CN216731838U - Flexible express delivery parcel snatchs manipulator - Google Patents
Flexible express delivery parcel snatchs manipulator Download PDFInfo
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- CN216731838U CN216731838U CN202122361029.0U CN202122361029U CN216731838U CN 216731838 U CN216731838 U CN 216731838U CN 202122361029 U CN202122361029 U CN 202122361029U CN 216731838 U CN216731838 U CN 216731838U
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Abstract
A flexible express parcel grabbing manipulator belongs to the technical field of manipulators. The flexible clamping jaw type packaging machine comprises flexible clamping jaws, a power cylinder, a cylinder fixing plate and the like, wherein the four flexible clamping jaws, the power cylinder and a sucker are matched through detection of pressure and stroke of the power cylinder, so that packages of different sizes and different types can be grabbed through different working modes; the manipulator adopts flexible clamping jaw to reduce current stereoplasm gripper when snatching the parcel, because the parcel that the rigid contact caused damages, adopts power cylinder to drive flexible clamping jaw simultaneously, has solved not equidimension and irregular parcel's the problem of snatching. Consequently, a flexible express delivery parcel grabbing manipulator is provided, which has the advantages of good adaptability, strong universality, simple structure, low cost, convenient control and great significance for sorting express deliveries.
Description
Technical Field
The utility model relates to the technical field of manipulators, in particular to a flexible express parcel grabbing manipulator.
Background
In recent years, express enterprises in China develop like bamboo shoots in spring after rain, most logistics enterprises have subordinate distribution centers with large scale, and are mainly engaged in mass express parcel sorting business, but manual parcel sorting is generally adopted. The sorting is carried out in a high-intensity and single-repeatability mode, the error rate of information processing is high, the delay rate, the loss rate and the breakage rate of the express are increased continuously, and the sorting by the mechanical arm has the advantages of being high in efficiency and reducing the labor intensity of workers.
The existing express sorting mechanism is provided with a balance wheel sorting mechanism and a traditional manipulator, the balance wheel sorting mechanism mainly aims at sorting express packages of large and heavy objects, and has no capability of sorting small packages and file bags; and traditional metal manipulator can only snatch to single type express delivery parcel, and is strict to parcel size requirement.
In summary, it is urgently needed to develop a flexible express package grabbing manipulator to solve the above technical problems.
SUMMERY OF THE UTILITY MODEL
The utility model provides a flexible express parcel grabbing manipulator which aims at solving the problem that the existing sorting mechanism and the traditional manipulator sort small parcels, file bags and the like with irregular shapes and guaranteeing package of parcels, and aims at efficiently and nondestructively sorting express parcels.
In order to achieve the purpose, the utility model provides the following technical scheme:
flexible express delivery parcel snatchs manipulator mainly includes flexible clamping jaw (1), power cylinder (2), cylinder fixed plate (3).
The flexible clamping jaw (1) mainly comprises an adsorption structure and a bending structure; the adsorption structure mainly comprises a first sucker (101), a second sucker (102), a sucker air inlet pipe (103), an air inlet hole (104) and a sucker threaded through hole (1011), wherein an external thread is processed at the tail part of each air pipe, a sealing gasket is fixedly arranged at the joint of the air pipes, and the suckers are connected with the air pipes through threads; the bending structure mainly comprises a main chamber (121), 20 small chambers (122), a flexible main body (131) and an air inlet pipe (104), wherein the main chamber (121) is communicated with the small chambers (122) through holes.
The manipulator adopts the form that four flexible clamping jaws (1) plane symmetric arrangement, and four flexible clamping jaws (1) pass through screw through-hole (111) and terminal bolt fixed connection of cylinder piston rod (4), and flexible clamping jaw (1) are connected with power cylinder (2) through cylinder piston rod (4), and power cylinder (2) pass through the bolt fastening on cylinder fixed plate (3).
Four flexible clamping jaw (1) are through flexible and the flexible clamping jaw (1) of control and sucking disc of cylinder piston rod (4) to realize multiple mode, implement one: the power cylinder (2) pushes a cylinder piston rod (4) to extend out, the extension is stopped after the rated pressure is reached, and the flexible clamping jaw (1) bends and the sucker works at the same time, so that the flexible clamping jaw is suitable for grabbing irregular packages such as balls; the second implementation: the power cylinder (2) pushes the cylinder piston rod (4) to extend to the limit stroke, meanwhile, the flexible clamping jaw (1) is not bent and is not adsorbed by the suckers, and the eight suckers are arranged on the same horizontal plane and are suitable for grabbing thin, light and planar file package types.
