CN215325540U

CN215325540U - Intelligent logistics carrying device

Info

Publication number: CN215325540U
Application number: CN202121582461.6U
Authority: CN
Inventors: 李春波; 王瑞盈; 吴奕鸿; 刘永发; 吴崇林; 杨旭
Original assignee: Shenzhen Technology University
Current assignee: Shenzhen Technology University
Priority date: 2021-07-12
Filing date: 2021-07-12
Publication date: 2021-12-28
Anticipated expiration: 2031-07-12

Abstract

The utility model provides an intelligent logistics carrying device which comprises a mechanical claw mechanism, a mechanical arm mechanism and a carrier main body, wherein the upper end of the left part of the upper end of the carrier main body is fixedly connected with a fixed end of the mechanical arm mechanism, the movable end of the mechanical arm mechanism is provided with the mechanical claw mechanism, the mechanical arm mechanism is designed to be of a four-degree-of-freedom structure, the interference of redundant degrees of freedom is avoided, the device is light due to the fact that the number of drivers is small, the follow-up control on the mechanical arm mechanism is simple, the assembly and debugging are convenient, the mechanical claw mechanism can grab materials with structures in any shapes within a certain range, the error tolerance rate is high, the grabbing range is improved, the requirements for the shapes of the grabbed materials are low, the grabbing and the placing of the materials are achieved, and the stability and the accuracy can be guaranteed.

Description

Intelligent logistics carrying device

Technical Field

The utility model discloses an intelligent logistics carrying device, and belongs to the technical field of logistics carrying.

Background

Logistics, which is a part of supply chain activities, is a process of planning, implementing and controlling goods, service consumption and related information from a production place to a consumption place in an efficient and low-cost flowing and storing manner in order to meet customer needs, wherein when logistics is delivered, an intelligent robot is used for carrying out material handling operation, the intelligent robot adopts a mechanical claw to grab or place materials, the mechanical claw usually adopts a single-claw structure, and thus grabbing stability is affected, and therefore an intelligent logistics handling device needs to be designed to solve the problems.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model aims to provide an intelligent logistics handling device to solve the problems in the background art, and the intelligent logistics handling device can grab and place materials and ensure stability and accuracy.

In order to achieve the purpose, the utility model is realized by the following technical scheme: the utility model provides an intelligence commodity circulation handling device, includes gripper mechanism, mechanical arm mechanism and carrier main part, the stiff end of carrier main part upper end left part upper end fixed connection mechanical arm mechanism, gripper mechanism is installed to the expansion end of mechanical arm mechanism.

Further, carrier main part upside sets up places the board and be in the arm mechanism right side, place the equal fixed connection support column in four edges and corners positions of board lower extreme, and the support column deviates from and places board one end and fix in carrier main part upper end.

Furthermore, a plurality of positioning cylinders for placing materials are uniformly and fixedly connected to the upper end of the placing plate.

Further, the robot arm mechanism includes a second driving device, a third driving device, an i-shaped frame, a fourth driving device, and a second U-shaped frame, a fixed end of the second driving device is fixed to the upper end of the carrier body, a movable end of the second driving device is fixedly connected to the fixed end of the third driving device, a movable end of the third driving device is fixedly connected to the lower end of the i-shaped frame, an upper end of the i-shaped frame is fixedly connected to the movable end of the fourth driving device, and a fixed end of the fourth driving device is fixedly connected to the second U-shaped frame for mounting the gripper mechanism.

Further, gripper mechanism includes first drive arrangement, first U type frame, goes up arc claw board, connecting rod and lower arc claw board, first U type frame deviates from carrier main part one end fixed connection with gripper mechanism, the stiff end of the first drive arrangement of the inside fixed connection of first U type frame, first U type frame lower extreme symmetrical rotation connects two arc claw boards down of mutual disposition, two arc claw board is all installed to the positive upside of arc claw board down, and goes up arc claw board mutual disposition, two go up the equal fixed connection gear of arc claw board right-hand member and two gear intermeshing, first drive arrangement's output shaft extends first U type frame upside and with a gear fixed connection, another the gear rotates to be connected in first U type frame upper end.

Further, the upper arc-shaped claw plate and the gear are of an integrated structure.

Further, go up arc claw board and a plurality of connecting rod of equidistance fixed connection between the arc claw board down, it sets up arc claw board and well arc claw board in a plurality of and is in the first U type frame outside to go up the equidistance between arc claw board and the lower arc claw board, the connecting rod run through in a plurality of arc claw board and with arc claw board fixed connection in a plurality of.

Furthermore, the arc-shaped inner walls of the upper arc-shaped claw plate, the lower arc-shaped claw plate and the middle arc-shaped claw plate are provided with sawtooth grooves for assisting clamping.

