CN212385469U

CN212385469U - Cargo transferring mechanical arm

Info

Publication number: CN212385469U
Application number: CN202020976570.5U
Authority: CN
Inventors: 闫增祯; 赵志刚; 胡显泽; 赵祥堂; 卫启哲; 刘清华
Original assignee: Lanzhou Jiaotong University
Current assignee: Lanzhou Jiaotong University
Priority date: 2020-06-02
Filing date: 2020-06-02
Publication date: 2021-01-22
Anticipated expiration: 2030-06-02

Abstract

The utility model discloses an arm is transported to goods, but the mechanical clamping subassembly of the adjustable removal in arc slide rail and arc slide rail top that is supported by the hydraulic pressure support column including arc base plate, arc base plate top, the pole is increaseed to the hydraulic pressure that mechanical clamping subassembly includes a set of transmission base and transmission base top setting, the bottom structure of pole is increaseed to hydraulic pressure has a set of disc structure, the top that the pole was increaseed to hydraulic pressure is connected with a set of extension board that extends to one side perpendicularly, and installs a set of cooperation transmission assembly's sliding seat on the extension board, the bottom of sliding seat is connected with the manipulator connecting rod of a set of connection manipulator, the meshing groove of a set of cooperation transmission base is seted up between two parties to the up end of arc slide rail, and the stable groove of cooperation transmission base is seted. This arm is transported to goods, be convenient for adjust and use and stability are strong, adapt to different adjustment ranges, have higher practical value.

Description

Cargo transferring mechanical arm

Technical Field

The utility model belongs to the technical field of the goods is transported, concretely relates to arm is transported to goods.

Background

The cargo transfer refers to the cargo transfer in the import and export trade and also refers to the transportation of stacked cargos. With the advent of the "industrial 4.0" and "smart manufacturing 2025" era, robots are increasingly valued and used in various industries, and china is considered to be the market with the greatest potential in the world. The role of robots in the field of automation logistics is becoming increasingly evident compared to other fields, where the main form of robots is represented by mechanical arms of various functions, enabling the regulated transfer of logistics goods.

The product after partial transport in current cargo transfer needs the transportation that one turned to, only leans on the rotatory of arm self to realize that turning to of cargo handling has the transportation space little, the poor scheduling problem of suitability, and the current arm turns to the time and easily produces because of the stable problem in bottom and rock.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a cargo transfer arm 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 cargo transferring mechanical arm comprises an arc-shaped base plate, an arc-shaped sliding rail and a mechanical clamping assembly, wherein the arc-shaped sliding rail is supported by a hydraulic supporting column above the arc-shaped base plate, and the mechanical clamping assembly can move adjustably above the arc-shaped sliding rail;

the mechanical clamping assembly comprises a group of transmission bases and a hydraulic heightening rod arranged at the top end of the transmission bases, a group of disc structures are constructed at the bottom ends of the hydraulic heightening rods, a group of extending plates extending to one side are vertically connected to the top ends of the hydraulic heightening rods, a group of movable seats matched with the transmission assemblies are installed on the extending plates, and a group of manipulator connecting rods connected with manipulators are connected to the bottom ends of the movable seats;

the upper end surface of the arc-shaped sliding rail is provided with a group of meshing grooves matched with the transmission base in the middle, the two sides of each meshing groove are provided with stabilizing grooves matched with the transmission base, the transmission base comprises a group of driving motors matched with gear shafts, the gear shafts are embedded into the meshing grooves, transmission toothed belts matched with gears are constructed on the two sides of each meshing groove, stabilizing sliding rods matched with the stabilizing grooves are further arranged on the two sides of the bottom end of the transmission base, and the end portions of the sliding rods are spherical.

Preferably, the hydraulic support columns are arranged in an annular array around the axis of the arc-shaped substrate at the upper end face of the arc-shaped substrate as the circle center, the top ends of the hydraulic support columns are connected with the bottom ends of the arc-shaped slide rails, and the axis of the arc-shaped slide rails is consistent with the axis of the arc-shaped substrate.

Preferably, the transmission base comprises a base body at the bottom, an embedding column is constructed above the base body, a group of rotating motors are installed in the embedding column, the top ends of the rotating motors are matched with a group of motor shafts, and a group of embedding grooves for connecting the buckling top covers are further formed in the outer edge surface of the embedding column.

