CN219155451U

CN219155451U - Storage transfer robot

Info

Publication number: CN219155451U
Application number: CN202320063135.7U
Authority: CN
Inventors: 徐丹; 欧彦汐; 安铃芝
Original assignee: Sichuan Geely University
Current assignee: Sichuan Geely University
Priority date: 2023-01-10
Filing date: 2023-01-10
Publication date: 2023-06-09
Anticipated expiration: 2033-01-10

Abstract

The utility model relates to a storage transfer robot, which comprises a mechanical arm, wherein the lower end of the mechanical arm is fixedly provided with a base, the upper end part of the mechanical arm is fixedly provided with a clamping mechanism, the lower end of the base is provided with a moving mechanism, the clamping mechanism comprises an assembly box, a double-shaft motor and two sliding rods, the assembly box is assembled at the end part of the mechanical arm, the double-shaft motor is assembled in the assembly box, the double-shaft motor is connected with a screw rod, the two sliding rods are fixedly arranged in the assembly box, and the two a screw rods are connected with clamping components; the clamping assembly comprises a U-shaped plate, a clamping plate, a band-type brake motor and a rotating shaft, wherein one end of the clamping plate, which is far away from the band-type brake motor, is provided with a plurality of vertical grooves, support legs are arranged in the vertical grooves, and the lower ends of the support legs are fixedly connected with the rotating shaft; the folding and unfolding of a plurality of supporting legs can be adjusted by starting the band-type brake motor, so that the band-type brake motor can be used for carrying box-type and bag-type cargoes respectively, and the same mechanical arm can meet the requirements of carrying more types of cargoes without replacing parts.

Description

Storage transfer robot

Technical Field

The utility model belongs to the technical field of transfer robots, and particularly relates to a storage transfer robot.

Background

Along with development of science and technology, at present, most warehouses carry out the transport of goods through machinery replacing the manpower, and the sorting or the pile up neatly of most goods all adopt transport robotic arm to accomplish, and at present can use robotic arm that has fixture to carry to the goods to the box goods that the packing is good, and robotic arm can carry out the centre gripping to the goods both sides through advancing device control grip block when carrying, then carries the goods to appointed position, but this kind of robotic arm is unfavorable for carrying the article in bags, and the article in bags is liable to slide from between two grip blocks, for this purpose provides a storage transfer robot and solves above-mentioned problem.

Disclosure of Invention

The purpose of the utility model is that: aims to provide a storage transfer robot which is used for solving the problems existing in the background technology.

In order to achieve the technical purpose, the utility model adopts the following technical scheme:

the storage transfer robot comprises a mechanical arm, a base is fixedly arranged at the lower end of the mechanical arm, a clamping mechanism is fixedly arranged at the upper end part of the mechanical arm, a moving mechanism is arranged at the lower end of the base, the clamping mechanism comprises an assembly box, a double-shaft motor and two sliding rods, the assembly box is fixedly assembled at the upper end part of the mechanical arm, the double-shaft motor is fixedly assembled inside the assembly box, a screw rod is connected at two ends of the double-shaft motor in a transmission manner, two a screw rods are rotatably connected with the assembly box, the two sliding rods are fixedly arranged inside the assembly box, and the two a screw rods are connected with clamping assemblies;

the clamping assembly comprises a U-shaped plate, clamping plates, a band-type brake motor and a rotating shaft, wherein the U-shaped plate is slidably arranged inside the assembly box, a screw threads are rotated and penetrate through the U-shaped plate, two sliding rods are slidably penetrated through the U-shaped plate, a sliding groove matched with the U-shaped plate in a sliding mode is formed in the lower end of the assembly box, the clamping plates are fixedly arranged at the lower end of the U-shaped plate, the band-type brake motor is fixedly assembled in the clamping plates, the clamping plates are far away from one side of the double-shaft motor, the rotating shaft is rotationally arranged at the lower side inside the clamping plates, the rotating shaft is in gear engagement transmission with the band-type brake motor, a plurality of vertical grooves are formed in one end of the clamping plates far away from the band-type brake motor, supporting legs are all assembled in the vertical grooves, and the lower ends of the supporting legs are fixedly connected with the rotating shaft.

