CN216657993U - A manipulator for commodity circulation is selected - Google Patents

Abstract

The utility model relates to the technical field of logistics picking equipment, in particular to a manipulator for logistics picking. The utility model provides a manipulator for commodity circulation is selected, includes moving arm and tongs that the base is connected, the base with the moving arm passes through the revolving stage and connects, the moving arm includes a plurality of articulated joints, the distal end of moving arm with the tongs is connected, the tongs includes the holding claw of downside, holding claw stretches out there are a plurality of holding teeth, holding claw upwards stretches out there is the guide post, sliding connection has the clamping jaw in the guide post, the upper portion of clamping jaw is connected with telescopic machanism, telescopic machanism with guide post fixed connection, telescopic machanism's extending direction with the direction of guide post is parallel, it has antiseptic solution shower nozzle to articulate through the articulated shaft in the claw. Can adapt to snatching of different packing parcels such as parcel in bags and box, can disinfect to the manipulator, avoid the virus to pass through manipulator cross propagation.

Description

A manipulator for commodity circulation is selected

Technical Field

The utility model relates to the technical field of logistics picking equipment, in particular to a manipulator for logistics picking.

Background

The sorting work of goods in logistics is one of the important links in the logistics operation process. Sorting operations generally refer to both article consignment sorting and article distribution sorting. The distribution sorting means that the logistics distribution center quickly and accurately sorts out the commodities from the storage positions or other positions according to the order requirements or the distribution plans of customers, and the operation processes of classification and concentration are carried out according to a certain mode; the mail or express mail sorting is an important process in the internal processing process of postal enterprises and express delivery enterprises, and sorting personnel divide the mail or express mail into related grids or code piles one by one according to the address written on the cover of the mail or the express mail and the self-arranged sorting route or route in the enterprise. The existing sorting equipment for large-sized packages cannot be suitable for grabbing of articles in different shapes such as bags and boxes, and the adaptability is poor during use; meanwhile, cross infection of viruses is easily caused by the grabbing device when the packages are picked, and then the risk of virus spread caused by the packages is brought.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problems and provides a manipulator for logistics picking, which adopts a moving arm with a horizontal gripper to carry and move logistics packages, the packages with different packages directly fall onto a receiving claw, then the packages are clamped by a clamping jaw, and the gripper can be sprayed and sterilized by an arranged disinfectant sprayer, so that the cross propagation of viruses is avoided, the problem of poor adaptability of the existing picking equipment is solved, and the risk of cross infection of the viruses is reduced.

In order to solve the technical problems, the technical scheme adopted by the utility model is as follows: the utility model provides a manipulator for commodity circulation is selected, moving arm and tongs including the base is connected, the base with the moving arm passes through the revolving stage and connects, the moving arm includes a plurality of articulated joints, the distal end of moving arm with the tongs is connected, the tongs includes the holding claw of downside, it has a plurality of holding teeth to hold the claw and stretch out, it upwards stretches out there is the guide post to hold the claw, sliding connection has the clamping jaw in the guide post, the upper portion of clamping jaw is connected with telescopic machanism, telescopic machanism body one end with guide post fixed connection, telescopic machanism stretch out the end the direction of stretching out with the direction of guide post is parallel, it has the antiseptic solution shower nozzle to articulate through articulated in the claw.

Further optimize this technical scheme, the guide post is provided with two, two the guide post sets up respectively the left and right sides on accepting claw upper portion, the upper portion of two the guide post is connected with the crossbeam, telescopic machanism body one end is fixed in the crossbeam.

Further optimize this technical scheme, the coaxial rotatory steering wheel that is connected with in one side of articulated shaft.

Further optimize this technical scheme, the one side that the holding claw with the travelling arm corresponds is provided with the sucking disc, the sucking disc is connected in stretching out the mechanism, the sucking disc opening orientation hold tooth one side.

Further optimize this technical scheme, the clamping jaw stretches out forward and has a plurality of double-layered teeth, and is a plurality of transversely penetrate the leaf spring in the double-layered tooth, the downside of leaf spring is provided with the briquetting, the briquetting sets up two adjacent between the double-layered tooth.

Further optimize this technical scheme, a plurality of articulated joints of removal arm include shoulder joint, elbow joint and wrist joint, wrist joint connects stretch out the body of mechanism, it is in to stretch out the body of mechanism the afterbody that holds the claw is fixed.

