CN217572930U

CN217572930U - Mechanical arm and logistics robot

Info

Publication number: CN217572930U
Application number: CN202221461292.5U
Authority: CN
Inventors: 孙明乾; 黄宝娟; 任雅妮; 佘威岑; 王明伟
Original assignee: Xian Jiaotong University
Current assignee: Xian Jiaotong University
Priority date: 2022-06-11
Filing date: 2022-06-11
Publication date: 2022-10-14
Anticipated expiration: 2032-06-11

Abstract

The utility model discloses an arm and logistics robot, wherein, an arm includes the arm body, first hand claw and second hand claw, first hand claw activity sets up on the arm body, the one end that the arm body was kept away from to first hand claw is provided with first bellying, second hand claw activity sets up on the arm body, the one end that the arm body was kept away from to the second hand claw is provided with second bellying and third bellying, the protruding direction of first bellying is towards the second bellying, the protruding direction of second bellying is towards first bellying, the protruding direction of third bellying deviates from the second bellying, first hand claw and second hand claw can move towards the direction that is close to each other or keeps away from each other, so that first hand claw and second hand claw can the centre gripping or loosen the material. This arm can snatch and dial the material, solves the single problem of operation mode among the prior art to improve work efficiency.

Description

Mechanical arm and logistics robot

Technical Field

The utility model relates to the technical field of robot, in particular to arm and logistics robot.

Background

Under the trend of internet economy and industrial internetworking, the warehouse logistics industry is facing unprecedented development opportunities and brand new mode changes. Meanwhile, many problems follow, for example, the traditional logistics transportation needs to spend a lot of manpower and time, and most of the work belongs to non-technical work. The logistics robot can not only improve the industrial productivity, but also well solve the problem that the manual work cannot operate under a certain specific environment. The logistics robot integrates various advanced technologies, has powerful functions, and has an application range extending into various links such as transportation, storage, loading and unloading, carrying, packaging, sorting, distribution, information platforms and the like. However, the logistics robot in the prior art can only grab the objects, the operation mode is single, and the work efficiency is reduced.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide a mechanical arm and a logistics robot to solve the technical problems that the logistics robot in the prior art can only grab objects, the operation mode is single, and the work efficiency is reduced.

The utility model provides a pair of mechanical arm, include:

an arm body;

the first claw is movably arranged on the arm body, and a first protruding part is arranged at one end of the first claw, which is far away from the arm body; and

the second claw is movably arranged on the arm body, a second protruding portion and a third protruding portion are arranged at one end, far away from the arm body, of the second claw, the protruding direction of the first protruding portion faces towards the second protruding portion, the protruding direction of the second protruding portion faces towards the first protruding portion, the protruding direction of the third protruding portion deviates from the second protruding portion, and the first claw and the second claw can move towards the directions close to or far away from each other, so that the first claw and the second claw can clamp or loosen materials.

Furthermore, the mechanical arm further comprises a driving assembly, one end of the driving assembly is connected with the arm body, the other end of the driving assembly is respectively connected with the first claw and the second claw, and the driving assembly is used for driving the first claw and the second claw to move towards the direction close to or away from each other.

Further, the driving assembly comprises a first driving part, a first gear and a second gear, one end of the first driving part is connected with the arm body, the other end of the first driving part is connected with the first gear, the first gear is connected with the second paw, the second gear is rotatably arranged on the arm body and is connected with the first paw, the first gear is meshed with the second gear, and the first driving part is used for driving the first gear to rotate so that the first gear drives the second gear to rotate, and further the first paw and the second paw move towards directions close to or away from each other.

Further, the arm body includes first connecting piece, second connecting piece and second driving piece, first hand claw with the equal activity of second hand claw set up in first connecting piece, first connecting piece with the second connecting piece rotates to be connected, the second driving piece set up in on the second connecting piece, the output shaft of second driving piece with first connecting piece is connected, the second driving piece is used for driving first connecting piece is relative the second connecting piece rotates.

Further, a visual identifier is arranged on the arm body and is adjacent to the second claw, and the visual identifier is used for identifying the shape of the materials on the first claw and the second claw.

The utility model also provides a logistics robot, including foretell arm, storage device and frame, the arm storage device all set up in the frame, storage device is used for right the material that the arm acquireed stores.

Furthermore, the storage device comprises a first storage bin and a first rotating plate, the first storage bin is provided with an accommodating space with a first opening on one side, the first rotating plate is rotatably arranged on the rack, and the first rotating plate is used for opening or closing the first opening.

Further, storage device includes second storing storehouse and second commentaries on classics board, second storing storehouse has one side and is equipped with second open-ended storing space, the second commentaries on classics board rotate set up in the frame, the second commentaries on classics board is used for opening or closes the second opening.