The clamping plate is far away from one end of the band-type brake motor, a plurality of transverse grooves connected with the vertical grooves are formed in the clamping plate, and a plurality of transverse rods matched with the transverse grooves are fixedly connected between the supporting legs.

A plurality of stabilizer blades are close to the homonymy the polishing treatment is done to splint one end, a plurality of stabilizer blades keep away from axis of rotation one end all is equipped with the arc arch, splint lower extreme be equipped with stabilizer blade assorted dog.

The U-shaped plate is provided with two linear ball bearings on the upper side, and the sliding rod is arranged on the inner side of the linear ball bearings in a sliding mode.

Two opposite ends of the clamping plates are fixedly provided with a plurality of anti-skid rubber sheets.

The moving mechanism comprises a supporting frame seat, a b screw rod, an assembly plate, a driving motor and four universal wheels, wherein the supporting frame seat is fixedly arranged at the lower end of the base, the b screw rod is rotationally arranged at the lower end of the base, the assembly plate is slidingly arranged at the inner side of the supporting frame seat, the b screw rod is in threaded connection with the assembly plate, the driving motor is fixedly arranged at the lower end of the base, the driving motor and the upper side of the b screw rod are in meshed transmission through helical teeth, the four universal wheels are respectively and fixedly arranged at the four corners of the lower end of the assembly plate, and a limiting rod is fixedly arranged at the lower end of the base and is in sliding connection with the assembly plate.

When the device is used, the two clamping plates are close to each other through the starting of the double-shaft motor, so that box-type goods are clamped and carried, when the type of the goods is changed into bag-type goods, an operator only needs to start the band-type brake motor to control the rotation shaft to rotate, the rotation shaft drives the support legs to rotate downwards, the support legs are inclined and are close to the stop block, the mechanical arm can be operated to carry the bag-type goods at the moment, and the support legs on the two clamping plates are arranged in a staggered mode, so that the lower sides of the support legs are connected more tightly, and the bag-type goods are prevented from falling; therefore, the mechanical arm can be used for carrying different types of cargoes without replacing mechanism parts when carrying different types of cargoes, workload of staff is reduced, and warehouse carrying efficiency of the mechanical arm is improved.

Drawings

The utility model may be further illustrated by means of non-limiting examples given in the accompanying drawings.

Fig. 1 is a schematic structural diagram of a warehouse handling robot according to an embodiment of the present utility model;

FIG. 2 is an enlarged schematic view of FIG. 1 at A;

FIG. 3 is a schematic cross-sectional view of a warehouse handling robot according to an embodiment of the present utility model;

FIG. 4 is an enlarged schematic view at B in FIG. 3;

fig. 5 is a schematic structural diagram of a warehouse handling robot according to a second embodiment of the present utility model;

FIG. 6 is an exploded view of a second embodiment of a warehouse handling robot;

the main reference numerals are as follows:

the mechanical arm 1, the base 11, the assembly box 12, the double-shaft motor 13, the a screw 131, the slide bar 14, the U-shaped plate 15, the clamping plate 16, the anti-skid rubber sheet 161, the band-type brake motor 17, the rotating shaft 18, the vertical groove 19, the supporting legs 191, the transverse groove 192, the cross rod 193, the arc-shaped bulge 194, the stop block 195, the supporting frame seat 21, the b screw 22, the assembly plate 23, the driving motor 24, the universal wheel 25 and the limiting rod 26.

Detailed Description

In order that those skilled in the art will better understand the present utility model, the following technical scheme of the present utility model will be further described with reference to the accompanying drawings and examples.

