CN213290274U

CN213290274U - Non-skid manipulator for unmanned supermarket

Info

Publication number: CN213290274U
Application number: CN202022218753.3U
Authority: CN
Inventors: 黄博帆; 陈薇洁
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-05-28
Anticipated expiration: 2030-09-30

Abstract

The utility model discloses an unmanned supermarket of non-skid is with manipulator, belong to manipulator technical field, a non-skid's unmanned supermarket is with manipulator, including the truck, the arm, hand fixture and anti-drop mechanism, the top fixedly connected with arm of truck, truck inside actuating mechanism and the control system of being provided with, hand fixture includes the riser, the supporting shoe, electric putter, the connecting rod, the holder, accomodate the groove, a spring, the slide bar, the clamp splice, the rubber pad, a slide rail, the slider, the one end fixedly connected with riser of arm, the supporting shoe that two symmetries of one side fixedly connected with of arm set up is kept away from to the riser, one side fixedly connected with electric putter of supporting shoe, electric putter's output fixedly connected with connecting rod. The clamping of bottled beverages can be firm and stable, the bottled beverages can be effectively prevented from sliding down from the manipulator, and then the bottled beverages are prevented from falling and being damaged, so that the cost of commodity damage of an unmanned supermarket is reduced.

Description

Non-skid manipulator for unmanned supermarket

Technical Field

The utility model relates to a manipulator technical field, more specifically say, relate to an unmanned for supermarket manipulator that is difficult for skidding.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

With the development of scientific technology and diversified demands of people, a batch of unmanned supermarkets emerge in the market. In an unmanned supermarket, a large number of mechanical arms are arranged and used for placing, sorting and the like of commodities.

When putting the bottled drink in unmanned supermarket, the manipulator need carry out the centre gripping with bottled drink earlier, then shift to the locating place on, but the manipulator is used in unmanned supermarket of prior art, at the centre gripping, shift bottled drink's in-process, the centre gripping is firm inadequately, skids easily, leads to bottled drink to drop the damage.

SUMMERY OF THE UTILITY MODEL

1. Technical problem to be solved

To the problem that exists among the prior art, the utility model aims to provide a manipulator is used in unmanned supermarket of difficult skidding, it can realize comparatively firm, firm to the centre gripping of bottled drink, can effectually prevent that bottled drink from landing in the manipulator, and then avoids bottled drink to drop and damage to unmanned supermarket commodity cost of damaging has been reduced.

2. Technical scheme

In order to solve the above problems, the utility model adopts the following technical proposal.

A non-skid manipulator for an unmanned supermarket comprises a trunk, arms, a hand clamping mechanism and an anti-falling mechanism, wherein the arms are fixedly connected to the top end of the trunk, a driving mechanism and a control system are arranged inside the trunk, the hand clamping mechanism comprises a vertical plate, supporting blocks, an electric push rod, a connecting rod, a clamping seat, accommodating grooves, springs, a slide rod, a clamping block, a rubber pad, a slide rail and a slide block, the vertical plate is fixedly connected to one end of each arm, two symmetrically arranged supporting blocks are fixedly connected to one side, away from the arms, of the vertical plate, the electric push rod is fixedly connected to one side of each supporting block, the connecting rod is fixedly connected to the output end of the electric push rod, the clamping seat is fixedly connected to one end of the connecting rod, the two accommodating grooves are formed in the outer wall of one side of the clamping seat, the springs are fixedly connected to the inner wall of, the slide bar runs through the spring and extends to the outside of the spring and fixedly connected with slide bar.

The anti-falling mechanism comprises a supporting plate, a driving motor, a worm, a rotating base, a rotating shaft, a worm wheel, an anti-falling plate and a positioning rod, wherein the vertical plate is far away from one side of the supporting block and is fixedly connected with the supporting plate, the bottom end of the supporting plate is fixedly connected with the driving motor, the output end of the driving motor is fixedly connected with the worm, the bottom end of the vertical plate is fixedly connected with the rotating base, the rotating base is arranged in a C shape, the rotating base is rotatably connected with the rotating shaft on the inner wall, and the outer wall of the rotating shaft is respectively fixedly connected with the worm.

Further, the slide bar is kept away from and has been seted up the arc wall on the outer wall of spring one side, fixedly connected with rubber pad on the inner wall of arc wall, the arc wall more laminates bottled drink's shape, makes the clamp splice more firm to bottled drink's centre gripping, and the rubber pad of rubber material can increase the frictional force between clamp splice and bottled drink, and then improves the centre gripping effect, makes the manipulator more firm to bottled drink's centre gripping.