Furthermore, the storage device also comprises a slideway and a third rotating plate, the slideway is obliquely arranged on the rack, the third rotating plate is rotatably arranged on the rack, and the third rotating plate is positioned at one end with lower height of the slideway;

the third changes the board relatively the frame has first state and second state, when the third changes the board and is in the first state, the third changes the board and slides and constitute the storing space that can the holding material, when the third changes the board and is in the second state, the material can be along slide landing to outside, the third changes the board relatively the frame rotates, so that the third changes the board and is in first state with switch between the second state.

Further, the logistics robot further comprises a moving device, the moving device is arranged on the rack, and the moving device is used for driving the rack to move.

The utility model provides a pair of arm and logistics robot, the arm includes the arm body, first hand claw and second hand claw, first hand claw and the equal activity of second hand claw set up on the arm body, first hand claw and second hand claw move towards the direction that is close to each other and carry out the centre gripping to the material, mutually support through first bellying and second bellying, hold up the bottom of material, thereby realize snatching of material, the third bellying deviates from the direction setting of second bellying, when the second hand claw moves, second hand claw and third bellying can be dialled the material to preset the position, promptly this arm can snatch and dial the material, solve the single problem of operational mode among the prior art, thereby improve work efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural view of a robot arm according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a first angle of the logistics robot in the embodiment of the present invention;

fig. 3 is a schematic structural diagram of a second angle of the logistics robot in the embodiment of the present invention;

fig. 4 is a schematic structural diagram of a third angle of the logistics robot in the embodiment of the present invention.

The main components are as follows:

100. a mechanical arm; 110. an arm body; 111. a first connecting member; 112. a second connecting member; 113. a second driving member; 114. a third connecting member; 115. a third driving member; 120. a first gripper; 121. a first boss portion; 130. a second gripper; 131. a second boss portion; 132. a third boss portion; 141. a first driving member; 142. a first gear; 143. a second gear; 150. a visual identifier; 200. a storage device; 210. a first storage bin; 220. a first rotating plate; 230. a second storage bin; 240. a second rotating plate; 250. a slideway; 260. a third rotating plate; 300. a frame; 400. a mobile device; 410. a roller; 420. a motor; 430. a sensor.

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, "and/or" in the whole text includes three schemes, taking a and/or B as an example, and includes a technical scheme a, a technical scheme B, and a technical scheme that a and B meet simultaneously; in addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

As shown in fig. 1 to 4, in some embodiments, a robot arm 100 includes an arm body 110, a first gripper 120 and a second gripper 130, the first gripper 120 is movably disposed on the arm body 110, an end of the first gripper 120 away from the arm body 110 is provided with a first protrusion 121, the second gripper 130 is movably disposed on the arm body 110, an end of the second gripper 130 away from the arm body 110 is provided with a second protrusion 131 and a third protrusion 132, a protrusion direction of the first protrusion 121 is toward the second protrusion 131, a protrusion direction of the second protrusion 131 is toward the first protrusion 121, a protrusion direction of the third protrusion 132 is away from the second protrusion 131, and the first gripper 120 and the second gripper 130 can move toward or away from each other, so that the first gripper 120 and the second gripper 130 can grip or release a material.

During operation, first claw 120 and second claw 130 remove and carry out the centre gripping to the material towards the direction that is close to each other, cooperate each other through first bellying 121 and second bellying 131, hold up the bottom of material, thereby realize snatching of material, third bellying 132 deviates from the direction setting of second bellying 131, when second claw 130 removed, second claw 130 and third bellying 132 can be dialled the material and get to preset the position, it is that this arm 100 can snatch and dial the material promptly, solve the single problem of mode of operation among the prior art, thereby improve work efficiency.

Specifically, the included angle formed by the first protrusion 121 and the first claw 120 is an obtuse angle. The second protrusion 131 forms an obtuse angle with the second gripper 130. More specifically, the included angle formed by the third protruding portion 132 and the second gripper 130 is an obtuse angle. The second protrusion 131 and the third protrusion 132 together form an inverted V-shaped structure.

Further, the robot arm 100 further includes a driving assembly having one end connected to the arm body 110 and the other end connected to the first gripper 120 and the second gripper 130, respectively, for driving the first gripper 120 and the second gripper 130 to move toward or away from each other.