Drawings
FIG. 1 is an attached drawing of a flexible express package grabbing manipulator abstract;
FIG. 2 is a top view of a flexible jaw;
FIG. 3 is a cross-sectional view of a flexible jaw A-A;
FIG. 4 is a left side view of the cylinder rod extended to an extreme travel state;
FIG. 5 is a left side view of a gripping state of a flexible express package gripping manipulator;
fig. 6 is a robot work flow diagram.
In the figure, 1-flexible clamping jaw, 2-power cylinder, 3-cylinder fixing plate, 4-cylinder piston rod, 101-first sucker, 1011-sucker threaded through hole, 102-second sucker, 103-sucker air inlet pipe, 104-air inlet hole, 111-threaded through hole, 121-main chamber, 122-20 small chamber and 131-flexible main body.
Detailed Description
The utility model is further described below with reference to the accompanying drawings.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "horizontal", "vertical", and the like in the terms indicating the orientation or positional relationship are used as the orientation or positional relationship based on the drawings and should be interpreted broadly.
A flexible express parcel grabbing manipulator is a three-dimensional schematic diagram, as shown in fig. 1, the manipulator mainly comprises a flexible clamping jaw 1, a power cylinder 2 and a cylinder fixing plate 3; the four flexible clamping jaws 1 are fixedly connected with the tail ends of air cylinder piston rods 4 through locking bolts, the flexible clamping jaws 1 are connected with power cylinders 2 through the air cylinder piston rods 4, the four power cylinders 2 are fixed above an air cylinder fixing plate 3 through bolts, and the flexible clamping jaws 1 mainly comprise an adsorption structure and a bending structure; the adsorption structure mainly comprises a first sucker 101, a second sucker 102, a sucker air inlet pipe 103, an air inlet hole 104 and a sucker thread through hole 1011, wherein an external thread is processed at the tail part of each air pipe, a sealing gasket is fixedly arranged at the joint of the air pipes, and the suckers are connected with the air pipes through threads; the bending structure mainly comprises a main chamber 121, 20 small chambers 122, a flexible main body 131 and an air inlet pipe, wherein the main chamber 121 is communicated with the small chambers 122 through holes.
The section view of the flexible clamping jaw A-A is shown in figure 3, and the flexible clamping jaw 1 controls the air inlet hole 104 to be in a proper working mode according to whether the piston telescopic rod 4 extends for a limit stroke.
When the cylinder piston rod 4 extends to the left side view of the limit stroke state, as shown in fig. 4, gas enters the power cylinder 2 through the gas pipe, so that the pressure in the power cylinder 2 is increased to generate thrust to push the cylinder piston rod 4 to move, when the cylinder piston rod 4 reaches the limit stroke, the gas inlet hole 104 is closed, at this time, the first suction cup 101 and the suction cup 102 on the 4 flexible clamping jaws 1 are in the same plane, and the gas is drawn out through the suction cup gas inlet pipe 103 to generate negative pressure to grasp a package, so that a grasping action is completed.
For the left view of the grabbing state of the flexible express parcel grabbing manipulator, as shown in fig. 5, in the initial state of the manipulator, a cylinder piston rod 4 is contracted to the limit position, a power cylinder 2 pushes the cylinder piston rod 4 to extend, the resistance of the power cylinder 2 increases the pressure in the cylinder after a flexible clamping jaw 1 touches the parcel, the power cylinder 2 stops pressurizing after reaching the rated pressure, a piston telescopic rod 4 stops extending, gas enters a main chamber 121 and a small chamber 122 through an air inlet hole 104, the flexible clamping jaw 1 bends, the gas is pumped out through a sucker air inlet 103 to generate negative pressure to grab the parcel, and a grabbing action is completed.
