CN211278464U - Truss goods picking mechanical arm - Google Patents
Truss goods picking mechanical arm Download PDFInfo
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- CN211278464U CN211278464U CN201922005574.9U CN201922005574U CN211278464U CN 211278464 U CN211278464 U CN 211278464U CN 201922005574 U CN201922005574 U CN 201922005574U CN 211278464 U CN211278464 U CN 211278464U
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- belt pulley
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Abstract
The utility model discloses a manipulator is chosen to truss, including the X axle subassembly, Y axle subassembly and Z axle subassembly, the X axle subassembly includes first portal frame, the second portal frame, a driving motor, first action wheel, first from the driving wheel, first connecting band, second driving motor, the second action wheel, the second is from driving wheel and second connecting band, the Y axle subassembly includes the connecting rod, first connecting plate, first gyro wheel, second connecting plate and second gyro wheel, the Z axle subassembly includes vertical pole, the sucking disc, vision scanning device, the slide, the third gyro wheel, T type slider, first belt pulley, the second belt pulley, the third belt pulley, the fourth belt pulley, the fifth belt pulley, third driving motor, the third action wheel, fourth driving motor, fourth action wheel and third connecting band. The utility model discloses an adopt the robot that X axle subassembly, Y axle subassembly and Z axle subassembly are constituteed, such simple structure, the accessories of adoption are general accessories, installation and convenient operation, and later stage protection and maintenance cost are low.
Description
Technical Field
The utility model relates to a commodity circulation transportation equipment technical field, in particular to truss pick-up machinery hand.
Background
The picking robot in the current market mainly takes a joint robot as a main part, and the traditional joint robot is applied to fixing the robot on the ground, so that the working space of the robot is limited and the robot can only work in a specific space range. And when the articulated robot grabs goods in the space, the more the overhang is longer, the poorer the bearing capacity is, and meanwhile, if the articulated robot needs to grab goods with heavier weight, the price cost is very high on the basis of ensuring the structure safety of the articulated robot. Usually the precision of the repeated positioning of the joint robot is +/-0.2 mm. The operation track of the joint robot is not fixed, the joint robot is difficult to protect, the joint robot generally adopts full protection and has higher cost, and the joint robot adopts a coordinate mode similar to polar coordinates, so that the programming control is difficult. The joint robot can be divided into a 6-degree-of-freedom robot, a special robot, a four-bar robot and the like, the types are relatively few, and the selectivity and the flexibility of combination are poorer than those of a truss robot. Meanwhile, the parts adopted by the joint robot basically belong to special parts, the universality is poor, the structure of the joint robot is complex, professional technicians are required for maintenance, and the reliability is poor compared with that of a truss robot. Most of the joint robots are foreign brands, maintenance and repair are completed by professional personnel of manufacturers or suppliers, and later maintenance cost is high.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a truss pick-up manipulator has solved the problem that robot operation is inconvenient, protection and maintenance cost are high.
In order to solve the technical problem, the utility model discloses a technical scheme does:
a truss goods-picking mechanical arm comprises an X-axis assembly, a Y-axis assembly and a Z-axis assembly, wherein the X-axis assembly comprises a first portal frame and a second portal frame which are arranged in parallel from left to right, a first driving motor is arranged at one end of the upper surface of the first portal frame, a first driving wheel is arranged on the first driving motor, a first driven wheel is arranged at the other end of the upper surface of the first portal frame, the first driving wheel is connected with the first driven wheel through a first connecting belt, first rolling grooves which are arranged in the front and back direction are formed in the upper end surface of the first portal frame, a second driving motor is arranged at one end of the upper surface of the second portal frame, a second driving wheel is arranged on the second driving motor, a second driven wheel is arranged at the other end of the upper surface of the second portal frame, the second driving wheel is connected with the second driven wheel through a second connecting belt, and second rolling grooves which are, the Y-axis component comprises a connecting rod, a first connecting plate connected with the first connecting belt is arranged at the upper left end of the connecting rod, a first roller matched with the first rolling groove is arranged at the lower left end of the connecting rod, a second connecting plate connected with the second connecting belt is arranged at the upper right end of the connecting rod, a second roller matched with the second rolling groove is arranged at the lower right end of the connecting rod, the Z-axis component comprises a vertical rod, a sucking disc is arranged on the lower end face of the vertical rod, a vision scanning device is arranged at the lower end of the vertical rod above the sucking disc, a sliding plate is arranged in front of the connecting rod, a third rolling groove is arranged on the connecting rod, a third roller matched with the third rolling groove is arranged on the sliding plate, a T-shaped sliding groove is arranged on the rear end face of the vertical rod, and a T-shaped sliding block matched with the T-shaped sliding groove, the vertical pole left side from the bottom up is equipped with first belt pulley and second belt pulley in proper order, be equipped with the third belt pulley above the vertical pole, vertical pole right side from the top down is equipped with fourth belt pulley and fifth belt pulley in proper order, and first belt pulley, second belt pulley, fourth belt pulley and fifth belt pulley are all located on the slide, the connecting rod left end is equipped with third driving motor, third driving motor front end is equipped with the third action wheel, the connecting rod right-hand member is equipped with fourth driving motor, fourth driving motor front end is equipped with the fourth action wheel, vertical pole lower extreme is fixed with the third connecting band, third connecting band one end is fixed vertical pole lower extreme, the third connecting band other end is walked around in proper order first belt pulley the third action wheel the second belt pulley the third belt pulley the fourth belt pulley, The fourth driving wheel and the fifth belt pulley are fixed at the lower end of the vertical rod.
