CN218052614U

CN218052614U - Express item grabbing mechanical arm capable of improving freedom degree of movement

Info

Publication number: CN218052614U
Application number: CN202220823599.9U
Authority: CN
Inventors: 韩若贤; 徐继范; 周雪松; 戴鹏飞; 林盛昌
Original assignee: Nantong Institute of Technology
Current assignee: Nantong Institute of Technology
Priority date: 2022-04-11
Filing date: 2022-04-11
Publication date: 2022-12-16
Anticipated expiration: 2032-04-11

Abstract

The utility model relates to a snatch arm technical field, and disclose an express delivery article that improves activity degree of freedom snatchs arm, including the lifing arm, the bottom joint of lifing arm has the swinging boom, the internally mounted of swinging boom has first drive wheel, the bottom joint of swinging boom has the arc support, the bottom sliding connection of arc support has the slider, the second drive wheel is installed at the top of slider, the bottom joint of slider has the snatchs mechanism. This express delivery article that improves activity degree of freedom snatchs arm rotates through controlling first drive wheel, and first drive wheel drives the arc support and rotates, then controls the second drive wheel and rotate, snatchs the mechanism and carries out the secondary and adjust, snatchs the mechanism and can carry out the express delivery vertically and snatch with the level, and rethread swivel arm uses with the cooperation of snatching the pole to it is high to have reached the arm and snatched the degree of freedom, is applicable to the effect of the express delivery of different shapes.

Description

Express item grabbing mechanical arm capable of improving freedom degree of movement

Technical Field

The utility model relates to a snatch arm technical field, specifically be an express delivery article that improves activity degree of freedom snatchs arm.

Background

Along with the increasingly common of network sales, drive the rise of logistics industry, the express delivery trade is more and more prosperous, and express delivery company all receives the express delivery of countless number every day, and the express delivery need sort in the transportation, because the express delivery volume is great, artifical letter sorting has can't satisfy working strength's demand, so the arm has brought endless convenient for the express delivery letter sorting.

Current arm simple structure, home range is restricted, snatchs the angle singleness, is not suitable for the express delivery of different shapes, snatchs stability relatively poor, sorts inefficiency.

SUMMERY OF THE UTILITY MODEL

Snatch the degree of freedom height for realizing above arm, be applicable to the express delivery of different shapes, snatch the high purpose of stability, the utility model discloses a following technical scheme realizes: the utility model provides an express delivery article that improves degree of freedom that moves snatchs arm, includes the lifing arm, the bottom joint of lifing arm has the swinging boom, the internally mounted of swinging boom has first drive wheel, the bottom joint of swinging boom has the arc support, the bottom sliding connection of arc support has the slider, the second drive wheel is installed at the top of slider, the bottom joint of slider has the mechanism of snatching, snatch the mechanism including snatching the pole, the internally mounted who snatchs the pole has lifting screw, lifting screw's outside threaded connection has the sliding ring, the outside of sliding ring articulates there is the connecting rod, the bottom of connecting rod articulates there is the pendulum rod, the bottom of pendulum rod articulates there is the claw of snatching, the drive wheel is installed in the front of pendulum rod, the bottom meshing of drive wheel has the band pulley, the bottom transmission of band pulley is connected with the balance.

Further, the gear teeth have been seted up at the top of arc support, and first drive wheel meshes with the gear teeth mutually, makes first drive wheel can drive arc support and rotates.

Furthermore, the bottom of the arc-shaped support starts to be provided with a sliding groove, a tooth groove is formed in the inner top of the sliding groove, and the second driving wheel is meshed in the tooth groove, so that the second driving wheel can drive the sliding block to slide.

Furthermore, the bottom of the grabbing rod is provided with a fixed wheel, and the driving wheel is meshed with the fixed wheel, so that the driving wheel can rotate when swinging along with the swing rod.

Furthermore, the sliding ring is sleeved on the outer side of the grabbing rod, and transmission is stable.

Furthermore, the swing rod is hinged to the bottom of the grabbing rod, and the hinged axis is concentric with the wheel center of the fixed wheel.

Furthermore, the balance wheel is arranged at the hinged position of the grabbing claw and the swing rod and is fixedly connected to the grabbing claw, so that the balance wheel can drive the grabbing claw to swing, and the grabbing claw is always parallel to the grabbing rod.

Compared with the prior art, the utility model discloses following beneficial effect has:

1. this express delivery article that improves activity degree of freedom snatchs arm, rotate through controlling first drive wheel, first drive wheel drives arc support rotation, arc support drives and snatchs the mechanism and rotate, then control second drive wheel rotates, the second drive wheel drives the slider through the tooth's socket and slides, the slider drives and snatchs the mechanism swing, it carries out the secondary and adjusts to snatch the mechanism, it can carry out vertically and the level to the express delivery and snatch to snatch the mechanism, rethread swivel arm and the cooperation of snatching the pole are used, thereby it is high to have reached the arm and snatch the degree of freedom, be applicable to the effect of the express delivery of different shapes.