Preferably, the lock top cap housing connects in the top of gomphosis post, and the up end center of lock top cap sets up the groove that supplies the motor shaft to lead to out, the up end periphery of lock top cap is provided with the multiunit and stabilizes the roller post with the axle center of lock top cap as the centre of a circle and be annular array.

Preferably, a set of mounting groove that supplies the sliding seat installation is seted up to the up end of extension board, and is provided with the direction slide bar of connecting the sliding seat through linear bearing in the mounting groove, one side that the pole was increaseed towards hydraulic pressure to the bottom of extension board is connected with a set of diagonal bracing pole that is fixed in hydraulic pressure and increases the pole top.

Preferably, the cooperation the transmission assembly of sliding seat is including installing in the servo motor who extends the board top, servo motor is provided with the ball of threaded connection cooperation sliding seat towards one side of sliding seat, ball's axle center is parallel to each other with the axle center of direction slide bar, and ball keeps away from servo motor's one end and a set of cooperation riser of being connected the extension board and passes through roller bearing cooperation and be connected.

The utility model discloses a technological effect and advantage: according to the cargo transferring mechanical arm, the arc-shaped slide rails are supported through the arc-shaped base plate, the height of the hydraulic support columns is variable, the height of the arc-shaped slide rails can be guaranteed to be suitable for conveying heights of different conveying platforms, and the height adjusting range of the mechanical arm is reduced; the arrangement of the arc-shaped slide rail increases the space distance of transportation, and the transfer conveying of products is realized by matching with a mechanical clamping assembly, so that the applicability is strong; the transmission base forming the mechanical clamping assembly comprises a buckling top cover which is abutted against a disc at the bottom of the hydraulic heightening rod, and a stable roller column at the top end of the buckling top cover ensures the stability of the periphery of the bottom end of the hydraulic heightening rod when a motor shaft drives the hydraulic heightening rod to rotate; the guide slide bar matched with the movable seat ensures the stability of the movable seat when the servo motor drives the ball screw to drive the movable seat.

Drawings

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

FIG. 2 is a schematic structural view of the mechanical clamping assembly of the present invention;

FIG. 3 is a schematic view of the structure of the transmission base of the present invention;

fig. 4 is an enlarged schematic view of the structure at a in fig. 2 according to the present invention.

In the figure: the mechanical clamping device comprises an arc-shaped base plate 1, a hydraulic supporting column 101, an arc-shaped sliding rail 2, a meshing groove 201, a stabilizing groove 202, a mechanical clamping assembly 3, a transmission base 4, a hydraulic heightening rod 5, an oblique supporting rod 501, an extension plate 6, a mounting groove 601, a guide sliding rod 602, a base main body 7, an embedded column 701, an embedded groove 702, a top cover 8, a stable roller column 801, a rotating motor 9, a motor shaft 901, a movable seat 10, a manipulator connecting rod 11, a servo motor 12, a ball screw 13 and a matched vertical plate 14.

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.

The utility model provides a cargo transferring mechanical arm as shown in figures 1-4, which comprises an arc-shaped base plate 1, an arc-shaped slide rail 2 supported by a hydraulic support column 101 above the arc-shaped base plate 1 (when the mechanical arm is specifically implemented, the hydraulic support column 101 can be of any type), and a mechanical clamping assembly 3 which can be adjusted and moved above the arc-shaped slide rail 2, wherein the arrangement of the arc-shaped slide rail 2 increases the space distance of transportation, and the mechanical clamping assembly 3 is matched to realize the transfer and conveying of products, so that the applicability is strong;

the mechanical clamping assembly 3 comprises a group of transmission bases 4 and hydraulic heightening rods 5 arranged at the top ends of the transmission bases 4 (any type of the hydraulic heightening rods 5 can be selected in specific implementation), a group of disc structures are constructed at the bottom ends of the hydraulic heightening rods 5, a group of extension plates 6 extending to one side are vertically connected to the top ends of the hydraulic heightening rods 5, a group of movable seats 10 matched with the transmission assemblies are installed on the extension plates 6, and a group of manipulator connecting rods 11 connected with manipulators are connected to the bottom ends of the movable seats 10 (in specific implementation, the manipulators can select different types and specifications according to goods grabbing requirements);