Furthermore, be equipped with the slide rail of fixed connection on the riser outer wall between the supporting shoe, the other end fixedly connected with slider of connecting rod, slider and slide rail sliding connection, the setting of slide rail and slider can prevent that holder, clamp splice etc. from taking place the skew at the in-process that removes and carry out the centre gripping, have improved stability.

Further, worm wheel and worm phase-match, just worm and worm wheel meshing through driving motor, worm, rotation base, pivot, worm wheel, prevent falling the setting of board, and the clamp splice carries out the centre gripping back to bottled drink, starts driving motor, can make the worm drive and rotate the base and rotate, and then drive prevent falling the board swing to with the horizontality to can hold the bottled drink of clamp splice centre gripping, even bottled drink takes place to slide under the centre gripping of clamp splice, also can not drop to ground, and then can effectually prevent bottled drink landing from the manipulator.

Furthermore, the electric push rod and the driving motor are electrically connected with a control system in the trunk, so that the control system can regulate and control the starting and stopping of the electric push rod and the driving motor.

Furthermore, one side of riser just is located the below fixedly connected with locating lever of supporting shoe, the locating lever sets up to the L style of calligraphy, when preventing falling the board and rotating to keeping away from the one end of riser with the locating lever and pasting, prevents falling the board and be in the horizontality just to can be convenient for fix a position preventing falling the rotation of board.

3. Advantageous effects

Compared with the prior art, the utility model has the advantages of:

(1) this scheme can realize comparatively firm, firm to the centre gripping of bottled drink, can effectually prevent that bottled drink from landing in the manipulator, and then avoids bottled drink to drop the damage to unmanned supermarket commodity cost of damaging has been reduced.

(2) Through electric putter, the connecting rod, the holder, accomodate the groove, a spring, the slide bar, the setting of clamp splice, when carrying out the centre gripping to bottled drink, control system starts two electric putter simultaneously, drive the clamp splice and remove in opposite directions to carry out the centre gripping to the bottled removal between the clamp splice, paste mutually with the holder until the clamp splice, the compression of spring atress this moment, the elasticity of spring can provide a thrust, it is more firm to make the centre gripping to the bottled feeding, and then prevent that bottled drink from skidding, dropping.

(3) The slide bar is kept away from and has been seted up the arc wall on the outer wall of spring one side, fixedly connected with rubber pad on the inner wall of arc wall, and the arc wall more laminates bottled drink's shape, makes the clamp splice more firm to bottled drink's centre gripping, and the rubber pad of rubber material can increase the frictional force between clamp splice and bottled drink, and then improves the centre gripping effect, makes the manipulator more firm to bottled drink's centre gripping.

(4) The setting of slide rail and slider can prevent that holder, clamp splice etc. from taking place the skew at the in-process that removes and carry out the centre gripping, has improved stability.

(5) Through driving motor, worm, rotation base, pivot, worm wheel, prevent falling the setting of board, the clamp splice carries out the centre gripping back to bottled drink, starts driving motor, can make the worm drive and rotate the base and rotate, and then drive prevent falling the board swing to with the horizontality to can hold the bottled drink of clamp splice centre gripping, even bottled drink takes place to slide under the centre gripping of clamp splice, also can not drop to ground, and then can effectually prevent that bottled drink from landing in the manipulator.

(6) One side of riser just is located the below fixedly connected with locating lever of supporting shoe, and the locating lever sets up to the L style of calligraphy, when the anti-falling board rotates to keeping away from the riser with the locating lever one end and pastes, the anti-falling board is in the horizontality just to can be convenient for fix a position the rotation of preventing falling the board.

Drawings

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

fig. 2 is a top view of the vertical plate of the present invention;

fig. 3 is a top view of the inside of the holder of the present invention;

fig. 4 is a side view of the rotating base of the present invention.

The reference numbers in the figures illustrate:

101. a vertical plate; 102. a support block; 103. an electric push rod; 104. a connecting rod; 105. a holder; 106. a receiving groove; 107. a spring; 108. a slide bar; 109. a clamping block; 110. a rubber pad; 111. a slide rail; 112. a slider; 401. a support plate; 402. a drive motor; 403. a worm; 404. rotating the base; 405. a rotating shaft; 406. a worm gear; 407. the plate is prevented from falling; 408. positioning a rod; 002. a torso; 003. an arm.