Specifically, the driving assembly includes a first driving member 141, a first gear 142 and a second gear 143, one end of the first driving member 141 is connected to the arm 110, the other end of the first driving member 141 is connected to the first gear 142, the first gear 142 is connected to the second jaw 130, the second gear 143 is rotatably disposed on the arm 110, the second gear 143 is connected to the first jaw 120, the first gear 142 is engaged with the second gear 143, and the first driving member 141 is configured to drive the first gear 142 to rotate, so that the first gear 142 drives the second gear 143 to rotate, and further the first jaw 120 and the second jaw 130 move toward or away from each other. More specifically, the first driving member 141 may be, but is not limited to, a steering engine.

Further, the arm body 110 includes a first connecting member 111, a second connecting member 112 and a second driving member 113, the first gripper 120 and the second gripper 130 are both movably disposed on the first connecting member 111, the first connecting member 111 is rotatably connected to the second connecting member 112, the second driving member 113 is disposed on the second connecting member 112, an output shaft of the second driving member 113 is connected to the first connecting member 111, and the second driving member 113 is used for driving the first connecting member 111 to rotate relative to the second connecting member 112. Furthermore, the arm 110 further includes a third driving element 115 and a third connecting element 114, the third connecting element 114 is rotatably connected to an end of the second connecting element 112 away from the first connecting element 111, the third driving element 115 is disposed on the third connecting element 114, an output shaft of the third driving element 115 is connected to the second connecting element 112, and the third driving element 115 is used for driving the second connecting element 112 to rotate relative to the third connecting element 114. Preferably, the second driving element 113 and the third driving element 115 can be, but not limited to, steering gears.

In some embodiments, a visual identifier 150 is disposed on the arm 110, the visual identifier 150 is adjacent to the second jaw 130, the visual identifier 150 is used to identify the shape of the materials on the first jaw 120 and the second jaw 130, and the first jaw 120 and the second jaw 130 sort the materials with different shapes to different places. In particular, the visual identifier 150 can determine characteristics of the item, configuring the recognition mode of OpenMV as needed. Before use, features which can be identified by OpenMV, such as color, shape or two-dimensional code, are configured. Before the first gripper 120 and the second gripper 130 move to the material, openMV identifies the material and rapidly transmits signals to other functional modules, so as to make corresponding action feedback.

In another embodiment, a logistics robot includes a robot arm 100, a storage device 200, and a rack 300, wherein the robot arm 100 and the storage device 200 are disposed on the rack 300, and the storage device 200 is used for storing materials obtained by the robot arm 100.

Specifically, the storage device 200 includes a first storage compartment 210 and a first rotating plate 220, the first storage compartment 210 has an accommodating space with a first opening at one side, the first rotating plate 220 is rotatably disposed on the rack 300, and the first rotating plate 220 is used for opening or closing the first opening. More specifically, the storage device 200 includes a second storage compartment 230 and a second rotating plate 240, the second storage compartment 230 has a storage space with a second opening formed at one side, the second rotating plate 240 is rotatably disposed on the frame 300, and the second rotating plate 240 is used for opening or closing the second opening. The storage device 200 further includes a fourth driving member, the fourth driving member is disposed on the frame 300, an output shaft of the fourth driving member is connected to the first rotating plate 220 and the second rotating plate 240, respectively, and the fourth driving member can drive the first rotating plate 220 and the second rotating plate 240 to rotate, so as to open or close the first opening and the second opening, respectively. The fourth drive member may be, but is not limited to, a steering engine. Preferably, the number of the first storage bin 210 and the second storage bin 230 can be set to be multiple, so as to collect more different types of materials.

In operation, the visual identifier 150 identifies the shape of the material in the first and

second jaws

120, 130, for example, the material is square, opens the first opening, and places the square material in the first storage bin 210 by means of the material picked by the second jaw 130. For example, the material is circular, open the second opening, the mode of snatching through first hand claw 120 and second hand claw 130 places circular material in second storing storehouse 230, thereby sort different materials, the inefficiency problem that the part caused by the mode of getting one by one has been solved, use first storing storehouse 210 and the second storing storehouse 230 of typing, can carry out the temporary storage of a plurality of different types of materials simultaneously, once only carry appointed warehouse position again and release, work efficiency has been improved effectively.

Further, the storage device 200 further includes a slide 250 and a third rotating plate 260, the slide 250 is obliquely disposed on the rack 300, the third rotating plate 260 is rotatably disposed on the rack 300, the third rotating plate 260 is located at one end of the slide 250 with a lower height, the third rotating plate 260 has a first state and a second state relative to the rack 300, when the third rotating plate 260 is in the first state, the third rotating plate 260 and the third rotating plate slide to form a storage space capable of accommodating the material, when the third rotating plate 260 is in the second state, the material can slide to the outside (i.e., the material is placed in the target position) along the slide 250, and the third rotating plate 260 rotates relative to the rack 300, so that the third rotating plate 260 is switched between the first state and the second state. Furthermore, the storage device 200 further includes a fifth driving element disposed on the frame 300, an output shaft of the fifth driving element is connected to the third rotating plate 260, and the fifth driving element is used for driving the third rotating plate 260 to rotate. Preferably, the fifth driving element may be, but is not limited to, a steering engine.

