CN218776604U - Manipulator device capable of pasting codes at any angle - Google Patents
Manipulator device capable of pasting codes at any angle Download PDFInfo
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- CN218776604U CN218776604U CN202223319783.9U CN202223319783U CN218776604U CN 218776604 U CN218776604 U CN 218776604U CN 202223319783 U CN202223319783 U CN 202223319783U CN 218776604 U CN218776604 U CN 218776604U
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Abstract
The utility model discloses a manipulator device capable of pasting codes to any angle, which relates to the technical field of code pasting equipment and comprises a shell, a track supporting frame and a bracket, wherein the shell is internally provided with a controller, a code printer, a transverse expansion piece and a manipulator; the hanging piece is rotatably provided with a steering wheel, and the hanging piece is provided with a steering driver in transmission connection with the steering wheel; the upper end of the manipulator is fixedly arranged on the steering wheel; the bracket is vertically arranged and is provided with a steering motor; the track support frame is rotatably arranged on the bracket and is in transmission connection with the steering motor; the track support frame is provided with a guide rail and a mobile driver, and the shell is slidably arranged on the guide rail and is in transmission connection with the mobile driver; the rotating direction of the track supporting frame is vertical to the rotating direction of the manipulator; the device can be used for pasting codes to any angle of goods, and the code pasting requirements of warehouse logistics are met.
Description
Technical Field
The utility model relates to a subsides sign indicating number equipment technical field, concretely relates to can carry out manipulator device of sign indicating number to arbitrary angle.
Background
The online shopping is the indispensable living demand of people at present, so the express logistics industry is also developed at a high speed therewith, along with the continuous rise of logistics labor cost in two years, many large-scale logistics express companies establish unmanned warehouses with robot full-automatic operation, realize full-automatic unmanned warehouse logistics operation, called unmanned warehouse logistics for short, also called wisdom logistics, so-called warehouse logistics is to utilize self-built or leased warehouses, sites, storage, safekeeping, loading and unloading transportation, delivery goods, and need a barcode pasting machine to automatically paste barcodes to the goods, and the process is complicated and tedious. Because the goods have different shapes, the code pasting positions may also be different, for example, rectangular packaging, two faces or four faces on the periphery side may need to be pasted; however, the existing code pasting machine cannot paste codes at any angle and is difficult to meet the actual requirement.
Therefore, it is urgently required to develop a code attaching device capable of attaching a code to an arbitrary angle.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a manipulator device that can paste the sign indicating number to arbitrary angle to the defect that prior art exists.
The technical scheme of the utility model is that: a manipulator device capable of pasting codes at any angle comprises a shell, a track supporting frame and a bracket, wherein a controller, a code printer, a transverse expansion piece and a manipulator are arranged in the shell; a steering wheel is rotatably arranged on the suspension part, and a steering driver in transmission connection with the steering wheel is arranged on the suspension part; the upper end of the manipulator is fixedly arranged on the steering wheel;
the bracket is vertically arranged, and a steering motor is arranged on the bracket; the track supporting frame is rotatably arranged on the bracket and is in transmission connection with the steering motor; the shell is slidably arranged on the guide rail and is in transmission connection with the mobile driver; the rotation direction of the track support frame is perpendicular to the rotation direction of the manipulator, and the controller is electrically connected with the transverse expansion piece, the steering driver, the steering motor and the moving driver respectively.
Preferably, the manipulator comprises a shell, a base, a vertical expansion piece, a code clamping device, an inductive switch, an upper jaw clamping piece, a lower jaw clamping piece and a pressing plate, the shell is divided into an upper shell and a lower shell, the top of the upper shell is fixed on a steering wheel, the lower shell is arranged on the upper shell in a vertically sliding mode, the base is installed at the bottom of the lower shell, the upper end of the vertical expansion piece is fixed at the top of an inner cavity of the shell, and a working end of the vertical expansion piece is connected with a buffer cylinder; a buffer sleeve is fixed on the base, the lower part of the buffer cylinder is arranged in the buffer sleeve in a sliding way, and an inner spring is arranged between the buffer sleeve and the buffer cylinder; the code clamping device is fixedly connected with the buffer cylinder body and arranged in parallel, and the working end of the code clamping device is fixedly connected with a code clamping connecting rod; the code clamping connecting rod is sleeved with a thrust spring, and the upper end and the lower end of the code clamping connecting rod are respectively supported at the bottom of the code clamping device and the lower end of the code clamping connecting rod; the tail end of the upper jaw clamping piece is fixed at the lower end of the clamping code connecting rod, and the middle part of the upper jaw clamping piece is hinged to the base; the tail end of the lower jaw clamping piece is fixed on the base, and the clamping ends of the upper jaw clamping piece and the lower jaw clamping piece extend out of the base and are arranged side by side up and down; the pressing plate is positioned above the upper jaw clamping piece, and the tail end of the pressing plate is fixed on the buffer column body; the buffer sleeve is provided with a cushion block for supporting the pressing plate, the transmitter and the receiver of the inductive switch are respectively arranged on the buffer cylinder body and the buffer sleeve, and the controller is respectively electrically connected with the inductive switch, the vertical expansion piece and the code clamping device.