Detailed Description

The technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention based on the embodiments of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", 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. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "sleeved/connected", "connected", and the like are to be understood in a broad sense, such as "connected", which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-3, a non-skid manipulator for an unmanned supermarket comprises a trunk 002, arms 003, a hand clamping mechanism and a dropping-proof mechanism, wherein the top end of the trunk 002 is fixedly connected with the arms 003, the trunk 002 is internally provided with a driving mechanism and a control system, the driving mechanism and the control system can drive the arms 003 to stretch and move, and the like, so that bottled beverages are transferred after the hand clamping mechanism clamps bottled beverages, and how the driving mechanism and the control system drive the arms 003 to stretch and move, which is a mature technology in the prior art and not described herein, the hand clamping mechanism comprises a vertical plate 101, a supporting block 102, an electric push rod 103, a connecting rod 104, a clamping seat 105, a containing groove 106, a spring 107, a sliding rod 108, a clamping block 109, a rubber pad 110, a sliding rail 111 and a sliding block 112, one end of each arm is fixedly connected with the vertical plate 101, two symmetrically arranged supporting blocks 102 are fixedly connected to one side of a vertical plate 101 far away from an arm 003, an electric push rod 103 is fixedly connected to one side of the supporting block 102, a connecting rod 104 is fixedly connected to an output end of the electric push rod 103, a clamping seat 105 is fixedly connected to one end of the connecting rod 104, two accommodating grooves 106 are formed in the outer wall of one side of the clamping seat 105, springs 107 are fixedly connected to the inner walls of the accommodating grooves 106, slide rods 108 are fixedly connected to one ends of the springs 107, the slide rods 108 penetrate through the springs 107 and extend out of the springs 107 and are fixedly connected with the slide rods 108, arc-shaped grooves are formed in the outer walls of the slide rods 108 far away from the springs 107, rubber pads 110 are fixedly connected to the inner walls of the arc-shaped grooves and are more attached to the shape of bottled beverages, so that the clamping blocks 109 can clamp the bottled beverages more firmly, the rubber pads 110 made, the clamping of the manipulator to the bottled beverage is more stable, a sliding rail 111 fixedly connected to the outer wall of a vertical plate 101 is arranged between supporting blocks 102, a sliding block 112 is fixedly connected to the other end of a connecting rod 104, the sliding block 112 is in sliding connection with the sliding rail 111, and the arrangement of the sliding rail 111 and the sliding block 112 can prevent the clamping seat 105, the clamping block 109 and the like from deviating in the process of clamping the bottled beverage in a moving process, so that the stability is improved, through the arrangement of the electric push rods 103, the connecting rod 104, the clamping seat 105, the accommodating groove 106, the spring 107, the sliding rod 108 and the clamping block 109, when the bottled beverage is clamped, a control system simultaneously starts the two electric push rods 103 to drive the clamping block 109 to move oppositely, so as to clamp the bottled beverage between the clamping blocks 109 until the clamping block 109 is attached to the clamping seat 105, at the moment, the spring 107 is compressed by stress, the elastic force of the spring 107 can provide, further, the bottled beverage is prevented from slipping and falling off, and a person skilled in the art can select the spring 107 with a suitable elastic coefficient according to actual conditions to prevent the bottled beverage from being clamped too tightly and deformed.

Referring to fig. 1 and 4, the anti-falling mechanism includes a support plate 401, a driving motor 402, a worm 403, a rotating base 404, a rotating shaft 405, a worm gear 406, an anti-falling plate 407, and a positioning rod 408, the support plate 401 is fixedly connected to one side of the vertical plate 101 away from the support block 102, the driving motor 402 is fixedly connected to the bottom end of the support plate 401, the worm 403 is fixedly connected to the output end of the driving motor 402, the rotating base 404 is fixedly connected to the bottom end of the vertical plate 101, the rotating base 404 is C-shaped, the rotating shaft 405 is rotatably connected to the inner wall of the rotating base 404, the worm gear 406 and the anti-falling plate 407 are respectively fixedly connected to the outer wall of the rotating shaft 405, the worm gear 406 is matched with the worm 403, the worm 403 is meshed with the worm gear 406, the driving motor 402, the worm 403, the rotating base 404, the rotating shaft 405, the worm 406, the worm 403 can drive the rotating base 404 to rotate, and further drive the anti-falling plate 407 to swing to a horizontal state, so as to support the bottled beverage clamped by the clamping block 109, and even if the bottled beverage slides under the clamping of the clamping block 109, the bottled beverage does not fall to the ground, and further the bottled beverage can be effectively prevented from sliding down from the manipulator, the electric push rod 103 and the driving motor 402 are both electrically connected with the control system in the trunk 002, so that the control system can regulate and control the start and stop of the electric push rod 103 and the driving motor 402, as for how the control system controls the electric push rod 103 and the worm 403, which is a mature technology in the prior art, the vertical plate is not described in detail herein, the positioning rod 408 is fixedly connected to one side of the supporting block 101 and below the supporting block 102, the positioning rod 408 is set to be L-shaped, when the anti-falling plate 407 rotates to be attached to one end of the positioning rod, the falling prevention plate 407 is in a right horizontal state, so that the rotation of the falling prevention plate 407 can be easily positioned.