Further, the right end of the lower arc-shaped claw plate is fixedly connected with a straight plate, and the straight plate is rotatably connected with the lower end of the first U-shaped frame.

Further, the lower arc-shaped claw plate and the straight plate are of an integrated structure.

The utility model has the beneficial effects that: the utility model discloses an intelligent logistics carrying device.

1. The mechanical arm mechanism adopts a four-degree-of-freedom structure, the interference of redundant degrees of freedom is avoided, the device is light due to the small number of drivers, the subsequent control on the mechanical arm mechanism is simple, and the assembly and debugging are convenient.

2. Go up arc claw plate, arc claw plate and well arc claw plate cooperation use down, can snatch the material of arbitrary shape structure in certain within range, the error tolerance is high, promotes the shape requirement who snatchs the scope, snatch and requires lowly, realizes snatching and placing to the material to can guarantee stability and accuracy.

3. And under the support column effect, make and place the board and install in the carrier main part, form bilayer structure, the upper strata is used for storing the material, and the lower floor is favorable to accomodating multiple instruments such as main control board, display screen, camera, accomplishes succinctly pleasing to the eye, and is functional good.

Drawings

Other features, objects and advantages of the utility model will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic structural diagram of an intelligent logistics handling apparatus according to the utility model;

fig. 2 is a schematic view of a gripper mechanism in an intelligent logistics handling apparatus according to the utility model;

FIG. 3 is a schematic view of an upper arc-shaped claw plate in the intelligent logistics handling apparatus of the present invention;

FIG. 4 is a schematic view of a lower arc-shaped claw plate in the intelligent logistics handling apparatus of the present invention;

FIG. 5 is a schematic view of an arc-shaped claw plate in the intelligent logistics handling apparatus of the present invention;

fig. 6 is a schematic diagram of a mechanical arm mechanism in the intelligent logistics handling device according to the utility model.

In the figure: 1-mechanical claw mechanism, 2-mechanical arm mechanism, 3-placing plate, 4-supporting column, 5-carrier main body, 11-first steering engine, 12-first U-shaped frame, 13-upper arc-shaped claw plate, 14-connecting rod, 15-lower arc-shaped claw plate, 16-middle arc-shaped claw plate, 21-second steering engine, 22-third steering engine, 23-I-shaped frame, 24-fourth steering engine, 25-second U-shaped frame, 31-positioning cylinder, 131-sawtooth groove, 132-gear and 151-straight plate.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the utility model easy to understand, the utility model is further described with the specific embodiments.

Referring to fig. 1-6, the present invention provides a technical solution: an intelligent logistics carrying device comprises a mechanical claw mechanism 1, a mechanical arm mechanism 2 and a carrier main body 5, wherein the upper end of the left part of the upper end of the carrier main body 5 is fixedly connected with the fixed end of the mechanical arm mechanism 2, the mechanical arm mechanism 2 comprises a second steering engine 21, a third steering engine 22, an I-shaped frame 23, a fourth steering engine 24 and a second U-shaped frame 25, the fixed end of the second steering engine 21 is fixed at the upper end of the carrier main body 5, rotary operation is realized through the second steering engine 21, the movable end of the second steering engine 21 is fixedly connected with the fixed end of the third steering engine 22, left-right swinging movement is realized through the third steering engine 22, the movable end of the third steering engine 22 is fixedly connected with the lower end of the I-shaped frame 23, the I-shaped frame 23 can drive the fourth steering engine 24 to move even though the third steering engine 22 is connected with the fourth steering engine 24, the upper end of the I-shaped frame 23 is fixedly connected with the movable end of the fourth steering engine 24, through the up-and-down swinging motion of the fourth steering engine 24, the fixed end of the fourth steering engine 24 is fixedly connected with a second U-shaped frame 25 used for installing the gripper mechanism 1, through the second U-shaped frame 25, an installation carrier can be provided for the gripper mechanism 1, specifically, the circuits of the second steering engine 21, the third steering engine 22 and the fourth steering engine 24 are firstly switched on, and the second steering engine 21, the third steering engine 22 and the fourth steering engine 24 are started, so that the gripper mechanism 1 can be driven to move in four degrees of freedom, the design is simple and ingenious, the mechanical arm mechanism 2 adopts a four-degree-of-freedom structure, the redundant degree-of-freedom interference is avoided, the number of drivers is small, the device is light, the subsequent control on the mechanical arm mechanism 2 is simple, and the assembly and debugging are convenient.