Preferably, the working end of the vertical expansion piece is connected with a connecting rod in an up-and-down sliding mode, the lower end of the connecting rod is fixedly connected with the buffer column body, an outer spring is sleeved on the connecting rod, and the upper end and the lower end of the connecting rod are respectively supported at the working end of the vertical expansion piece and the top of the buffer column body.
Preferably, an overvoltage protector electrically connected with the controller is arranged at the bottom of the inner cavity of the buffer sleeve, and the lower end of the inner spring is supported on the overvoltage protector.
Preferably, the vertical expansion piece and the horizontal expansion piece are both cylinders.
Preferably, the inductive switch is a photoelectric inductive switch or a magnetic inductive switch.
Preferably, a steering driving wheel is arranged at a central shaft of the track supporting frame, the steering driving wheel is rotatably installed in the support, and an internal gear is arranged at the outer end of the steering driving wheel; an output gear of the steering motor is meshed with an internal gear of the steering transmission wheel;
a plurality of toothed belt supporting wheels are arranged on the track supporting frame along the guide rail, the mobile driver is a mobile motor, and the output end of the mobile driver is provided with a mobile driving wheel; the upper end and the lower end of the shell are in transmission connection with the movable transmission wheel by bypassing the plurality of toothed belt supporting wheels through toothed belts.
Compared with the prior art, the utility model, have following advantage:
the device can be used for pasting codes to any angle of goods, and meets the code pasting requirements of warehouse logistics; the working end of the mechanical arm of the device can properly compress flexible goods, so that the irregular flexible goods can be conveniently pasted with codes; use this device not only can carry out the subsides sign indicating number to anomalous flexible object, also can carry out the subsides sign indicating number to rigid object, be applicable to different subsides sign indicating number fields, like express delivery bag subsides sign indicating number, food package bag subsides sign indicating number etc..
Drawings
FIG. 1 is a schematic structural diagram of the present invention in a waiting state for code fetching and resetting;
FIG. 2 is an enlarged schematic view at A in FIG. 1;
FIG. 3 is a schematic structural view of the present invention in a state of the code being in place;
fig. 4 is an enlarged schematic view of fig. 3 at B.
In the figure: 1. a housing, 2, a coding machine, 3, a controller, 4, a housing, 5, a base, 6, a vertical expansion piece, 7, a buffer column body, 8, a buffer sleeve, 9, an inner spring, 10, a code clamping device, 11, a palate jaw, 12, a chin jaw, 13, a pressing plate, 14, a cushion block, 15, an induction switch, 16, a connecting rod, 17, an outer spring, 18, a code clamping connecting rod, 19, a thrust spring, 20, an overvoltage protector, 21, a transverse expansion piece, 22, a suspension piece, 23, a steering wheel, 24, a steering driver, 25, a bracket, 26, a steering motor, 27, a rail supporting frame, 28, a guide rail, 29, a mobile driver, 30, a steering driving wheel, 31, an inner gear, 32, a toothed belt supporting wheel, 33, a mobile driving wheel, 34, a toothed belt.
Detailed Description
The following is a further description of the present invention with reference to the drawings and examples.