the upper end surface of the arc-shaped sliding rail 2 is provided with a group of meshing grooves 201 matched with the transmission base 4 in the middle, the two sides of each meshing groove 201 are provided with stabilizing grooves 202 matched with the transmission base 4, the transmission base 4 comprises a group of driving motors matched with gear shafts, the gear shafts are embedded into the meshing grooves 201, the two sides of each meshing groove 201 are provided with transmission toothed belts matched with gears, the two sides of the bottom end of the transmission base 4 are also provided with stabilizing sliding rods matched with the stabilizing grooves 202, the end parts of the sliding rods are spherical, and when the transmission device is implemented specifically, the spherical parts at the bottom can be movably connected through roller bearings, so that the friction resistance is reduced.

Specifically, the hydraulic support columns 101 are arranged in an annular array mode around the axis of the arc-shaped substrate 1 on the upper end face of the arc-shaped substrate 1 as the circle center, the top ends of the hydraulic support columns 101 are connected with the bottom ends of the arc-shaped slide rails 2, the axis of the arc-shaped slide rails 2 is consistent with the axis of the arc-shaped substrate 1, the arc-shaped slide rails 2 are supported through the arc-shaped substrate 1, the height of the hydraulic support columns 101 can be changed, the height of the arc-shaped slide rails 2 can be adapted to the conveying height of different conveying platforms, and the height adjusting range.

Specifically, the transmission base 4 includes a base main body 7 at the bottom, an embedding column 701 is configured above the base main body 7, a set of rotating electrical machines 9 is installed in the embedding column 701, the top ends of the rotating electrical machines 9 are matched with a set of motor shafts 901, and a set of embedding grooves 702 for connecting the buckling top cover 8 are further formed in the outer edge surface of the embedding column 701.

Specifically, the buckling top cover 8 covers the top of the embedded column 701, a groove for the motor shaft 901 to pass through is formed in the center of the upper end face of the buckling top cover 8, multiple groups of stabilizing roller columns 801 are arranged in an annular array around the axis of the buckling top cover 8 as the center of circle, the transmission base 4 forming the mechanical clamping assembly 3 comprises the buckling top cover 8 abutting against a disc at the bottom of the hydraulic heightening rod 5, and the stabilizing roller columns 801 on the top end of the buckling top cover 8 ensure the stability of the periphery of the bottom end of the hydraulic heightening rod 5 when the motor shaft 901 drives the hydraulic heightening rod 5 to rotate.

Specifically, a set of mounting groove 601 that supplies the mount of sliding seat 10 to install is seted up to the up end of extension board 6, and is provided with the direction slide bar 602 that connects sliding seat 10 through linear bearing in the mounting groove 601, the bottom of extension board 6 is connected with a set of diagonal bracing piece 501 that is fixed in hydraulic pressure and heightens pole 5 top towards one side of hydraulic pressure heightening pole 5, and sliding seat 10 complex direction slide bar 602 guarantees the stability of sliding seat 10 when servo motor 12 drives ball 13 transmission sliding seat 10.

Specifically, the transmission assembly matched with the movable seat 10 comprises a servo motor 12 installed above the extension plate 6, a ball screw 13 in threaded connection with the movable seat 10 is arranged on one side, facing the movable seat 10, of the servo motor 12, the axle center of the ball screw 13 is parallel to the axle center of the guide slide rod 602, and one end, away from the servo motor 12, of the ball screw 13 is connected with a group of matched vertical plates 14 connected with the extension plate 6 in a matched mode through roller bearings.

Specifically, when the cargo transferring mechanical arm is used, equipment needs to be transferred to a position to be used, one end of an arc-shaped substrate 1 faces a conveying belt, the other end of the arc-shaped substrate faces the transfer position of a cargo, the height of an arc-shaped sliding rail 2 can be changed by adjusting a hydraulic support column 101, the height of the conveying belt is adapted, when a motor at the bottom of a transmission base 4 is driven, a mechanical clamping assembly 3 can be driven to move along the arc-shaped sliding rail 2 to realize transportation, when a hydraulic height adjusting rod 5 is adjusted, the height of a manipulator connecting rod 11 and a manipulator at the bottom end of the manipulator connecting rod can be changed, the manipulator connecting rod is convenient to grab and place, when a servo motor 12 for driving the movable seat 10 is adjusted, the ball screw 13 can be driven by the ball screw 13 to move along the axis direction of the ball screw 13, so that the, the realization turns to, and this cargo transfer arm is convenient for adjust the use and stability is strong, adapts to different adjustment ranges, has higher practical value.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.