The movable end of the mechanical arm mechanism 2 is provided with a mechanical claw mechanism 1, the mechanical claw mechanism 1 comprises a first steering engine 11, a first U-shaped frame 12, an upper arc-shaped claw plate 13, a connecting rod 14 and a lower arc-shaped claw plate 15, the first U-shaped frame 12 is fixedly connected with one end of the mechanical arm mechanism 2, which is far away from the carrier main body 5, the fixed end of the first steering engine 11 is fixedly connected inside the first U-shaped frame 12, a mounting carrier is provided for the first steering engine 11, a gear 132 and a straight plate 151 through the first U-shaped frame 12, in addition, the first steering engine 11 can drive one gear 132 to rotate, the lower end of the first U-shaped frame 12 is symmetrically and rotatably connected with two lower arc-shaped claw plates 15 which are oppositely arranged, the right end of the lower arc-shaped claw plate 15 is fixedly connected with the straight plate 151 through the straight plate 151, the straight plate 15 can be connected between the lower arc-shaped claw plate 15 and the first U-shaped frame 12, the straight plate 151 is rotatably connected with the lower end of the first U-shaped frame 12, the lower arc-shaped claw plate 15 and the straight plate 151 are in an integrated structure, the design of the integrated structure is convenient for production, the upper arc-shaped claw plates 13 are arranged on the right upper sides of the two lower arc-shaped claw plates 15, the two upper arc-shaped claw plates 13 are oppositely arranged, the right ends of the two upper arc-shaped claw plates 13 are fixedly connected with the gears 132, the two gears 132 are mutually meshed, the two gears 132 are matched for use, the two upper arc-shaped claw plates 13 can move inwards or outwards, the upper arc-shaped claw plates 13 and the gears 132 are in the integrated structure, the design of the integrated structure is convenient for production, an output shaft of a first steering engine 11 extends out of the upper side of a first U-shaped frame 12 and is fixedly connected with one gear 132, the other gear 132 is rotatably connected at the upper end of the first U-shaped frame 12, a plurality of connecting rods 14 are fixedly connected between the upper arc-shaped claw plates 13 and the lower arc-shaped claw plates 15 at equal intervals, and the upper arc-shaped claw plates 13, the lower arc-shaped claw plates 15 and a middle arc-shaped claw plate 16 at the corresponding side can be mutually connected through the connecting rods 14, thereby driving the upper arc claw plate 13, the lower arc claw plate 15 and the middle arc claw plate 16 to carry out synchronous motion, a plurality of middle arc claw plates 16 are arranged between the upper arc claw plate 13 and the lower arc claw plate 15 at equal intervals, the middle arc claw plates 16 are positioned at the outer side of the first U-shaped frame 12, the connecting rod 14 penetrates through the plurality of middle arc claw plates 16 and is fixedly connected with the plurality of middle arc claw plates 16, the upper arc claw plate 13, the lower arc claw plate 15 and the middle arc claw plates 16 are used in a matching way, so that the grabbing and placing operation of materials can be realized, concretely, a circuit of the first steering engine 11 is switched on, the first steering engine 11 is started, and then one gear 132 is driven to rotate, because the two gears 132 are mutually meshed, the rotation of one gear 132 can lead the other gear 132 to rotate, and further drive the two upper arc claw plates 13 to rotate outwards or inwards, and under the action of the connecting rod 14, the middle arc claw plates 16 and the lower arc claw plates 15 can synchronously rotate outwards or inwards, the material that can snatch arbitrary shape structure is at certain within range, and the error tolerance is high, and the shape that promotes to snatch the scope, snatch requires lowly, realizes snatching and placing to the material to can guarantee stability and accuracy.

Go up arc claw plate 13, arc claw plate 15 and well arc claw plate 16 arc inner wall and all set up the sawtooth groove 131 that is used for supplementary centre gripping, specifically, set up sawtooth groove 131 on last arc claw plate 13, arc claw plate 15 and well arc claw plate 16 down, increase coefficient of friction, increase the stability of snatching the material.

The placing plate 3 is arranged on the upper side of the carrier main body 5, the placing plate 3 is positioned on the right side of the mechanical arm mechanism 2, an installation carrier can be provided for the positioning cylinder 31 through the placing plate 3, the upper end of the placing plate 3 is uniformly and fixedly connected with a plurality of positioning cylinders 31 for placing materials, the positioning cylinders 31 are used for positioning and placing the materials, four corner positions of the lower end of the placing plate 3 are fixedly connected with the supporting columns 4, the placing plate 3 can be supported and installed on the upper end of the carrier main body 5 through the supporting columns 4, one end of the supporting column 4, which is far away from the placing plate 3, is fixed on the upper end of the carrier main body 5, specifically, the materials to be carried can be placed on the positioning cylinders 31 on the upper end of the placing plate 3, the materials can be positioned and placed on the placing plate 3, the phenomena of falling off of the materials and the like can be effectively avoided, the safety is good, the materials can also be positioned, and the subsequent mechanical claw mechanism 1 can conveniently grab the materials, and under the effect of support column 4, make and place board 3 and install on carrier main part 5 to the messenger places board 3 and forms bilayer structure with carrier main part 5, and the upper strata is used for storing the material, and the lower floor is favorable to accomodating multiple instruments such as main control board, display screen, camera, accomplishes succinctly pleasing to the eye, and is functional good.