Further, the first connecting belt, the second connecting belt and the third connecting belt are belts.
Furthermore, a limiting rod is arranged below the connecting rod on one side of the vertical rod.
Furthermore, a sucker mounting plate is arranged on the lower end face of the vertical rod.
Furthermore, the sucking discs are four and are evenly arranged on the sucking disc mounting plate.
Further, the visual scanning device is a camera.
Adopt above-mentioned technical scheme, owing to adopt the robot that X axle subassembly, Y axle subassembly and Z axle subassembly are constituteed, such simple structure, the accessories of adoption are general accessories, installation and convenient operation, and later stage protection and maintenance cost are low.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of a truss goods picking manipulator according to the present invention;
fig. 2 is an enlarged structural diagram a of fig. 1.
Figures and their description:
1. a first gantry; 2. a first drive motor; 3. a first connecting plate; 4. a first roller; 5. a first rolling groove; 6. a first driven wheel; 7. a first connecting belt; 8. a third drive motor; 9. a third driving wheel; 10. a third connecting band; 11. a third belt pulley; 12. a second driven wheel; 13. a second connecting band; 14. a fourth drive motor; 15. a fourth driving wheel; 16. a second roller; 17. a second rolling groove; 18. a second drive motor; 19. a second drive wheel; 20. a connecting rod; 21. a vertical rod; 22. a visual scanning device; 23. a suction cup; 24. a sucker mounting plate; 25. a second gantry; 26. a third roller; 27. a second pulley; 28. a fourth belt pulley; 29. a fifth belt pulley; 30. a limiting rod; 31. a first pulley; 32. a slide plate; 33. and a third rolling groove.
Detailed Description
The following describes the present invention with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features related to the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1 to 2, the utility model provides a manipulator for picking up goods on truss, which comprises an X-axis assembly, a Y-axis assembly and a Z-axis assembly, wherein the X-axis assembly comprises a first portal frame 1 and a second portal frame 25 which are arranged in parallel from left to right, a first driving motor 2 is arranged at one end of the upper surface of the first portal frame 1, a first driving wheel is arranged on the first driving motor 2, a first driven wheel 6 is arranged at the other end of the upper surface of the first portal frame 1, the first driving wheel is connected with the first driven wheel 6 through a first connecting belt 7, a first rolling groove 5 which is arranged front and back is arranged on the upper end surface of the first portal frame 1, a second driving motor 18 is arranged at one end of the upper surface of the second portal frame 25, a second driving wheel 19 is arranged on the second driving motor 18, a second driven wheel 19 is arranged at the other end of the upper surface of the second portal frame, the second driving wheel 19 is connected with a second, the upper end face of the second portal frame 25 is provided with second rolling grooves 17 arranged front and back, the Y-axis assembly comprises a connecting rod 20, the left upper end of the connecting rod 20 is provided with a first connecting plate 3 connected with the first connecting belt 7, the left lower end of the connecting rod 20 is provided with a first roller 4 matched with the first rolling groove 5, the right upper end of the connecting rod 20 is provided with a second connecting plate connected with the second connecting belt 13, the right lower end of the connecting rod 20 is provided with a second roller 16 matched with the second rolling groove 17, the Z-axis assembly comprises a vertical rod 21, a sucking disc 23 is arranged on the lower end face of the vertical rod 21, the lower end of the vertical rod 21 above the sucking disc 23 is provided with a visual scanning device 22, the connecting rod 20 is provided with a sliding plate 32 in front, the connecting rod 21 is provided with a third rolling groove 33, the sliding plate 32 is provided with a third roller 26 matched with the third rolling groove 33, the rear end face of the vertical rod 21 is provided with a T-shaped sliding groove, the front end face of the sliding plate 32 is