When the anti-dropping device is used, the control system simultaneously starts the two electric push rods 103 to drive the clamping blocks 109 to move oppositely, so that bottles between the clamping blocks 109 are clamped until the clamping blocks 109 are attached to the clamping seats 105, so that bottled beverages are clamped firmly, the driving motor 402 is started, the worm 403 drives the worm wheel 406 to rotate, and further drives the anti-dropping plate 407 to rotate until the anti-dropping plate 407 rotates to be attached to the positioning rod 408, so that the anti-dropping plate 407 rotates to be in a horizontal state, the bottoms of the bottled beverages are supported, and the bottled feeding is prevented from dropping; compared with the prior art, the clamping of bottled beverages is firm and stable, the bottled beverages can be effectively prevented from sliding down from the manipulator, and then the bottled beverages are prevented from falling and being damaged, so that the cost of commodity damage of the unmanned supermarket is reduced.

The above description is only the preferred embodiment of the present invention; the scope of the present invention is not limited thereto. Any person skilled in the art should also be able to cover the technical scope of the present invention by replacing or changing the technical solution and the improvement concept of the present invention with equivalents and modifications within the technical scope of the present invention.

Claims

1. The utility model provides a manipulator is used in unmanned supermarket that is difficult for skidding, includes truck (002), arm (003), hand fixture and prevents the mechanism that drops, the top fixedly connected with arm (003) of truck (002), truck (002) inside is provided with actuating mechanism and control system, its characterized in that: the hand clamping mechanism comprises a vertical plate (101), supporting blocks (102), electric push rods (103), a connecting rod (104), clamping seats (105), accommodating grooves (106), springs (107), sliding rods (108), clamping blocks (109), rubber pads (110), sliding rails (111) and sliding blocks (112), wherein one end of an arm (003) is fixedly connected with the vertical plate (101), one side, away from the arm (003), of the vertical plate (101) is fixedly connected with the two symmetrically-arranged supporting blocks (102), one side of the supporting block (102) is fixedly connected with the electric push rods (103), the output end of the electric push rods (103) is fixedly connected with the connecting rod (104), one end of the connecting rod (104) is fixedly connected with the clamping seats (105), the outer wall of one side of the clamping seats (105) is provided with the two accommodating grooves (106), and the inner walls of the accommodating grooves (106) are fixedly connected with the springs (107), one end of the spring (107) is fixedly connected with a sliding rod (108), and the sliding rod (108) penetrates through the spring (107) to extend out of the spring (107) and is fixedly connected with the sliding rod (108);

the anti-falling mechanism comprises a supporting plate (401), a driving motor (402), a worm (403), a rotating base (404), a rotating shaft (405), a worm wheel (406), an anti-falling plate (407) and a positioning rod (408), wherein the supporting plate (401) is fixedly connected to one side of the supporting block (102) away from the vertical plate (101), the driving motor (402) is fixedly connected to the bottom end of the supporting plate (401), the worm (403) is fixedly connected to the output end of the driving motor (402), the rotating base (404) is fixedly connected to the bottom end of the vertical plate (101), the rotating base (404) is set to be C-shaped, a rotating shaft (405) is rotatably connected to the inner wall of the rotating base (404), and the worm wheel (406) and the anti-falling plate (407) are fixedly connected to the outer.

2. The non-skid manipulator for the unmanned supermarket according to claim 1, wherein: an arc-shaped groove is formed in the outer wall of one side, away from the spring (107), of the sliding rod (108), and a rubber pad (110) is fixedly connected to the inner wall of the arc-shaped groove.

3. The non-skid manipulator for the unmanned supermarket according to claim 1, wherein: slide rails (111) fixedly connected to the outer walls of the vertical plates (101) are arranged between the supporting blocks (102), slide blocks (112) are fixedly connected to the other ends of the connecting rods (104), and the slide blocks (112) are slidably connected with the slide rails (111).

4. The non-skid manipulator for the unmanned supermarket according to claim 1, wherein: the worm wheel (406) is matched with the worm (403), and the worm (403) is meshed with the worm wheel (406).

5. The non-skid manipulator for the unmanned supermarket according to claim 1, wherein: the electric push rod (103) and the driving motor (402) are electrically connected with a control system in the trunk (002).

6. The non-skid manipulator for the unmanned supermarket according to claim 1, wherein: one side of the vertical plate (101) is fixedly connected with a positioning rod (408) below the supporting block (102), and the positioning rod (408) is L-shaped.