In some embodiments, the logistics robot further includes a moving device 400, the moving device 400 is disposed on the rack 300, and the moving device 400 is configured to move the rack 300. The moving device 400 includes a roller 410, a motor 420 and a sensor 430, wherein the roller 410 is rotatably disposed on the frame 300, and the motor 420 drives the roller 410 to rotate relative to the frame 300. The number of the rollers 410, the motors 420 and the sensors 430 is four, and the four rollers 410, the four motors 420 and the four sensors 430 are arranged in a one-to-one correspondence manner. Specifically, the wheel 410 may be a mecanum wheel, which can move in 360 ° omni-directional directions, thereby improving the moving efficiency. The sensor 430 may be a five-way infrared sensor 430. By the cooperation of the four rollers 410, the four motors 420 and the four sensors 430, the all-directional movement of the frame 300 can be realized, so as to achieve the effect of accurate tracking positioning.

And drawing a pilot line on the ground of the industrial actual site, identifying the pilot line through the five infrared sensors 430, and carrying out the operation along the pilot line. Further, mobile device 400 also includes four ultrasonic ranging modules, measures the distance to the reference object in the field through four ultrasonic ranging modules for the location is more accurate. Further, four ultrasonic ranging modules are fixed on the frame 300 by glue guns.

In some embodiments, the logistics robot further includes a control device disposed on the rack 300, and the control device is electrically connected to the first driving element 141, the second driving element 113, the third driving element 115, the fourth driving element, the fifth driving element, the visual identifier 150, and the moving device 400. Specifically, controlling means adopts two Arduino singlechips to control, can realize mobile device 400, arm 100 and visual identifier 150's interactive communication to wholly realize the function of commodity circulation letter sorting transport.

The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.

Claims

1. A robot arm, comprising:

an arm body;

the first claw is movably arranged on the arm body, and a first protruding part is arranged at one end, far away from the arm body, of the first claw; and

2. The robotic arm of claim 1, further comprising a drive assembly, one end of the drive assembly being coupled to the arm body, the other end of the drive assembly being coupled to the first and second jaws, respectively, the drive assembly being configured to drive the first and second jaws toward and away from each other.

3. The mechanical arm as claimed in claim 2, wherein the driving assembly comprises a first driving member, a first gear and a second gear, one end of the first driving member is connected to the arm body, the other end of the first driving member is connected to the first gear, the first gear is connected to the second gripper, the second gear is rotatably disposed on the arm body, the second gear is connected to the first gripper, the first gear is engaged with the second gear, and the first driving member is configured to drive the first gear to rotate, so that the first gear drives the second gear to rotate, and further, the first gripper and the second gripper move towards or away from each other.

4. The mechanical arm as claimed in claim 1, wherein the arm body comprises a first connecting member, a second connecting member and a second driving member, the first gripper and the second gripper are movably disposed on the first connecting member, the first connecting member is rotatably connected with the second connecting member, the second driving member is disposed on the second connecting member, an output shaft of the second driving member is connected with the first connecting member, and the second driving member is configured to drive the first connecting member to rotate relative to the second connecting member.

5. A robotic arm as claimed in claim 1, in which the arm body is provided with a visual identifier adjacent the second gripper, the visual identifier being for identifying the shape of material on the first and second grippers.

6. A logistics robot, characterized by comprising the mechanical arm, the storage device and a rack of any one of claims 1 to 5, wherein the mechanical arm and the storage device are arranged on the rack, and the storage device is used for storing materials obtained by the mechanical arm.

7. The logistics robot of claim 6, wherein the storage device comprises a first storage compartment and a first rotating plate, the first storage compartment has an accommodating space with a first opening at one side, the first rotating plate is rotatably disposed on the rack, and the first rotating plate is used for opening or closing the first opening.

8. The logistics robot of claim 7, wherein the storage device comprises a second storage compartment and a second rotating plate, the second storage compartment has a storage space with a second opening on one side, the second rotating plate is rotatably disposed on the rack, and the second rotating plate is used for opening or closing the second opening.

9. The logistics robot of claim 6, wherein the storage device further comprises a slideway and a third rotating plate, the slideway is obliquely arranged on the rack, the third rotating plate is rotatably arranged on the rack, and the third rotating plate is positioned at one end of the slideway with a lower height;

10. The logistics robot of claim 6, further comprising a moving device disposed on the frame, wherein the moving device is configured to move the frame.