2. This express delivery article that improves degree of freedom that moves snatchs arm, rotate through control lifting screw, lifting screw drives the sliding ring and slides, the sliding ring drives the connecting rod swing, the connecting rod drives the pendulum rod swing, the pendulum rod drives and snatchs the claw swing, the drive wheel rotation under the effect of fixed pulley simultaneously, the drive wheel drives the band pulley and rotates, the band pulley drives the balance and rotates, the balance drives and snatchs the claw swing, it remains vertical state throughout to snatch the claw, guarantee to snatch claw and express delivery area of contact unchangeable throughout, thereby reached and snatched the high effect of stability.

Drawings

FIG. 1 is a schematic sectional view of the whole structure of the present invention;

FIG. 2 is a schematic view of the structure of the grabbing mechanism of the present invention;

FIG. 3 is a schematic view of the overall preliminary adjustment of the structure of the present invention;

fig. 4 is the overall secondary adjustment schematic diagram of the structure of the utility model.

In the figure: 1. a lifting arm; 2. a rotating arm; 3. a first drive wheel; 4. an arc-shaped bracket; 5. a slider; 6. a second drive wheel; 7. a grabbing mechanism; 71. a grabbing rod; 72. a lifting screw; 73. a slip ring; 74. a connecting rod; 75. a swing rod; 76. a grabbing claw; 77. a driving wheel; 78. a pulley; 79. a balance wheel.

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 work belong to the protection scope of the present invention.

This improve express delivery article of degree of freedom and snatch embodiment of arm as follows:

please refer to fig. 1-4, an express delivery article grabbing mechanical arm for improving freedom degree of movement comprises a lifting arm 1, a rotating arm 2 is clamped at the bottom of the lifting arm 1, the rotating arm 2, a first driving wheel 3, a second driving wheel 6, a grabbing rod 71 and a lifting screw 72 are driven by a motor, the first driving wheel 3 is installed inside the rotating arm 2, an arc-shaped support 4 is clamped at the bottom of the rotating arm 2, gear teeth are formed in the top of the arc-shaped support 4, the first driving wheel 3 is meshed with the gear teeth, the first driving wheel 3 can drive the arc-shaped support 4 to rotate, a sliding groove starts to be formed in the bottom of the arc-shaped support 4, a tooth groove is formed in the inner top of the sliding groove, the second driving wheel 6 is meshed in the tooth groove, the second driving wheel 6 can drive the sliding block 5 to slide, the bottom of the arc-shaped support 4 is slidably connected with the sliding block 5, the second driving wheel 6 is installed at the top of the sliding block 5, and the grabbing mechanism 7 is clamped at the bottom of the sliding block 5.

Motor control second drive wheel 6 rotates, second drive wheel 6 drives slider 5 through the tooth's socket and slides, slider 5 drives and snatchs the swing of mechanism 7, and then adjust the vertical angle of snatching mechanism 7, rotate through motor control first drive wheel 3 simultaneously, first drive wheel 3 drives arc support 4 and rotates, arc support 4 drives and snatchs mechanism 7 and rotate, it rotates to horizontal position to snatch mechanism 7 this moment, and snatch pole 71 through motor control and rotate, it drives and snatchs claw 76 and rotate to snatch pole 71, it can carry out the level to the express delivery and snatch to snatch the express delivery of different shapes to snatch claw 76, and then can snatch the express delivery of different shapes, and adjust through the secondary, when the increase snatchs the degree of freedom, can not shelter from the express delivery and snatch.

The grabbing mechanism 7 comprises a grabbing rod 71, a fixed wheel is arranged at the bottom of the grabbing rod 71, a transmission wheel 77 is meshed with the fixed wheel, when the transmission wheel 77 swings along with a swing rod 75, the transmission wheel 77 can rotate, a lifting screw 72 is arranged inside the grabbing rod 71, a sliding ring 73 is connected to the outer side of the lifting screw 72 in a threaded mode, the sliding ring 73 is sleeved on the outer side of the grabbing rod 71, the transmission is stable, a connecting rod 74 is hinged to the outer side of the sliding ring 73, a swing rod 75 is hinged to the bottom of the connecting rod 74, the swing rod 75 is hinged to the bottom of the grabbing rod 71, the hinged axis is concentric with the wheel center of the fixed wheel, a grabbing claw 76 is hinged to the bottom of the swing rod 75, the transmission wheel 77 is arranged on the front side of the swing rod 75, a belt wheel 78 is meshed to the bottom of the transmission wheel 77, a balance wheel 79 is connected to the bottom of the belt wheel 78 in a transmission mode, the balance wheel 79 is arranged at the hinged position of the grabbing claw 76 and the swing rod 75 and is fixedly connected to the grabbing claw 76, so that the balance wheel 79 can drive the claw 76 to swing, and the grabbing claw 76 is always parallel to the grabbing rod 71.