Compared with the prior art, the utility model has the following advantages: 1. the gripping device can be suitable for gripping packages in bags, boxes and the like with different packages and packages in different sizes, and has strong adaptability; 2. the manipulator can be disinfected, so that viruses are prevented from being spread by the manipulator in a cross way; 3. the package can be disinfected within a certain range, so that the virus is prevented from spreading; 4. the box body can be sucked and grabbed through the sucker, so that the overall grabbing stability is improved, and the package is prevented from accidentally sliding off; 5. through the plate spring and the pressing block which are arranged, the stability of clamping the package and the adaptability of clamping different packages are further improved.

Drawings

Fig. 1 is a schematic view of the overall structure of a robot for sorting logistics.

Fig. 2 is a schematic diagram of a gripper portion of a robot for logistic picking.

Fig. 3 is a schematic view of the bottom structure of a gripper of a robot for logistic picking.

Fig. 4 is a schematic diagram of a mechanism for using a manipulator for logistic sorting.

Fig. 5 is a schematic structural view of a gripper portion of a second embodiment of a manipulator for logistic picking.

In the figure: 1. a base; 10. a turntable; 2. a moving arm; 20. a shoulder joint; 21. an elbow joint; 22. a wrist joint; 3. a gripper; 31. a receiving claw; 310. a bearing tooth; 311. an opening; 32. a guide post; 33. a clamping jaw; 330. clamping teeth; 34. a telescoping mechanism; 35. a cross beam; 36. a disinfectant nozzle; 361. hinging a shaft; 362. rotating the steering engine; 37. a suction cup; 38. a protracting mechanism; 4. a conveying section; 41. a conveying tooth; 5. a plate spring; 50. and (7) briquetting.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings of the embodiments. It is to be understood that this description is intended for purposes of illustration only and is not intended to limit the scope of the present disclosure. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

Embodiment one, as shown in fig. 1 to 4, a manipulator for sorting logistics includes a moving arm 2 and a hand grip 3 connected to a base 1, where the base 1 is connected to the moving arm 2 through a turntable 10, the moving arm 2 includes a plurality of hinged joints including a shoulder joint 20, an elbow joint 21 and a wrist joint 22, the wrist joint 22 is disposed at a distal end of the moving arm 2, the hand grip 3 is fixedly connected to the wrist joint 22, the hand grip 3 includes a receiving claw 31 on a lower side, the receiving claw 31 extends a plurality of receiving teeth 310, the receiving claw 31 extends two guide posts 32 upward, the two guide posts 32 are disposed on left and right sides of an upper portion of the receiving claw 31, an upper portion of the two guide posts 32 is connected to a cross beam 35, a clamping jaw 33 is slidably connected to the guide posts 32, the clamping jaw 33 extends a plurality of clamping teeth 330 forward, the upper portion of the clamping jaw 33 is connected with an extending end of a telescopic mechanism 34, one end of a body of the telescopic mechanism 34 is fixed in the cross beam 35, the extending direction of the extending end of the telescopic mechanism 34 is parallel to the guiding direction of the guide column 32, and a layer of rubber anti-slip layer can be arranged on the upper surface of the receiving jaw 31 and the lower surface of the clamping jaw 33, so that the friction force of the gripper 3 when gripping articles is increased.

The bearing claw 31 is hinged with a disinfectant spray nozzle 36 through a hinge shaft 361, the disinfectant spray nozzle 36 extends out obliquely upwards through an opening 311 in the bearing claw 31, one side of the hinge shaft 361 is coaxially connected with a rotary steering engine 362, the rotary steering engine 362 is provided with a controller to realize automatic swing control and increase the disinfection range, so that the gripper 3 and the working surface of the bearing claw 31 can be disinfected, and the picked object can be disinfected within a certain range.

One side of the bearing claw 31 corresponding to the moving arm 2 is provided with a suction cup 37, the rear side of the suction cup 37 is connected with a stretching mechanism 38, the body of the stretching mechanism 38 is fixed in the bearing claw 31, and the opening of the suction cup 37 faces one side of the bearing tooth 310.

