CN215789958U - Multifunctional logistics industrial robot - Google Patents
Multifunctional logistics industrial robot Download PDFInfo
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- CN215789958U CN215789958U CN202122055728.2U CN202122055728U CN215789958U CN 215789958 U CN215789958 U CN 215789958U CN 202122055728 U CN202122055728 U CN 202122055728U CN 215789958 U CN215789958 U CN 215789958U
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Abstract
The utility model relates to the technical field of mechanical arms. The multifunctional logistics industrial robot comprises a machine base, a first clamping arm, a second clamping arm and a sliding block, wherein the first clamping arm is fixedly connected to the bottom of the sliding block, and the bottom of the first clamping arm is positioned below the bottom of the second clamping arm; the bottom of the sliding block is provided with a transverse groove, and a movable block for driving the second clamping arm to move towards the first clamping arm is connected in the transverse groove in a sliding mode; the clamping device further comprises a power mechanism for driving the sliding block to do transverse reciprocating motion on the base, a driving mechanism for driving the movable block to do transverse reciprocating motion, and a linkage mechanism for driving the second clamping arm to do vertical motion along with the transverse motion of the movable block. This scheme has mainly solved present article and can not shift to the problem between two centre gripping arms from the direction of side.
Description
Technical Field
The utility model relates to the technical field of mechanical arms.
Background
A logistics industrial robot mainly refers to the fact that articles are transferred through a mechanical arm; existing robotic arms include two gripper arms for gripping an article; before the clamping device is used, an article needs to be directly transferred between the two clamping arms from the gap between the two clamping arms, and when the clamping device is used, the two clamping arms are controlled to move oppositely, so that the article is clamped; however, in the actual operation process, due to the limitation of the internal structure of the plant or the article transfer equipment, the article can only be transferred between the two clamping arms from the direction of the side edge, and the heights of the two clamping arms are consistent, so that the article cannot be transferred between the two clamping arms from the direction of the side edge, and the practicability is poor.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a multifunctional logistics industrial robot to solve the problems that at present, articles can only be directly transferred between two clamping arms from a gap between the two clamping arms, but due to the limitation of an internal structure of a factory building or article transfer equipment, the articles can only be transferred between the two clamping arms from the side direction, and the height of the two clamping arms is consistent, so that the articles cannot be transferred between the two clamping arms from the side direction.
In order to achieve the above object, the basic scheme of the utility model is as follows: a multifunctional logistics industrial robot comprises a machine base, a first clamping arm, a second clamping arm and a sliding block, wherein the first clamping arm is fixedly connected to the bottom of the sliding block, and the bottom of the first clamping arm is located below the bottom of the second clamping arm; the bottom of the sliding block is provided with a transverse groove, and a movable block for driving the second clamping arm to move towards the first clamping arm is connected in the transverse groove in a sliding mode; the clamping device further comprises a power mechanism for driving the sliding block to do transverse reciprocating motion on the base, a driving mechanism for driving the movable block to do transverse reciprocating motion, and a linkage mechanism for driving the second clamping arm to do vertical motion along with the transverse motion of the movable block.
The advantages of the basic scheme are: when the scheme is in work, the bottom of the first clamping arm is positioned below the bottom of the second clamping arm, so that the article can be transferred between the first clamping arm and the second clamping arm from the side edge direction, namely the article can be transferred between the first clamping arm and the second clamping arm through the lower part of the second clamping arm; when an article is positioned between the first clamping arm and the second clamping arm, the driving mechanism drives the movable block to move towards the first clamping arm, and then the second clamping arm moves towards the first clamping arm; when the movable block moves towards the direction of the first clamping arm, the second clamping arm is driven to move downwards through the linkage mechanism, so that the first clamping arm and the second clamping arm are abutted against two sides of an article, and the article is clamped; after the object is clamped, the sliding block transversely slides to a destination through the power mechanism, and then the driving mechanism drives the movable block to move reversely, so that the clamping effect on the object disappears, and the object is convenient for a worker to take; compare in prior art, this scheme article can shift to between first clamp arm and the second clamp arm from the direction of side, and article also can be followed the direct transfer of clearance department of two centre gripping arms and be as for between two centre gripping arms, and then can be applicable to different places, and the practicality is strong.
Furthermore, the linkage mechanism comprises an inclined groove arranged in the transverse groove and a lifting rod connected with the inclined groove in a sliding manner, the height of one end, close to the first clamping arm, of the inclined groove is smaller than that of the other end of the inclined groove, the top of the lifting rod abuts against the inclined groove, and the lifting rod is connected with the movable block in a vertical sliding manner; a first spring is arranged between the lifting rod and the bottom of the movable block, and the bottom of the lifting rod is fixedly connected with the second clamping arm.