provided with a T-shaped sliding block matched with the T-shaped sliding groove, the left side of the vertical rod 21 is sequentially provided with a first belt pulley 31 and a second belt pulley 27 from bottom to top, the upper face of the vertical rod 21 is provided with a third belt pulley 11, the right side of the vertical rod 21 is sequentially provided with a fourth belt pulley 28 and a fifth belt pulley 29 from top to bottom, the first belt pulley 31, the second belt pulley 27, the fourth belt pulley 28 and the fifth belt pulley 29 are all arranged on the sliding plate 32, the left end of the connecting rod 20 is provided with a third driving motor 8, the front end of the third driving motor 8 is provided with a third driving wheel 9, the right end of the connecting rod 20 is provided with a fourth driving motor 17, the front end of the fourth driving motor 17 is provided with a fourth driving wheel 15, the lower end of the vertical rod 21 is fixed with a third connecting belt 10, the other end of the third connecting belt 10 sequentially bypasses the first belt pulley 31, the third driving wheel 9, the second belt pulley 27, the third belt pulley 11, the fourth belt pulley 28, the fourth driving wheel 15 and the fifth belt pulley 29 and is fixed at the lower end of the vertical rod 21.
This technical scheme is through the robot that adopts X axle subassembly, Y axle subassembly and Z axle subassembly to constitute, such simple structure, and the accessories of adoption are general accessories, installation and convenient operation, and later stage protection and maintenance cost are low. The T-shaped sliding groove can be arranged on the front end face of the sliding plate, and the T-shaped sliding block on the rear end face of the vertical rod 21 replaces the T-shaped sliding groove and the T-shaped sliding block of the technical scheme to realize the up-and-down sliding of the vertical rod 21. The first driving motor 2 and the second driving motor 18 are used for driving the connecting rod 20 to move; the left and right and up and down movement of the vertical rod 21 is realized by the forward and reverse rotation of the third driving motor 8 and the fourth driving motor 14 and the operation of one of the driving motors.
The working principle of the technical scheme is as follows:
after an upper system issues an order picking instruction, the automatic guide delivery wagon receives the instruction, the whole material to be picked is conveyed to a preset area, an in-place signal is transmitted to the truss picking mechanical arm, the X shaft assembly, the Y shaft assembly and the Z shaft assembly of the truss picking mechanical arm run and link simultaneously until the truss picking mechanical arm moves to the position above the goods to be picked, the goods are picked after being calculated and analyzed through visual scanning, and the goods are sucked and thrown onto a belt conveying line which is arranged beside the truss picking mechanical arm through a sucking disc. After the goods are picked by the suckers on the truss goods picking mechanical arm, in the process of putting the goods by the mechanical arm, the visual scanning is carried out to scan and calculate the position of the goods sucked by the mechanical arm next time, and the operation is repeated continuously until the order is picked, and the conveying vehicle is automatically guided to move the empty tray or the tray with the left goods to the specified position to carry out the next order.
The first connecting belt 7, the second connecting belt 13 and the third connecting belt 10 are belts. Make things convenient for the accurate control of motor like this, the belt is general accessories, also makes things convenient for the maintenance in later stage.
A limiting rod 30 is arranged below the connecting rod 20 on one side of the vertical rod 21. This prevents the suction cup mounting plate 24 from striking the connecting rod 20, improving the safety of the device in use.
And a sucker mounting plate 24 is arranged on the lower end face of the vertical rod 21. The four suckers 23 are uniformly arranged on the sucker mounting plate 24. The number of suction cups 23 can of course be set according to the actual requirements of use.
The visual scanning device 22 is a camera. Other visual scanning devices 22 may be substituted.
