CN213987653U

CN213987653U - Mechanical arm for fetching goods in container and container

Info

Publication number: CN213987653U
Application number: CN202023223242.7U
Authority: CN
Inventors: 袁浩森; 支涛; 应甫臣
Original assignee: Beijing Yunji Technology Co Ltd
Current assignee: Beijing Yunji Technology Co Ltd
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2021-08-17
Anticipated expiration: 2030-12-28

Abstract

The application discloses a arm and packing cupboard for thing is got to packing cupboard, this an arm for thing is got to packing cupboard includes: x axle linear displacement mechanism with locate the Y axle linear displacement mechanism of X axle linear displacement mechanism output, the output of Y axle linear displacement mechanism is provided with flexible arm, the end of snatching of flexible arm is provided with the flexible fixed part that is used for fixed goods. This application has reached the purpose that the flexible fixed part that the usable flexible arm snatchs the end snatchs and fix the goods when getting goods to realized when getting goods to glass package commodity or breakable commodity, can protect the goods not fragile, guaranteed the technological effect of its integrality, and then solved the problem that the shipment structure of packing cupboard is not applicable to glass package commodity or breakable commodity shipment among the correlation technique.

Description

Mechanical arm for fetching goods in container and container

Technical Field

The application relates to an automatic vending machine field particularly, relates to a arm and packing cupboard that is used for the packing cupboard to get the thing.

Background

At present, automatic vending machines in the market all make commodities fall into a delivery bin through the rotation of a track cargo channel or a spring cargo channel to finish the selling action. But this type of shipping structure is only suitable for lighter and less fragile goods and is not suitable for glass-wrapped goods or fragile goods.

Aiming at the problem that the delivery structure of the container in the related art is not suitable for delivering glass-packaged goods or fragile goods, an effective solution is not provided at present.

SUMMERY OF THE UTILITY MODEL

The main objective of this application provides a arm and packing cupboard for packing cupboard gets thing to the shipment structure of packing cupboard is not applicable to the problem of glass package commodity or fragile commodity shipment among the solution correlation technique.

In order to achieve the above object, the present application provides a robot arm for fetching a container, comprising: x axle linear displacement mechanism with locate the Y axle linear displacement mechanism of X axle linear displacement mechanism output, the output of Y axle linear displacement mechanism is provided with flexible arm, the end of snatching of flexible arm is provided with the flexible fixed part that is used for fixed goods.

Further, flexible fixed part includes the air suction nozzle, the air suction nozzle is located the end that snatchs of flexible arm for adsorb fixed goods, the air suction nozzle passes through the pipeline intercommunication with the air pump.

Further, flexible fixed part includes U-shaped tongs, and the double-phase offside of U-shaped tongs all is provided with inflation portion, two inflation portion is used for the fixed goods after the inflation, inflation portion passes through the pipeline intercommunication with the air pump.

Further, the expansion direction of the expansion portion is obliquely inward.

Further, the expansion portion is provided in plurality in the longitudinal direction.

Further, the X-axis linear displacement mechanism is a hydraulic or pneumatic linear displacement mechanism arranged transversely, and the Y-axis linear displacement mechanism is a hydraulic or pneumatic linear displacement mechanism arranged longitudinally.

Further, the X-axis linear displacement mechanism and the Y-axis linear displacement mechanism are lead screw linear displacement mechanisms disposed laterally and longitudinally, respectively.

According to another aspect of the application, there is provided a container comprising a robot arm for taking the container and a container body.

In this application embodiment, through setting up X axle straight line displacement mechanism and locating the Y axle straight line displacement mechanism of X axle straight line displacement mechanism output, Y axle straight line displacement mechanism's output is provided with flexible arm, the end of snatching of flexible arm is provided with the flexible fixed part that is used for fixed goods, has reached the purpose that the flexible fixed part that can utilize flexible arm to snatch the end when getting goods snatchs and fix goods to realized when getting goods to glass package commodity or breakable commodity, can protect the goods not fragile, guarantee the technological effect of its integrality, and then solved the problem that the shipment structure of packing cupboard is not applicable to glass package commodity or breakable commodity shipment among the relevant art.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:

FIG. 1 is a schematic structural diagram according to an embodiment of the present application;

FIG. 2 is a schematic side view of a robotic arm according to an embodiment of the present application;

FIG. 3 is another side view schematic of a robotic arm according to an embodiment of the present application;

fig. 4 is a schematic top view of a U-shaped gripper according to an embodiment of the present application.

Wherein, 1X-axis linear displacement mechanism, 2Y-axis linear displacement mechanism, 3 container bodies, 4 telescopic mechanical arms, 5 air suction nozzles, 6 expansion parts and 7U-shaped grippers.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used.

In this application, the terms "upper", "lower", "inside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "disposed," "provided," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in FIGS. 1 to 4, the present application provides a robot arm for container extraction, comprising: x axle linear displacement mechanism 1 and the Y axle linear displacement mechanism 2 of locating X axle linear displacement mechanism 1 output, the output of Y axle linear displacement mechanism 2 is provided with flexible arm 4, and the end of snatching of flexible arm 4 is provided with the flexible fixed part that is used for fixed goods.