Through the arrangement, the movable block moves towards the direction of the first clamping arm along the path of the transverse groove, and then the movable block drives the lifting rod and the second clamping arm to move towards the direction of the first clamping arm; during the direction removal of movable block to first clamp arm, because the one end height that the inclined groove is close to first clamp arm is less than the height of the inclined groove other end for the lifter moves down under the effect of inclined groove, and then the lifter drives the second and presss from both sides tight arm downstream, and first spring is tensile.
Further, the bottom of the sliding block is provided with a vertical groove, the vertical groove is positioned between the first clamping arm and the transverse groove, and a vertical block is connected in the vertical groove in a sliding manner; the lateral wall of the movable block is hinged with a swing arm, and the free end of the swing arm is hinged with the vertical block.
Through the setting, during the direction removal of movable block to first tight arm of clamp, the movable block passes through the swing arm and drives vertical piece along the route rebound of vertical groove, consequently, vertical piece plays the guide effect through the removal that the swing arm can the movable block, and then improves the stability that the movable block removed.
Furthermore, a negative pressure hole penetrates through the first clamping arm, and the first clamping arm further comprises a negative pressure mechanism which moves vertically along with the vertical block to enable the negative pressure hole to generate negative pressure.
Through the arrangement, the second clamping arm moves towards the first clamping arm during the upward movement of the vertical block; after the first clamping arm and the second clamping arm clamp the object, negative pressure is generated in the negative pressure hole through the negative pressure mechanism, the object and the first clamping arm can be sucked together under the action of the negative pressure, the clamping effect on the object is further enhanced, and the stability of clamping the object is also improved.
Further, the negative pressure mechanism comprises a cavity arranged in the sliding block and a linkage block sliding in the vertical groove, the cavity is communicated with the vertical groove and the negative pressure hole, a piston block is connected in the cavity in a sliding mode, and the piston block is fixedly connected with the linkage block; a second spring is arranged between the linkage block and the vertical groove, and the linkage block is positioned on the motion track of the vertical block; the free end of the second clamping arm is provided with a guide groove, a guide block is connected in the guide groove in a sliding mode, and a third spring is arranged between the guide block and the guide groove.
Through the arrangement, when the movable block moves towards the direction of the first clamping arm, the movable block drives the vertical block to move upwards along the path of the vertical groove through the swing arm; when the first clamping arm and the guide block are abutted against the two sides of the article, the top of the vertical block is abutted against the bottom of the linkage block; the movable block continues to move towards the direction of the first clamping arm, the vertical block extrudes the linkage block to move upwards, so that the second spring is compressed, and the linkage block drives the piston block to move upwards in the negative pressure hole, so that negative pressure is generated in the negative pressure hole; when clamping the article, the article can be sucked together with the first clamping arm by the action of the negative pressure.
Furthermore, a fan is arranged on the sliding block, an air pipe is connected to the fan, and the free end of the air pipe is arranged towards the gap direction of the first clamping arm and the second clamping arm.
Through the arrangement, the fan generates airflow, and the airflow acts on the clamped articles through the air pipe, so that the dust removal of the articles can be realized, and the neatness of the articles is improved; therefore, this scheme can follow the equidirectional first clamp arm of putting into and press from both sides between the tight arm with the second clamp, and the practicality is stronger, and this scheme can also play the effect of removing dust to article, and the function is more diversified.
Drawings
Fig. 1 is a front view of an embodiment of a multifunctional logistics industrial robot of the utility model;
fig. 2 is a cross-sectional view of the slider of fig. 1.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the device comprises a first clamping arm 1, a second clamping arm 2, a sliding block 3, a movable block 4, an inclined groove 5, a lifting rod 6, a first spring 7, a vertical block 8, a swing arm 9, a negative pressure hole 10, a chamber 11, a linkage block 12, a piston block 13, a second spring 14, a guide block 15, a third spring 16, a fan 17, an air pipe 18, a second air cylinder 19 and a machine base 20.
Examples
Substantially as shown in figures 1 and 2: a multifunctional logistics industrial robot comprises a machine base 20, a first clamping arm 1, a second clamping arm 2 and a sliding block 3, wherein the first clamping arm is fixedly connected to the bottom of the sliding block 3, and in an initial state, the bottom of the first clamping arm is located below the bottom of the second clamping arm; the bottom of the sliding block 3 is provided with a transverse groove, and a movable block 4 for driving the second clamping arm to move towards the first clamping arm is connected in the transverse groove in a sliding mode; the device also comprises a power mechanism for driving the sliding block 3 to do reciprocating motion on the base 20, a driving mechanism for driving the movable block 4 to do reciprocating motion transversely and a linkage mechanism for driving the second clamping arm to do vertical motion along with the transverse motion of the movable block 4; in this embodiment, the power mechanism is a first cylinder, the first cylinder is fixedly connected to the base 20, and an output shaft of the first cylinder is fixedly connected to the sliding block 3; in this embodiment, the driving mechanism is a second cylinder 19, the second cylinder 19 is fixedly connected to the sliding block 3, and an output shaft of the second cylinder 19 is fixedly connected to the movable block 4.