Example one
Referring to fig. 1-2, a manipulator device capable of labeling codes at any angle comprises a shell 1, a track support frame 27 and a support 25, wherein a controller 3, a coding machine 2, a transverse expansion piece 21 and a manipulator are arranged in the shell 1, the transverse expansion piece 21 is fixedly arranged in the shell 1, and a hanging piece 22 is fixedly arranged at the working end of the transverse expansion piece; a steering wheel 23 is rotatably arranged on the hanging piece 22, and a steering driver 24 in transmission connection with the steering wheel 23 is arranged on the hanging piece 22; the upper end of the manipulator is fixedly arranged on the steering wheel 23;
the bracket 25 is vertically arranged, and a steering motor 26 is arranged on the bracket 25; the track supporting frame 27 is rotatably arranged on the bracket 25 and is in transmission connection with the steering motor 26; the track support frame 27 is provided with a guide rail 28 and a moving driver 29, and the shell 1 is slidably mounted on the guide rail 28 and is in transmission connection with the moving driver 29; the rotation direction of the track support frame 27 is perpendicular to the rotation direction of the manipulator, and the controller 3 is electrically connected with the transverse expansion piece 21, the steering driver 24, the steering motor 26 and the moving driver 29 respectively.
The manipulator comprises a shell 4, a base 5, a vertical expansion piece 6, a code clamping device 10, an inductive switch 15, an upper jaw clamping piece 11, a lower jaw clamping piece 12 and a pressing plate 13, wherein the shell 4 is divided into an upper shell 4 and a lower shell 4, the top of the upper shell 4 is fixed on a steering wheel 23, the lower shell 4 is arranged on the upper shell 4 in a vertically sliding manner, the base 5 is installed at the bottom of the lower shell 4, the upper end of the vertical expansion piece 6 is fixed at the top of an inner cavity of the shell 4, and the working end of the vertical expansion piece is connected with a buffer column body 7; a buffer sleeve 8 is fixed on the base 5, the lower part of the buffer column body 7 is arranged in the buffer sleeve 8 in a sliding way, and an inner spring 9 is arranged between the buffer sleeve 8 and the buffer column body; the code clamping device 10 is fixedly connected with the buffer column body 7 and arranged in parallel, and the working end of the code clamping device 10 is fixedly connected with a code clamping connecting rod 18; the code clamping connecting rod 18 is sleeved with a thrust spring 19, and the upper end and the lower end of the code clamping connecting rod 18 are respectively supported at the bottom of the code clamping device 10 and the lower end of the code clamping connecting rod; the tail end of the upper jaw clamping piece 11 is fixed at the lower end of the clamping connecting rod 18, and the middle part of the upper jaw clamping piece is hinged on the base 5; the tail end of the lower jaw clamping piece 12 is fixed on the base 5, and the clamping ends of the upper jaw clamping piece 11 and the lower jaw clamping piece 12 extend out of the base 5 and are arranged side by side up and down; the pressing plate 13 is positioned above the upper jaw clamping piece 11, and the tail end of the pressing plate is fixed on the buffering column body 7; install the cushion 14 that is used for supporting pressing plate 13 on the cushion sleeve 8, inductive switch 15 is photoelectric sensing switch 15, and its transmitter and receiver are installed respectively on buffering cylinder 7 and cushion sleeve 8, and controller 3 is connected with inductive switch 15, vertical expansion bend 6 and double-layered yard ware 10 electricity respectively.
The vertical expansion piece 6 and the horizontal expansion piece 21 in this embodiment are air cylinders.
When in use, the steering motor 26 is controlled to act to drive the shell 1 to rotate to a required angle; then, the movement driver 29 is controlled to move so as to drive the shell 1 to move to a required position along the guide rail 28;
initially, the code clamping device 10 of the manipulator is in a reset waiting code clamping state, the code clamping connecting rod 18 is in a release state under the thrust action of the thrust spring 19, and the clamping end of the upper jaw clamping piece 11 tilts upwards; when the device works, the bar code printed by the coding machine 2 enters between the clamping ends of the upper jaw clamping piece 11 and the lower jaw clamping piece 12; referring to fig. 1, the barcode reader 10 is then activated, and the suction code-clamping connecting rod 18 is retracted upwards to drive the clamping end of the upper jaw clamping piece 11 to press downwards and the lower jaw clamping piece 12 to clamp the barcode, thereby completing the code fetching. Referring to fig. 3, the controller 3 controls the action of the transverse expansion piece 21 to drive the manipulator to transversely extend, then the controller 3 controls the action of the steering driver 24 to drive the manipulator to rotate to enable the bottom of the manipulator to be opposite to the goods, at the moment, the vertical expansion piece 6 is started, the working end of the vertical expansion piece extends out to drive the base 5 to move downwards and extrude the goods, the goods are bulged and level around under the extrusion of the base 5 and the lower jaw clamping piece 12 and are tightly attached to the lower jaw clamping piece 12 and the bar code, the lower jaw clamping piece 12 bears the bulged pressure of the goods, and the clamping end of the clamping piece keeps still; then the buffer cylinder 7 compresses the inner spring 9 downwards, when the emitter and the receiver of the inductive switch 15 are aligned, the inductive switch 15 is switched on, the controller 3 controls the vertical expansion piece 6 to stop acting, and simultaneously controls the code clamping device 10 to stop acting, under the action force of the thrust spring 19, the code clamping connecting rod 18 releases and presses down the upper jaw clamping piece 11, so that the clamping end of the upper jaw clamping piece 11 tilts upwards to release the bar code; the pressing plate 13 moves downwards under the driving of the buffer cylinder 7 and expands outwards under the support of the cushion block 14 to press the bar code on the goods, so that the code pasting is completed; and finally, resetting the manipulator.