In this embodiment, the X-axis linear displacement mechanism 1 and the Y-axis linear displacement mechanism 2 are integrally installed at the delivery end of the container, the X-axis linear displacement mechanism 1 is installed along the length direction of the container, the Y-axis linear displacement mechanism 2 is installed along the height direction of the container, the telescopic mechanical arm 4 is fixed at the output end of the Y-axis linear displacement mechanism 2, the Y-axis linear displacement mechanism 1 can drive the Y-axis linear displacement mechanism 2 and the telescopic mechanical arm 4 to move in the X-axis direction, the Y-axis linear displacement mechanism 2 can drive the telescopic mechanical arm 4 to move in the Y-axis direction, so as to move the telescopic mechanical arm 4 to different delivery positions on the container, then the gripping end is extended to the delivery position by the telescopic mechanical arm 4, the delivery is gripped and fixed by the flexible fixing portion of the gripping end, and then the commodity is lightly put on the delivery platform before the delivery port of the consumer, and finally, the telescopic mechanical arm 4 is recovered, and returns to the starting point to wait for the next goods taking instruction under the action of the X-axis linear displacement mechanism 1 and the Y-axis linear displacement mechanism 2. Thereby realized when getting goods to glass package commodity or breakable commodity, can protect the goods not fragile, guaranteed the technological effect of its integrality, and then solved the shipment structure of packing cupboard among the correlation technique and not be applicable to glass package commodity or the problem of breakable commodity shipment.

As shown in fig. 1 to 4, the flexible fixing portion includes an air suction nozzle 5, the air suction nozzle 5 is disposed at the grasping end of the telescopic mechanical arm 4 for sucking and fixing goods, and the air suction nozzle 5 is communicated with the air pump through a pipeline. The air suction nozzle 5 can be set to a plurality of, and through flexible arm 4 drive air suction nozzle 5 paste tight goods surface, then start the air pump and take out the air between air suction nozzle 5 and the goods in order to form the negative pressure to adsorb the goods and fix on air suction nozzle 5, can carry out flexible fixed to glass package commodity or fragile commodity, make and protect the goods in the goods process of getting.

As shown in fig. 1 to 4, the flexible fixing portion includes a U-shaped handle 7, two opposite sides of the U-shaped handle 7 are provided with expansion portions 6, the two expansion portions 6 are used for fixing goods after expansion, and the expansion portions 6 are communicated with the air pump through a pipeline.

Specifically, it should be noted that, the opening interval of U-shaped tongs 7 is greater than the diameter of goods, flexible arm 4 drives U-shaped tongs 7 and removes towards the goods, make the goods be located the opening of U-shaped tongs 7, then make its inflation to 6 air supplies of inflation portion through the air pump, the extrusion force is applyed to the both sides of goods, thereby fix the goods in U-shaped tongs 7, structure through U-shaped tongs 7 and inflation portion 6, can carry out flexible fixed to glass package commodity or fragile commodity, make and protect the goods at the in-process of getting goods, inflation portion 6 can adopt the gasbag, U-shaped tongs 7's whole shape can be the class hand shape.

The U-shaped gripper 7 can be integrally arranged in a hollow mode, the U-shaped gripper 7 is made of rubber with expansion capacity, the U-shaped gripper 7 can be driven by the telescopic mechanical arm 4 to move to wrap the goods, and then the goods are extruded and fixed after the U-shaped gripper 7 is inflated by air through the air pump.

As shown in fig. 1 to 4, in order to further stabilize and fix the goods, the expansion direction of the expansion part 6 is inclined inwards, i.e. towards the end of the U-shaped gripper 7 close to the telescopic mechanical arm 4, so as to realize the extrusion and fixation of the orientation of the goods, and a plurality of expansion parts 6 are arranged along the longitudinal direction, thereby increasing the contact area with the goods and making the goods more stable during the moving process.

As shown in fig. 1 to 4, the X-axis linear displacement mechanism 1 is a hydraulic or pneumatic linear displacement mechanism disposed in the lateral direction, the Y-axis linear displacement mechanism 2 is a hydraulic or pneumatic linear displacement mechanism disposed in the longitudinal direction, and the X-axis linear displacement mechanism 1 and the Y-axis linear displacement mechanism 2 may be screw linear displacement mechanisms disposed in the lateral direction and the longitudinal direction, respectively.

According to another aspect of the application, a container is provided, comprising a robot arm for taking the container and a container body 3.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robotic arm for container handling, comprising: x axle linear displacement mechanism with locate the Y axle linear displacement mechanism of X axle linear displacement mechanism output, the output of Y axle linear displacement mechanism is provided with flexible arm, the end of snatching of flexible arm is provided with the flexible fixed part that is used for fixed goods.

2. The mechanical arm for fetching objects in a container as claimed in claim 1, wherein the flexible fixing portion comprises an air suction nozzle, the air suction nozzle is disposed at the grabbing end of the telescopic mechanical arm and used for sucking and fixing the goods, and the air suction nozzle is communicated with the air pump through a pipeline.

3. The mechanical arm for fetching objects in a container as claimed in claim 1, wherein the flexible fixing portion comprises a U-shaped gripper, two opposite sides of the U-shaped gripper are provided with expansion portions for fixing the goods after expansion, and the expansion portions are communicated with the air pump through a pipeline.

4. The mechanical arm for container fetching of claim 3, wherein the expansion direction of the expansion portion is obliquely inward.

5. The robot arm for container fetching of claim 4, wherein the expansion portion is provided in plurality in a longitudinal direction.

6. The robotic arm for container handling of claim 1 wherein the X-axis linear displacement mechanism is a laterally disposed hydraulic or pneumatic linear displacement mechanism and the Y-axis linear displacement mechanism is a longitudinally disposed hydraulic or pneumatic linear displacement mechanism.

7. The robotic arm for container handling of claim 1 wherein the X-axis linear displacement mechanism and the Y-axis linear displacement mechanism are lead screw linear displacement mechanisms disposed laterally and longitudinally, respectively.

8. A container comprising the robot arm for container handling of any one of claims 1 to 7 and a container body.