The linkage mechanism comprises an inclined groove 5 arranged in the transverse groove and a lifting rod 6 connected with the inclined groove 5 in a sliding manner, the height of one end, close to the first clamping arm, of the inclined groove 5 is smaller than that of the other end of the inclined groove 5, the top of the lifting rod 6 abuts against the inclined groove 5, and the lifting rod 6 is connected with the movable block 4 in a vertical sliding manner; a first spring 7 is fixedly connected between the lifting rod 6 and the bottom of the movable block 4, and the bottom of the lifting rod 6 is fixedly connected with the second clamping arm.
A vertical groove is formed in the bottom of the sliding block 3 and is positioned between the first clamping arm and the transverse groove, and a vertical block 8 is connected in the vertical groove in a sliding mode; the side wall of the movable block 4 is hinged with a swing arm 9, and the free end of the swing arm 9 is hinged with the vertical block 8. The first clamping arm is provided with a negative pressure hole 10 in a penetrating way and also comprises a negative pressure mechanism which moves vertically along with the vertical block 8 to enable the negative pressure hole 10 to generate negative pressure; the negative pressure mechanism comprises a cavity 11 arranged in the sliding block 3 and a linkage block 12 sliding in the vertical groove, the cavity 11 is communicated with the vertical groove and the negative pressure hole 10, a piston block 13 is connected in the cavity 11 in a sliding way, and the piston block 13 is fixedly connected with the linkage block 12; a second spring 14 is arranged between the linkage block 12 and the vertical groove, and the linkage block 12 is positioned on the motion track of the vertical block 8; the free end of the second clamping arm is provided with a guide groove, a guide block 15 is connected in the guide groove in a sliding mode, and a third spring 16 is fixedly connected between the guide block 15 and the guide groove.
The specific implementation process is as follows:
when the article transferring device works, the bottom of the first clamping arm is positioned below the bottom of the second clamping arm, so that articles can be transferred between the first clamping arm and the second clamping arm from the side direction, namely the articles can be transferred between the first clamping arm and the second clamping arm through the position below the second clamping arm; and the article can also be transferred directly between the two gripper arms from the gap between the two gripper arms.
When an object is positioned between the first clamping arm and the second clamping arm, the second air cylinder 19 is started, an output shaft of the second air cylinder 19 drives the movable block 4 to move towards the direction of the first clamping arm along the path of the transverse groove, and then the movable block 4 drives the lifting rod 6 and the second clamping arm to move towards the direction of the first clamping arm; during the direction of the movable block 4 to the first clamping arm moves, because the height of one end of the inclined groove 5 close to the first clamping arm is smaller than that of the other end of the inclined groove 5, the lifting rod 6 moves downwards under the action of the inclined groove 5, and then the lifting rod 6 drives the second clamping arm to move downwards, and the first spring 7 is stretched.
The movable block 4 continues to move towards the first clamping arm, so that the first clamping arm and the guide block 15 are abutted against two sides of the object; the movable block 4 continues to move further in the direction of the first clamp arm and when the third spring 16 is compressed to the limit, second cylinder 19 is closed, clamping of the article is achieved via the first clamp arm and guide block 15.
When the movable block 4 moves towards the direction of the first clamping arm, the movable block 4 drives the vertical block 8 to move upwards along the path of the vertical groove through the swing arm 9; when the first clamping arm and the guide block 15 are abutted against the two sides of the article, the top of the vertical block 8 is abutted against the bottom of the linkage block 12; the movable block 4 continues to move towards the direction of the first clamping arm, the vertical block 8 extrudes the linkage block 12 to move upwards, so that the second spring 14 is compressed, and the linkage block 12 drives the piston block 13 to move upwards in the negative pressure hole 10, so that negative pressure is generated in the negative pressure hole 10; when clamping article, can be in the same place article and first clamp arm absorption through the negative pressure effect, and then strengthened the tight effect of clamp to article, also improved the stability of clamping to article.