Claims

1. A cargo transferring mechanical arm comprises an arc-shaped base plate (1), an arc-shaped sliding rail (2) which is supported by a hydraulic supporting column (101) and is arranged above the arc-shaped base plate (1), and a mechanical clamping assembly (3) which can be adjusted to move and is arranged above the arc-shaped sliding rail (2);

the method is characterized in that: the mechanical clamping assembly (3) comprises a group of transmission bases (4) and a hydraulic heightening rod (5) arranged at the top end of the transmission bases (4), the bottom end of the hydraulic heightening rod (5) is constructed with a group of disc structures, the top end of the hydraulic heightening rod (5) is vertically connected with a group of extension plates (6) extending to one side, a group of movable seats (10) matched with the transmission assemblies are installed on the extension plates (6), and the bottom end of each movable seat (10) is connected with a group of manipulator connecting rods (11) connected with manipulators;

the upper end face of the arc-shaped sliding rail (2) is provided with a group of meshing grooves (201) matched with the transmission base (4) in the middle, the two sides of each meshing groove (201) are provided with stabilizing grooves (202) matched with the transmission base (4), the transmission base (4) comprises a group of driving motors matched with gear shafts, the gear shafts are embedded into the meshing grooves (201), transmission toothed belts matched with gears are constructed on the two sides of each meshing groove (201), stabilizing sliding rods matched with the stabilizing grooves (202) are further arranged on the two sides of the bottom end of the transmission base (4), and the end portions of the sliding rods are spherical.

2. The cargo transferring robot arm according to claim 1, wherein: the hydraulic support column (101) is provided with a plurality of groups in an annular array around the axis of the arc-shaped substrate (1) at the upper end surface of the arc-shaped substrate (1) as the center of a circle, the top end of the hydraulic support column (101) is connected with the bottom end of the arc-shaped slide rail (2), and the axis of the arc-shaped slide rail (2) is consistent with the axis of the arc-shaped substrate (1).

3. The cargo transferring robot arm according to claim 1, wherein: the transmission base (4) comprises a base body (7) at the bottom, an embedded column (701) is constructed above the base body (7), a group of rotating motors (9) are installed in the embedded column (701), the top ends of the rotating motors (9) are matched with a group of motor shafts (901), and a group of embedded grooves (702) for connecting the buckling top cover (8) are further formed in the outer edge surface of the embedded column (701).

4. A cargo transferring robot as claimed in claim 3, wherein: the buckling top cover (8) is covered above the embedded column (701), a groove for a motor shaft (901) to pass through is formed in the center of the upper end face of the buckling top cover (8), and a plurality of groups of stable roller columns (801) are arranged in an annular array around the axis of the buckling top cover (8) as the circle center on the periphery of the upper end face of the buckling top cover (8).

5. The cargo transferring robot arm according to claim 1, wherein: a set of mounting groove (601) that supplies sliding seat (10) installation is seted up to the up end of extension board (6), and is provided with direction slide bar (602) through linear bearing connection sliding seat (10) in mounting groove (601), the bottom of extension board (6) is connected with a set of diagonal bracing piece (501) that are fixed in hydraulic pressure and heighten pole (5) top towards one side of hydraulic pressure heightening pole (5).

6. The cargo transferring robot arm according to claim 1, wherein: the cooperation the transmission assembly of sliding seat (10) is including installing in servo motor (12) above extension board (6), servo motor (12) are provided with ball (13) of threaded connection cooperation sliding seat (10) towards one side of sliding seat (10), the axle center of ball (13) is parallel to each other with the axle center of direction slide bar (602), and ball (13) keep away from servo motor (12) one end and a set of cooperation riser (14) of being connected extension board (6) and pass through roller bearing cooperation and be connected.