The motor controls the lifting screw 72 to rotate, the lifting screw 72 drives the sliding ring 73 to slide, the sliding ring 73 drives the connecting rod 74 to swing, the connecting rod 74 drives the swing rod 75 to swing, the swing rod 75 drives the grabbing claw 76 to swing, meanwhile, the swing rod 75 drives the driving wheel 77 to rotate, the driving wheel 77 rotates under the action of the fixed wheel, the driving wheel 77 drives the belt wheel 78 to rotate, the belt wheel 78 drives the balance wheel 79 to rotate, the balance wheel 79 drives the grabbing claw 76 to swing, the grabbing claw 76 is always parallel to the grabbing rod 71, the contact area between the grabbing claw 76 and the express delivery is guaranteed to be constant all the time, the contact area between the grabbing claw 76 and the express delivery is always kept the largest, and the grabbing is stable.

The working principle is as follows: rotate through motor control second drive wheel 6, second drive wheel 6 drives slider 5 through the tooth's socket and slides, slider 5 drives and snatchs the swing of mechanism 7, and then adjust the vertical angle of snatching mechanism 7, rotate through motor control first drive wheel 3 simultaneously, first drive wheel 3 drives arc support 4 and rotates, arc support 4 drives and snatchs mechanism 7 and rotate, it rotates to horizontal position to snatch mechanism 7 this moment, and snatch pole 71 through motor control and rotate, it drives and snatchs claw 76 and rotate to snatch pole 71, it can carry out the level to the express delivery and snatch to snatch claw 76, and then can snatch the express delivery of different shapes, and through secondary regulation, when the increase snatchs the degree of freedom, can not shelter from the express delivery and snatch.

After the grabbing angle is adjusted, the lifting screw 72 is controlled to rotate through the motor, the lifting screw 72 drives the sliding ring 73 to slide, the sliding ring 73 drives the connecting rod 74 to swing, the connecting rod 74 drives the swing rod 75 to swing, the swing rod 75 drives the grabbing claw 76 to swing, meanwhile, the swing rod 75 drives the transmission wheel 77 to rotate, the transmission wheel 77 rotates under the action of the fixed wheel, the transmission wheel 77 drives the belt wheel 78 to rotate, the belt wheel 78 drives the balance wheel 79 to rotate, the balance wheel 79 drives the grabbing claw 76 to swing, the grabbing claw 76 is always parallel to the grabbing rod 71, the contact area between the grabbing claw 76 and the express delivery is guaranteed to be constant all the time, the contact area between the grabbing claw 76 and the express delivery is always kept the largest, and the grabbing is stable.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an improve express delivery article of activity degree of freedom and snatch arm, includes lifing arm (1), its characterized in that: the bottom joint of lifing arm (1) has swinging boom (2), the internally mounted of swinging boom (2) has first drive wheel (3), the bottom joint of swinging boom (2) has arc support (4), the bottom sliding connection of arc support (4) has slider (5), second drive wheel (6) are installed at the top of slider (5), the bottom joint of slider (5) has snatchs mechanism (7), snatch mechanism (7) including snatching pole (71), the internally mounted of snatching pole (71) has lifting screw (72), the outside threaded connection of lifting screw (72) has sliding ring (73), the outside of sliding ring (73) articulates there is connecting rod (74), the bottom of connecting rod (74) articulates there is pendulum rod (75), the bottom of pendulum rod (75) articulates there is snatching claw (76), drive wheel (77) are installed in the front of pendulum rod (75), the bottom meshing of drive wheel (77) has band pulley (78), the bottom transmission of band pulley (78) is connected with balance (79).

2. The express item grabbing mechanical arm with the improved freedom of movement of claim 1, is characterized in that: the top of arc support (4) has been seted up the teeth of a cogwheel, and first drive wheel (3) meshes with the teeth of a cogwheel mutually.

3. The express item grabbing mechanical arm with the improved freedom of movement of claim 1, characterized in that: the bottom of the arc-shaped support (4) is provided with a sliding groove, the inner top of the sliding groove is provided with a tooth groove, and the second driving wheel (6) is meshed in the tooth groove.

4. The express item grabbing mechanical arm with the improved freedom of movement of claim 1, is characterized in that: the bottom of the grabbing rod (71) is provided with a fixed wheel, and the driving wheel (77) is meshed with the fixed wheel.

5. The express item grabbing mechanical arm with the improved freedom of movement of claim 1, characterized in that: the slip ring (73) is sleeved on the outer side of the grabbing rod (71).

6. The express item grabbing mechanical arm with the improved freedom of movement of claim 1, characterized in that: the swing rod (75) is hinged to the bottom of the grabbing rod (71), and the hinged axis is concentric with the wheel center of the fixed wheel.

7. The express item grabbing mechanical arm with the improved freedom of movement of claim 1, is characterized in that: the balance wheel (79) is arranged at the hinged position of the grabbing claw (76) and the swing rod (75) and is fixedly connected to the grabbing claw (76).