Embodiment one:

as shown in fig. 1-4, the warehouse transfer robot comprises a mechanical arm 1, a base 11 is fixedly arranged at the lower end of the mechanical arm 1, a clamping mechanism is fixedly arranged at the upper end part of the mechanical arm 1, a moving mechanism is arranged at the lower end of the base 11, the clamping mechanism comprises an assembly box 12, a double-shaft motor 13 and two slide bars 14, the assembly box 12 is fixedly arranged at the upper end part of the mechanical arm 1, the double-shaft motor 13 is fixedly arranged in the assembly box 12, a screw 131 is connected at the two ends of the double-shaft motor 13 in a transmission way, the two a screws 131 are rotatably connected with the assembly box 12, the two slide bars 14 are fixedly arranged in the assembly box 12, and the two a screws 131 are connected with clamping components;

the clamping assembly comprises a U-shaped plate 15, clamping plates 16, a band-type brake motor 17 and a rotating shaft 18, wherein the U-shaped plate 15 is slidably arranged in an assembly box 12, a screw 131 is threaded to penetrate the U-shaped plate 15, the screw directions on the two a screws 131 are opposite, when the double-shaft motor 13 drives the two a screws 131 to rotate, the two U-shaped plates 15 can move oppositely or oppositely, two sliding rods 14 are slidably arranged on the upper side of the U-shaped plate 15 and are respectively provided with two linear ball bearings, the sliding rods 14 are slidably arranged on the inner sides of the linear ball bearings, the linear ball bearings can reduce friction resistance between the sliding rods 14 and the U-shaped plate 15, abrasion between parts is reduced, a sliding groove 121 which is slidably matched with the U-shaped plate 15 is formed in the lower end of the assembly box 12, the clamping plates 16 are fixedly arranged at the lower end of the U-shaped plate 15, a plurality of anti-skid rubber sheets 161 are fixedly arranged at the opposite ends of the two clamping plates 16, the band-type brake motor 17 is fixedly assembled on one side, far away from the double-shaft motor 13, of the clamping plate 16, the rotating shaft 18 is rotationally arranged on the lower side inside the clamping plate 16, the rotating shaft 18 and the band-type brake motor 17 are in gear engagement transmission, a plurality of vertical grooves 19 are formed in one end, far away from the band-type brake motor 17, of the clamping plate 16, support legs 191 are all assembled in the plurality of vertical grooves 19, the lower ends of the plurality of support legs 191 are fixedly connected with the rotating shaft 18, transverse grooves 192 connected with the plurality of vertical grooves 19 are formed in one end, far away from the band-type brake motor 17, of the clamping plate 16, transverse rods 193 matched with the transverse grooves 192 are fixedly connected between the plurality of support legs 191, polishing treatment is carried out on one end, close to the clamping plate 16 on the same side, of the plurality of support legs 191, far away from the rotating shaft 18, of the support legs 191 is provided with arc-shaped protrusions 194, stop blocks 195 matched with the support legs 191 are arranged on the lower end of the clamping plate 16, the support legs 191 are firmly supported through the stop blocks 195, and abrasion between parts is reduced;

in the initial state, the supporting legs 191 are retracted into the vertical grooves 19, and the rotating shaft 18 is limited by the band-type brake motor 17 to prevent the supporting legs 191 from rotating downwards; when an operator uses the mechanical arm 1 to carry box-type cargoes, the double-shaft motor 13 starts transmission to drive the two a screw rods 131 to rotate, so that the two clamping plates 16 are far away from each other, then the upper end part of the mechanical arm 1 moves to the cargoes, at the moment, the double-shaft motor 13 is started again, the transmission drives the two clamping plates 16 to be close to each other for clamping, the box-type cargoes are clamped and carried through the two clamping plates 16, and the clamping stabilizing effect can be enhanced by means of a plurality of anti-skid rubber sheets 161; when needs carry out centre gripping transport to the goods in bags, need not to change robotic arm 1, also need not to change the fixture on the robotic arm 1, start band-type brake motor 17 this moment, band-type brake motor 17 transmission drives axis of rotation 18 and rotates, so make a plurality of stabilizer blades 191 put down, a plurality of stabilizer blades 191 put down the back completely and be the inclination, and a plurality of stabilizer blades 191 on the both sides splint 16 crisscross setting each other, only need start biax motor 13 control two splint 16 and be close to each other at this moment can carry the goods in bags, a plurality of stabilizer blades 191 can stretch into goods in bags below, hold up the goods in bags, can prevent that the goods in bags from dropping, this fixture simple structure, the function is various, can carry out centre gripping transport to box and pocket type goods respectively, the suitability is higher.