The manipulator workflow diagram is as shown in fig. 6, the power cylinder 2 judges whether to grab a package by detecting whether the pressure in the cylinder reaches a rated value, the package is grabbed by controlling the bending of the flexible clamping jaw 1 to increase the stability of the package through the adsorption of the sucking disc, the type of the package is grabbed by judging whether the piston telescopic rod 4 reaches a limit stroke, the air inlet hole 104 is closed, and the first sucking disc 101 and the second sucking disc 102 are used for grabbing thin, light and planar file package types.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The utility model provides a manipulator is snatched in flexible express delivery parcel which characterized in that includes: the flexible clamping jaw (1), the power cylinder (2) and the cylinder fixing plate (3); the flexible clamping jaw (1) mainly comprises an adsorption structure and a bending structure, the adsorption structure mainly comprises a first sucker (101), a second sucker (102), a sucker air inlet pipe (103), an air inlet hole (104) and a sucker threaded through hole (1011), external threads are processed at the tail part of each air pipe, a sealing gasket is fixedly installed at the joint of the air pipes, and the suckers are connected with the air pipes through threads; the bending structure mainly comprises a main chamber (121), 20 small chambers (122), a flexible main body (131) and an air inlet hole (104), wherein the main chamber (121) is communicated with the small chambers (122) through holes; the manipulator adopts the form that four flexible clamping jaws (1) plane symmetric arrangement, and four flexible clamping jaws (1) pass through screw through-hole (111) and cylinder piston rod (4) end through bolt fixed connection, and flexible clamping jaw (1) are connected with power cylinder (2) through cylinder piston rod (4), and power cylinder (2) pass through the bolt fastening on cylinder fixed plate (3) to regulation through power cylinder (2) and flexible clamping jaw (1) makes the manipulator have the mode of doing more.
2. The flexible express delivery parcel grabbing manipulator of claim 1, characterized in that: four flexible clamping jaw (1) are through flexible and the flexible clamping jaw (1) of control and sucking disc of cylinder piston rod (4) to realize multiple mode, implement one: the power cylinder (2) pushes a cylinder piston rod (4) to extend out, the extension is stopped after the rated pressure is reached, and the flexible clamping jaw (1) bends and the sucker works at the same time, so that the flexible clamping jaw is suitable for grabbing irregular packages such as balls; the second implementation: the power cylinder (2) pushes the cylinder piston rod (4) to extend to the limit stroke, meanwhile, the flexible clamping jaw (1) is not bent and is not adsorbed by the suckers, and the eight suckers are arranged on the same horizontal plane and are suitable for grabbing thin, light and planar file package types.
3. The flexible express parcel grabbing manipulator of claim 1 is characterized in that: the first sucker (101) and the second sucker (102) mainly play a role in adsorbing objects, and gas is sucked out through a sucker air inlet pipe (103), so that the air pressure in the suckers is smaller than the external air pressure to generate suction force so as to grab the objects; the main cavity (121) and the 20 small cavities (122) mainly play a role of bending the flexible clamping jaw (1), gas enters the main cavity (121) and the 20 small cavities (122) through the gas inlet holes (104), and the main cavity (121) and the 20 small cavities (122) are expanded in volume to generate deformation, so that the flexible clamping jaw (1) is closed, and clamping action is completed.
4. The flexible express parcel grabbing manipulator according to claim 1 is characterized in that grabbing of articles with different sizes is achieved through stretching of a cylinder piston rod (4), a pressure sensor is placed inside a power cylinder (2), the pressure inside the cylinder is obtained through the sensor, and damage to the articles due to overlarge clamping force is prevented.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122361029.0U CN216731838U (en) | 2021-09-28 | 2021-09-28 | Flexible express delivery parcel snatchs manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122361029.0U CN216731838U (en) | 2021-09-28 | 2021-09-28 | Flexible express delivery parcel snatchs manipulator |
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| Publication Number | Publication Date |
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| CN216731838U true CN216731838U (en) | 2022-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122361029.0U Active CN216731838U (en) | 2021-09-28 | 2021-09-28 | Flexible express delivery parcel snatchs manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116394292A (en) * | 2023-06-07 | 2023-07-07 | 黑龙江大学 | Mechanical gripper for underwater robot |
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2021
- 2021-09-28 CN CN202122361029.0U patent/CN216731838U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116394292A (en) * | 2023-06-07 | 2023-07-07 | 黑龙江大学 | Mechanical gripper for underwater robot |
| CN116394292B (en) * | 2023-06-07 | 2023-08-15 | 黑龙江大学 | Mechanical gripper for underwater robot |
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