the triangular lifting frame 21 can smoothly slide along the cylindrical guide rail 22.

In fig. 1 and 4: one end of the lower side of the chain 26 is fixedly connected with the triangular lifting frame 21, the other end of the lower side of the chain 26 is fixedly connected with the chain fixing piece 23, and the motor 24 is fixedly connected with the middle part of the bottom end of the inner side of the rack 1, so that the triangular lifting frame 21 can be pulled to move up and down through the chain 26.

In fig. 3 and 4: the telescopic steering engine 42 and the sliding block 45 are both fixedly connected with the triangular lifting frame 21, so that the mechanical arm main body 41 can slide along the triangular lifting frame 21.

In fig. 2 and 5: no. one haulage rope 54, No. two haulage ropes 55, No. three haulage ropes 56 and No. four haulage ropes 57 all are connected with rope stationary blade 53, and main rope 58 is connected with snatching sleeve 51, can make main rope 58 be in the lax state when grabbing the ball through a haulage rope 54 and No. two haulage ropes 55, is in the state of tightening when putting the ball, and No. three haulage ropes 56 and No. four haulage ropes 57 can make main rope 58 be in the state of tightening when grabbing the ball, are in the lax state when putting the ball.

The utility model discloses a theory of operation: in the ball catching process: firstly, the grabbing sleeve 51 is moved to the position right above an object to be grabbed, the grabbing and releasing steering engine 52 rotates to enable the third traction rope 56 and the fourth traction rope 57 to be pulled out of the grabbing sleeve 51, the part, below, of the main rope 58 is close to the cylinder wall of the grabbing sleeve 51, the part, above, of the main rope 58 keeps in a straight state, then the motor 24 drives the mechanical arm main body 41 to move downwards to the object to be grabbed to enter the grabbing sleeve 51, then the grabbing and releasing steering engine 52 rotates reversely to enable the first traction rope 54 and the second traction rope 55 to be pulled out of the grabbing sleeve 51, the part, above, of the main rope 58 is close to the cylinder wall of the grabbing sleeve 51, the part, below, of the main rope 58 keeps in a straight state, and therefore the object to be grabbed is locked;

the process of putting the ball: firstly, the grabbing sleeve 51 is moved to a position right above an object to be placed, the grabbing and releasing steering engine 52 rotates to enable the first traction rope 54 and the second traction rope 55 to be pulled out of the grabbing sleeve 51, the part, below, of the main rope 58 is close to the cylinder wall of the grabbing sleeve 51, the part, above the main rope 58 is kept in a straight state, the first object at the outlet of the grabbing sleeve 51 falls under the action of gravity, and the rest objects are blocked by the part, above the main rope 58, and are left in the grabbing sleeve 51, so that the objects in the grabbing sleeve 51 are released one by one.

The above-mentioned, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. A sorting and carrying mechanical arm and a lifting structure comprise a rack (1) and are characterized in that three pulleys (3) are distributed at the bottom end of the rack (1) in a triangular mode, a lifting mechanism (2) is installed on the inner side of the rack (1), a telescopic mechanism (4) is installed on the inner side of the lifting mechanism (2), a group of forks (6) are installed at one end of the lifting mechanism (2), and a grabbing and releasing mechanism (5) is installed at one end of the lifting mechanism (2) close to the inner side of the forks (6);

grab and put mechanism (5) including grabbing sleeve (51), one end fixedly connected with in the outside of grabbing sleeve (51) grabs puts steering wheel (52), and the lower extreme embedding in the outside of grabbing sleeve (51) is provided with main rope (58), the outside of grabbing sleeve (51) is close to one side embedding of main rope (58) and is provided with No. two haulage rope (55), and the outside of grabbing sleeve (51) is close to one side embedding of No. two haulage rope (55) and is provided with No. three haulage rope (56), the outside of grabbing sleeve (51) is close to one side embedding of No. three haulage rope (56) and is provided with No. four haulage rope (57), and the outside of grabbing sleeve (51) is close to one side embedding of No. four haulage rope (57) and is provided with No. one haulage rope (54), rope (53) are installed to the front side of grabbing and putting steering wheel (52.

2. A sorting and carrying mechanical arm and lifting structure as claimed in claim 1, wherein the telescopic mechanism (4) comprises a mechanical arm main body (41), a rack (43) is fixedly connected to one side of the mechanical arm main body (41), a slide rail (46) is fixedly connected to the bottom end of the mechanical arm main body (41), a slide block (45) is slidably connected to the outer side of the bottom end of the slide rail (46), a gear (44) is engaged and connected to one side of the rack (43), and a telescopic steering engine (42) is mounted at the top end of the gear (44).

3. The sorting and carrying mechanical arm and lifting structure as claimed in claim 1, wherein the lifting mechanism (2) comprises a triangular lifting frame (21), a chain fixing part (23) is fixedly connected to the top end of the triangular lifting frame (21), four cylindrical guide rails (22) are arranged on two sides of the top end of the triangular lifting frame (21) close to the chain fixing part (23) in a penetrating manner, a chain (26) is arranged on the inner side of the triangular lifting frame (21), a chain wheel (25) is rotated at the lower end of the inner side of the chain (26), and a motor (24) is installed at one end of the chain wheel (25).

4. A sorting and handling robot and lifting structure according to claim 3, wherein the top end of the cylindrical guide rail (22) is fixedly connected to the four corners of the top end of the frame (1), and the bottom end of the cylindrical guide rail (22) is fixedly connected to the four corners of the bottom end of the frame (1).

5. A sorting and handling robot and lifting structure according to claim 3, characterized in that one end of the underside of the chain (26) is fixedly connected to the triangular lifting frame (21), and the other end of the underside of the chain (26) is fixedly connected to the chain fixing member (23), and the motor (24) is fixedly connected to the middle of the bottom end of the inner side of the frame (1).

6. The mechanical arm for sorting and carrying and the lifting structure of claim 2, wherein the telescopic steering engine (42) and the sliding block (45) are both fixedly connected with the triangular lifting frame (21).

7. A sorting and handling robot and lifting structure according to claim 1, wherein the first pull string (54), the second pull string (55), the third pull string (56) and the fourth pull string (57) are all connected to a string fixing piece (53), and the main string (58) is connected to the catching sleeve (51).