While there have been shown and described what are at present considered the fundamental principles and essential features of the utility model and its advantages, it will be apparent to those skilled in the art that the utility model is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides an intelligence commodity circulation handling device which characterized in that: the mechanical gripper comprises a mechanical gripper mechanism (1), a mechanical arm mechanism (2) and a carrier main body (5), wherein the upper end of the left part of the upper end of the carrier main body (5) is fixedly connected with the fixed end of the mechanical arm mechanism (2), and the movable end of the mechanical arm mechanism (2) is provided with the mechanical gripper mechanism (1).

2. The intelligent logistics handling device of claim 1, wherein: the carrier main part (5) upside sets up places board (3) and be in arm mechanism (2) right side, place four equal fixed connection support columns in edges and corners position (4) of board (3) lower extreme, and support column (4) deviate from and place board (3) one end and fix in carrier main part (5) upper end.

3. The intelligent logistics handling device of claim 2, wherein: the upper end of the placing plate (3) is uniformly and fixedly connected with a plurality of positioning cylinders (31) for placing materials.

4. The intelligent logistics handling device of claim 1, wherein: the mechanical arm mechanism (2) comprises a second driving device, a third driving device, an I-shaped frame (23), a fourth driving device and a second U-shaped frame (25), wherein the fixed end of the second driving device is fixed at the upper end of the carrier main body (5), the movable end of the second driving device is fixedly connected with the fixed end of the third driving device, the movable end of the third driving device is fixedly connected with the lower end of the I-shaped frame (23), the upper end of the I-shaped frame (23) is fixedly connected with the movable end of the fourth driving device, and the fixed end of the fourth driving device is fixedly connected with the second U-shaped frame (25) used for installing the mechanical claw mechanism (1).

5. The intelligent logistics handling device of claim 1, wherein: the mechanical claw mechanism (1) comprises a first driving device, a first U-shaped frame (12), an upper arc-shaped claw plate (13), a connecting rod (14) and a lower arc-shaped claw plate (15), wherein the first U-shaped frame (12) and the mechanical arm mechanism (2) are fixedly connected with one end deviating from the carrier main body (5), the fixed end of the first driving device is fixedly connected inside the first U-shaped frame (12), the lower end of the first U-shaped frame (12) is symmetrically and rotatably connected with the two lower arc-shaped claw plates (15) which are oppositely arranged, the upper arc-shaped claw plates (13) are respectively installed at the right upper sides of the two lower arc-shaped claw plates (15), the two upper arc-shaped claw plates (13) are oppositely arranged, the right ends of the two upper arc-shaped claw plates (13) are respectively and fixedly connected with a gear (132) and the two gears (132) are mutually meshed, and the output shaft of the first driving device extends out of the upper side of the first U-shaped frame (12) and is fixedly connected with one gear (132), the other gear (132) is rotatably connected to the upper end of the first U-shaped frame (12).

6. The intelligent logistics handling device of claim 5, wherein: the upper arc-shaped claw plate (13) and the gear (132) are of an integrated structure.

7. The intelligent logistics handling device of claim 5, wherein: go up arc claw board (13) and a plurality of connecting rod (14) of equidistance fixed connection between arc claw board (15) down, it sets up arc claw board (16) and well arc claw board (16) and is in the first U type frame (12) outside in a plurality of to go up arc claw board (13) and equidistance between arc claw board (15) down, connecting rod (14) run through in a plurality of arc claw board (16) and with a plurality of in arc claw board (16) fixed connection.

8. The intelligent logistics handling device of claim 7, wherein: the upper arc-shaped claw plate (13), the lower arc-shaped claw plate (15) and the arc-shaped inner wall of the middle arc-shaped claw plate (16) are all provided with sawtooth grooves (131) for auxiliary clamping.

9. The intelligent logistics handling device of claim 5, wherein: the right end of the lower arc-shaped claw plate (15) is fixedly connected with a straight plate (151), and the straight plate (151) is rotatably connected with the lower end of the first U-shaped frame (12).

10. The intelligent logistics handling device of claim 9, wherein: the lower arc-shaped claw plate (15) and the straight plate (151) are of an integral structure.