To sum up, the utility model discloses an adopt the robot that X axle subassembly, Y axle subassembly and Z axle subassembly are constituteed, such simple structure, the accessories of adoption are general accessories, installation and convenient operation, and later stage protection and maintenance are with low costs.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in the embodiments without departing from the principles and spirit of the invention, and the scope of the invention is to be accorded the full scope of the claims.
Claims (6)
1. A truss goods-picking mechanical arm is characterized by comprising an X shaft assembly, a Y shaft assembly and a Z shaft assembly, wherein the X shaft assembly comprises a first portal frame and a second portal frame which are arranged in parallel from left to right, a first driving motor is arranged at one end of the upper surface of the first portal frame, a first driving wheel is arranged on the first driving motor, a first driven wheel is arranged at the other end of the upper surface of the first portal frame, the first driving wheel is connected with the first driven wheel through a first connecting belt, first rolling grooves which are arranged in the front and back direction are arranged on the upper end surface of the first portal frame, a second driving motor is arranged at one end of the upper surface of the second portal frame, a second driving wheel is arranged on the second driving motor, a second driven wheel is arranged at the other end of the upper surface of the second portal frame, the second driving wheel is connected with the second driven wheel through a second connecting belt, second rolling grooves which are arranged in the front and back, the Y-axis component comprises a connecting rod, a first connecting plate connected with the first connecting belt is arranged at the upper left end of the connecting rod, a first roller matched with the first rolling groove is arranged at the lower left end of the connecting rod, a second connecting plate connected with the second connecting belt is arranged at the upper right end of the connecting rod, a second roller matched with the second rolling groove is arranged at the lower right end of the connecting rod, the Z-axis component comprises a vertical rod, a sucking disc is arranged on the lower end face of the vertical rod, a vision scanning device is arranged at the lower end of the vertical rod above the sucking disc, a sliding plate is arranged in front of the connecting rod, a third rolling groove is arranged on the connecting rod, a third roller matched with the third rolling groove is arranged on the sliding plate, a T-shaped sliding groove is arranged on the rear end face of the vertical rod, and a T-shaped sliding block matched with the T-shaped sliding groove, the vertical pole left side from the bottom up is equipped with first belt pulley and second belt pulley in proper order, be equipped with the third belt pulley above the vertical pole, vertical pole right side from the top down is equipped with fourth belt pulley and fifth belt pulley in proper order, and first belt pulley, second belt pulley, fourth belt pulley and fifth belt pulley are all located on the slide, the connecting rod left end is equipped with third driving motor, third driving motor front end is equipped with the third action wheel, the connecting rod right-hand member is equipped with fourth driving motor, fourth driving motor front end is equipped with the fourth action wheel, vertical pole lower extreme is fixed with the third connecting band, third connecting band one end is fixed vertical pole lower extreme, the third connecting band other end is walked around in proper order first belt pulley the third action wheel the second belt pulley the third belt pulley the fourth belt pulley, The fourth driving wheel and the fifth belt pulley are fixed at the lower end of the vertical rod.
2. The truss pick robot of claim 1 wherein the first, second and third connecting straps are belts.
3. The truss pick robot of claim 1 wherein a stop bar is positioned below the connecting bar on one side of the vertical bar.
4. The truss pick robot of claim 1 wherein a suction cup mounting plate is provided on a lower end surface of the vertical rod.
5. The truss pick robot of claim 4 wherein the suction cups are four suction cups evenly disposed on the suction cup mounting plate.
6. The truss pick robot of claim 1 wherein the visual scanning device is a camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922005574.9U CN211278464U (en) | 2019-11-18 | 2019-11-18 | Truss goods picking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922005574.9U CN211278464U (en) | 2019-11-18 | 2019-11-18 | Truss goods picking mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN211278464U true CN211278464U (en) | 2020-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922005574.9U Active CN211278464U (en) | 2019-11-18 | 2019-11-18 | Truss goods picking mechanical arm |
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| CN (1) | CN211278464U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112758679A (en) * | 2020-12-26 | 2021-05-07 | 大智精创（厦门）科技有限公司 | Automatic unloader that goes up of optical lens piece |
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2019
- 2019-11-18 CN CN201922005574.9U patent/CN211278464U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112758679A (en) * | 2020-12-26 | 2021-05-07 | 大智精创（厦门）科技有限公司 | Automatic unloader that goes up of optical lens piece |
| CN112758679B (en) * | 2020-12-26 | 2022-06-21 | 大智精创（厦门）科技有限公司 | Automatic unloader that goes up of optical lens piece |
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