The device can be used for pasting codes to any angle of goods, and meets the code pasting requirements of warehouse logistics; the working end of the mechanical arm of the device can properly compress flexible goods, so that the irregular flexible goods can be conveniently pasted with codes; use this device not only can carry out the subsides sign indicating number to anomalous flexible object, also can carry out the subsides sign indicating number to rigid object, be applicable to different subsides sign indicating number fields, like express delivery bag subsides sign indicating number, food package bag subsides sign indicating number etc..
Example two
As an embodiment of the present invention, the present embodiment optimizes the structure of the manipulator working end on the basis of the first embodiment, specifically:
referring to fig. 4, the working end of the vertical expansion piece 6 is connected with a connecting rod 16 in a sliding manner up and down, the lower end of the connecting rod 16 is fixedly connected with the buffer column 7, an outer spring 17 is sleeved on the connecting rod 16, and the upper end and the lower end of the connecting rod are respectively supported on the working end of the vertical expansion piece 6 and the top of the buffer column 7; this sets up and has add a spring buffering, has promoted the stability and the resistance to compression nature of device operation effectively.
The bottom of the inner cavity of the buffer sleeve 8 is provided with an overvoltage protector 20 electrically connected with the controller 3, and the lower end of the inner spring 9 is supported on the overvoltage protector 20. When the overvoltage protector 20 detects that the pressure borne by the inner spring 9 reaches a certain value, a signal is sent to the controller 3, so that the controller controls the vertical expansion piece 6 to stop acting, the whole device is prevented from being damaged, and the protection effect is achieved.
In addition, the inductive switch 15 of the present embodiment is a magnetic inductive switch 15.
EXAMPLE III
As a preferred embodiment of the present invention, the structure of the device is optimized on the basis of the first embodiment in the present embodiment, specifically:
referring to fig. 1, a steering transmission wheel 30 is arranged at the central axis of the track support frame 27, the steering transmission wheel 30 is rotatably installed in the bracket 25, and an internal gear 31 is arranged at the outer end of the steering transmission wheel 30; the output gear of the steering motor 26 is in meshing engagement with an internal gear 31 of a steering gear wheel 30.
A plurality of toothed belt supporting wheels 32 are arranged on the track supporting frame 27 along the guide rail 28, the moving driver 29 is a moving motor, and the output end of the moving driver is provided with a moving transmission wheel 33; the upper end and the lower end of the shell 1 are in transmission connection with a movable transmission wheel 33 by a toothed belt 34 bypassing a plurality of toothed belt supporting wheels 32; the controller 3 controls the movement driver 29 to move the housing 1 along the guide rail 28 via the toothed belt 34.
The present invention is not limited to the above-described embodiments, and various changes can be made within the knowledge range of those skilled in the art without departing from the spirit of the present invention, and the changed contents still belong to the protection scope of the present invention.
Claims (7)
1. The utility model provides a can carry out manipulator device of sign indicating number to arbitrary angle which characterized in that: the automatic marking device comprises a shell, a track supporting frame and a bracket, wherein a controller, a marking machine, a transverse expansion piece and a manipulator are arranged in the shell; the suspension part is rotatably provided with a steering wheel, and the suspension part is provided with a steering driver in transmission connection with the steering wheel; the upper end of the manipulator is fixedly arranged on the steering wheel;
the bracket is vertically arranged, and a steering motor is arranged on the bracket; the track support frame is rotatably arranged on the bracket and is in transmission connection with the steering motor; the track support frame is provided with a guide rail and a mobile driver, and the shell is slidably mounted on the guide rail and is in transmission connection with the mobile driver; the rotation direction of the track support frame is perpendicular to the rotation direction of the manipulator, and the controller is electrically connected with the transverse expansion piece, the steering driver, the steering motor and the moving driver respectively.