After clamping the object, starting the first air cylinder, driving the sliding block 3 to transversely move by an output shaft of the first air cylinder, driving the object to be transferred to a destination, and closing the first air cylinder; the second air cylinder 19 is started, an output shaft of the second air cylinder 19 drives the movable block 4 to move reversely, the movable block 4 pulls the vertical block 8 to move downwards through the swing arm 9, so that the action of the vertical block 8 on the linkage block 12 is eliminated, the linkage block 12 moves downwards under the action of the second spring 14, the linkage block 12 drives the piston block 13 to move downwards in the negative pressure hole 10, the negative pressure action is eliminated, and the first clamping arm and the article cannot be sucked together; during the reverse movement of the movable block 4, the movable block 4 drives the lifting rod 6 and the second clamping arm to move reversely, so that the guide block 15 is separated from the object, and the lifting rod 6 moves upwards under the action of the first spring 7; therefore, the clamping effect on the articles disappears, and the articles can be conveniently taken by the workers.
In this embodiment, the slider 3 is fixedly connected with a fan 17, the fan 17 is connected with an air pipe 18, and a free end of the air pipe 18 is arranged towards a gap direction between the first clamping arm and the second clamping arm; the fan 17 generates airflow which acts on the clamped object through the air pipe 18, so that the object can be dedusted, and the cleanliness of the object is improved; therefore, this scheme can follow the equidirectional first clamp arm of putting into and press from both sides between the tight arm with the second clamp, and the practicality is stronger, and this scheme can also play the effect of removing dust to article, and the function is more diversified.
The foregoing is merely an example of the present invention and common general knowledge in the art of specific structures and/or features of the utility model has not been set forth herein in any way. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (6)
1. The utility model provides a multi-functional commodity circulation industrial robot, includes frame, first centre gripping arm and second centre gripping arm, its characterized in that: the first clamping arm is fixedly connected to the bottom of the sliding block, and the bottom of the first clamping arm is positioned below the bottom of the second clamping arm; the bottom of the sliding block is provided with a transverse groove, and a movable block for driving the second clamping arm to move towards the first clamping arm is connected in the transverse groove in a sliding mode; the clamping device further comprises a power mechanism for driving the sliding block to do transverse reciprocating motion on the base, a driving mechanism for driving the movable block to do transverse reciprocating motion, and a linkage mechanism for driving the second clamping arm to do vertical motion along with the transverse motion of the movable block.
2. The multi-functional logistics industrial robot of claim 1, wherein: the linkage mechanism comprises an inclined groove arranged in the transverse groove and a lifting rod connected with the inclined groove in a sliding manner, the height of one end, close to the first clamping arm, of the inclined groove is smaller than that of the other end of the inclined groove, the top of the lifting rod abuts against the inclined groove, and the lifting rod is connected with the movable block in a vertical sliding manner; a first spring is arranged between the lifting rod and the bottom of the movable block, and the bottom of the lifting rod is fixedly connected with the second clamping arm.
3. The multi-functional logistics industrial robot of claim 2, wherein: the bottom of the sliding block is provided with a vertical groove, the vertical groove is positioned between the first clamping arm and the transverse groove, and a vertical block is connected in the vertical groove in a sliding manner; the lateral wall of the movable block is hinged with a swing arm, and the free end of the swing arm is hinged with the vertical block.
4. The multi-functional logistics industrial robot of claim 3, wherein: the first clamping arm is provided with a negative pressure hole in a penetrating manner, and the first clamping arm further comprises a negative pressure mechanism which moves vertically along with the vertical block to enable the negative pressure hole to generate negative pressure.
5. The multi-functional logistics industrial robot of claim 4, wherein: the negative pressure mechanism comprises a cavity arranged in the sliding block and a linkage block sliding in the vertical groove, the cavity is communicated with the vertical groove and the negative pressure hole, a piston block is connected in the cavity in a sliding way, and the piston block is fixedly connected with the linkage block; a second spring is arranged between the linkage block and the vertical groove, and the linkage block is positioned on the motion track of the vertical block; the free end of the second clamping arm is provided with a guide groove, a guide block is connected in the guide groove in a sliding mode, and a third spring is arranged between the guide block and the guide groove.
6. The multi-functional logistics industrial robot of claim 5, wherein: the slider is provided with a fan, the fan is connected with an air pipe, and the free end of the air pipe faces to the direction of the gap between the first clamping arm and the second clamping arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122055728.2U CN215789958U (en) | 2021-08-27 | 2021-08-27 | Multifunctional logistics industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122055728.2U CN215789958U (en) | 2021-08-27 | 2021-08-27 | Multifunctional logistics industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215789958U true CN215789958U (en) | 2022-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122055728.2U Active CN215789958U (en) | 2021-08-27 | 2021-08-27 | Multifunctional logistics industrial robot |
Country Status (1)
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|---|---|
| CN (1) | CN215789958U (en) |
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2021
- 2021-08-27 CN CN202122055728.2U patent/CN215789958U/en active Active
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