When in use, as shown in fig. 1-4, the receiving teeth 310 of the receiving claw 31 can horizontally extend into the lower side of the conveying teeth 41 on one side of the conveying part 4, and can also directly horizontally move to the tail part of the conveying part 4 to receive the conveyed parcels, when the parcels are conveyed to the receiving claw 31, the receiving teeth 310 pass through the conveying teeth 41 to be lifted upwards, the telescopic mechanism 34 is controlled to drive the clamping jaw 33 to press downwards, the parcels are clamped between the clamping jaw 33 and the receiving claw 31, the shoulder joint 20, the elbow joint 21 and the wrist joint 22 of the moving arm 2 are controlled to make related transfer actions, when the parcels move to a designated position, the telescopic mechanism 34 reversely moves, the clamping jaw 33 loosens the parcels, the placement of the parcels can be realized through the cooperation of the hinged joints, when the sorted parcels are boxes, the suction cups 37 can extend out of the parcels to the boxes through the extending mechanism 38, after the suction cups 37 are vacuumized through vacuum equipment, the boxes are sucked by the suction cups 37, the position of the box body in the clamping jaw 33 can be further righted, so that the box body is further fixed, the box body is prevented from sliding off when moving, and the box body can be suitable for sorting and clamping of packages of different shapes and sizes. After the clamping of one piece of parcel is finished, the disinfectant can be sprayed to the direction of the spraying clamping jaw 33 through the disinfectant nozzle 36, the disinfectant nozzle 36 is driven to swing within a certain range through the articulated shaft 361 connected with the rotary steering engine 362, and the disinfection area of the disinfectant nozzle 36 can be increased.

In the second embodiment, referring to fig. 5, different from the first embodiment, a plate spring 5 is transversely inserted into a plurality of clamping teeth 330 of the clamping jaw 33, a pressing block 50 is arranged on the lower side of the plate spring 5, and the pressing block 50 is arranged between two adjacent clamping teeth 330. When the clamping jaw 33 is pressed down in use, the pressing block 50 is firstly contacted with the package, at the moment, the plate spring 5 is continuously pressed down to be bent under the action of force, the plate spring 5 provides certain pressing force for the pressing block 50, and the stability of clamping the package is improved.

The control mode of the utility model is automatically controlled by the controller, and the control circuit of the controller can be realized by simple programming of a person skilled in the art, which belongs to the common knowledge in the field, so the control mode and the circuit connection are not explained in detail in the utility model.

Claims (6)

1. The utility model provides a manipulator for commodity circulation is selected, includes removal arm (2) and tongs (3) that base (1) is connected, its characterized in that: base (1) with removal arm (2) are connected through revolving stage (10), removal arm (2) include a plurality of articulated joints, the distal end of removal arm (2) with tongs (3) are connected, tongs (3) are including holding claw (31) of downside, holding claw (31) and stretching out and have a plurality of teeth (310) that hold, holding claw (31) upwards stretch out and have guide post (32), sliding connection has clamping jaw (33) in guide post (32), the upper portion of clamping jaw (33) is connected with telescopic machanism (34), telescopic machanism (34) body one end with guide post (32) fixed connection, telescopic machanism (34) stretch out the direction of stretching out the end with the direction of guide post (32) is parallel, it has antiseptic solution shower nozzle (36) to articulate through articulated axle (361) in claw (31).

2. The manipulator for logistics picking as claimed in claim 1, wherein: the two guide columns (32) are arranged, the two guide columns (32) are respectively arranged on the left side and the right side of the upper portion of the bearing claw (31), the upper portions of the two guide columns (32) are connected with a cross beam (35), and one end of the body of the telescopic mechanism (34) is fixed in the cross beam (35).

3. A manipulator for logistic sorting according to claim 1 or 2, characterized in that: one side of the hinged shaft (361) is coaxially connected with a rotary steering engine (362).

4. A manipulator for logistic sorting according to claim 3, characterized in that: one side that the bearing claw (31) and the moving arm (2) correspond is provided with sucking disc (37), sucking disc (37) are connected in stretching out mechanism (38), sucking disc (37) opening orientation bear and connect tooth (310) one side.

5. The manipulator for the logistics picking of any one of claims 1 to 4, wherein: the clamping jaw (33) stretches out forward to be provided with a plurality of clamp teeth (330), and a plurality of leaf springs (5) transversely penetrate into the clamp teeth (330), the downside of leaf springs (5) is provided with briquetting (50), briquetting (50) set up two adjacent clamp teeth (330) between.

6. The manipulator for logistics picking of claim 4, wherein: a plurality of articulated joints of removal arm (2) include shoulder joint (20), elbow joint (21) and wrist joint (22), wrist joint (22) are connected stretch out the body of mechanism (38), the body that stretches out mechanism (38) is in the afterbody that holds claw (31) is fixed.

Images