2. The manipulator device according to claim 1, wherein the manipulator device is configured to perform a code pasting operation at any angle: the manipulator comprises a shell, a base, a vertical expansion piece, a code clamping device, an inductive switch, an upper jaw clamping piece, a lower jaw clamping piece and a pressing plate, wherein the shell is divided into an upper shell and a lower shell, the top of the upper shell is fixed on a steering wheel, the lower shell is arranged on the upper shell in a vertically sliding mode, the base is installed at the bottom of the lower shell, the upper end of the vertical expansion piece is fixed at the top of an inner cavity of the shell, and the working end of the vertical expansion piece is connected with a buffering cylinder; a buffer sleeve is fixed on the base, the lower part of the buffer cylinder is arranged in the buffer sleeve in a sliding way, and an inner spring is arranged between the buffer sleeve and the buffer cylinder; the code clamping device is fixedly connected with the buffer cylinder body and arranged in parallel, and a code clamping connecting rod is fixedly connected with the working end of the code clamping device; the code clamping connecting rod is sleeved with a thrust spring, and the upper end and the lower end of the code clamping connecting rod are respectively supported at the bottom of the code clamping device and the lower end of the code clamping connecting rod; the tail end of the upper jaw clamping piece is fixed at the lower end of the clamping code connecting rod, and the middle part of the upper jaw clamping piece is hinged to the base; the tail end of the lower jaw clamping piece is fixed on the base, and the clamping ends of the upper jaw clamping piece and the lower jaw clamping piece extend out of the base and are arranged side by side up and down; the pressing plate is positioned above the upper jaw clamping piece, and the tail end of the pressing plate is fixed on the buffering column body; the buffer sleeve is provided with a cushion block for supporting the pressing plate, the transmitter and the receiver of the inductive switch are respectively arranged on the buffer cylinder body and the buffer sleeve, and the controller is respectively electrically connected with the inductive switch, the vertical expansion piece and the code clamping device.
3. The robot apparatus according to claim 2, wherein the robot apparatus is configured to perform a code-attaching operation at any angle, and comprises: the working end of the vertical expansion piece is connected with a connecting rod in an up-and-down sliding mode, the lower end of the connecting rod is fixedly connected with the buffering cylinder, an outer spring is sleeved on the connecting rod, and the upper end and the lower end of the connecting rod are respectively supported at the working end of the vertical expansion piece and the top of the buffering cylinder.
4. The manipulator device according to claim 2, wherein the manipulator device is configured to perform a code pasting operation at any angle: an overvoltage protector electrically connected with the controller is arranged at the bottom of the inner cavity of the buffer sleeve, and the lower end of the inner spring is supported on the overvoltage protector.
5. The robot apparatus according to claim 2, wherein the robot apparatus is configured to perform a code-attaching operation at any angle, and comprises: the vertical expansion piece and the horizontal expansion piece are both cylinders.
6. The manipulator device according to claim 2, wherein the manipulator device is configured to perform a code pasting operation at any angle: the inductive switch is a photoelectric inductive switch or a magnetic inductive switch.
7. The manipulator device according to claim 1, wherein the manipulator device is configured to perform a code pasting operation at any angle: a steering driving wheel is arranged at the central shaft of the track supporting frame, the steering driving wheel is rotatably arranged in the bracket, and an inner gear is arranged at the outer end of the steering driving wheel; an output gear of the steering motor is meshed with an internal gear of the steering transmission wheel;
a plurality of toothed belt supporting wheels are arranged on the track supporting frame along the guide rail, the mobile driver is a mobile motor, and the output end of the mobile driver is provided with a mobile driving wheel; the upper end and the lower end of the shell are in transmission connection with the movable driving wheel through a toothed belt and bypassing the plurality of toothed belt supporting wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223319783.9U CN218776604U (en) | 2022-12-12 | 2022-12-12 | Manipulator device capable of pasting codes at any angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223319783.9U CN218776604U (en) | 2022-12-12 | 2022-12-12 | Manipulator device capable of pasting codes at any angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218776604U true CN218776604U (en) | 2023-03-31 |
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ID=85712876
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223319783.9U Active CN218776604U (en) | 2022-12-12 | 2022-12-12 | Manipulator device capable of pasting codes at any angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218776604U (en) |
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2022
- 2022-12-12 CN CN202223319783.9U patent/CN218776604U/en active Active
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