Embodiment two:

as shown in fig. 5-6, for the optimization of the first embodiment, the moving mechanism includes a supporting frame 21, a b screw 22, a mounting plate 23, a driving motor 24, and four universal wheels 25, the supporting frame 21 is fixedly arranged at the lower end of the base 11, the b screw 22 is rotatably arranged at the lower end of the base 11, the mounting plate 23 is slidably arranged at the inner side of the supporting frame 21, the b screw 22 is in threaded connection with the mounting plate 23, the driving motor 24 is fixedly arranged at the lower end of the base 11, the driving motor 24 and the upper side of the b screw 22 are in meshed transmission through helical teeth, the four universal wheels 25 are respectively fixedly arranged at four corners of the lower end of the mounting plate 23, a limiting rod 26 is fixedly arranged at the lower end of the base 11, and the limiting rod 26 is slidably connected with the mounting plate 23.

Most of the bases 11 of the existing mechanical arms 1 are only provided with moving wheels, and part of the bases are not provided with the moving wheels, so that the mechanical arms 1 without the moving wheels are inconvenient to move, the mechanical arms 1 are often carried by means of a consignment and even a hoisting device, the installation is troublesome, the mechanical arms 1 with the moving wheels are inconvenient to stabilize, the independent assembly seats are often required to be arranged for matching installation, the assembly seats are required to be firstly installed at fixed positions during installation, then the mechanical arms 1 are installed, and the operation steps are complicated;

in this embodiment, the b screw 22 is controlled to rotate forward and backward through the engagement and transmission of the helical teeth by starting the driving motor 24, so that the assembly plate 23 is adjusted by sliding up and down, the four universal wheels 25 can slide up and down simultaneously, when the mechanical arm 1 needs to be moved, the driving motor 24 is started, the four universal wheels 25 move down to jack up the base 11, at this time, the universal wheels 25 can be moved by means of the universal wheels 25, when the mechanical arm 1 is fixedly installed, the driving motor 24 is started, the four universal wheels 25 shrink to the inner side of the supporting frame seat 21, the supporting frame seat 21 supports the base 11 and the mechanical arm 1, shaking is prevented, only the supporting frame seat 21 needs to be fixedly installed, the operation steps are simple, and the movement and the installation of the mechanical arm 1 are facilitated.

The above embodiments are merely illustrative of the principles of the present utility model and its effectiveness, and are not intended to limit the utility model. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the utility model. Accordingly, it is intended that all equivalent modifications and variations of the utility model be covered by the claims of this utility model, which are within the skill of those skilled in the art, can be made without departing from the spirit and scope of the utility model disclosed herein.

Claims

1. Storage transfer robot, including robotic arm, robotic arm lower extreme is fixed to be equipped with the base, its characterized in that: the clamping mechanism is fixedly arranged at the upper end part of the mechanical arm, the moving mechanism is arranged at the lower end of the base, the clamping mechanism comprises an assembly box, a double-shaft motor and two slide bars, the assembly box is fixedly arranged at the upper end part of the mechanical arm, the double-shaft motor is fixedly arranged in the assembly box, a screw rod is connected with the two ends of the double-shaft motor in a transmission manner, the two screw rods are rotatably connected with the assembly box, the two slide bars are fixedly arranged in the assembly box, and the two screw rods are connected with clamping assemblies;

2. The warehouse transfer robot of claim 1, wherein: the clamping plate is far away from one end of the band-type brake motor, a plurality of transverse grooves connected with the vertical grooves are formed in the clamping plate, and a plurality of transverse rods matched with the transverse grooves are fixedly connected between the supporting legs.

3. The warehouse transfer robot of claim 1, wherein: a plurality of stabilizer blades are close to the homonymy the polishing treatment is done to splint one end, a plurality of stabilizer blades keep away from axis of rotation one end all is equipped with the arc arch, splint lower extreme be equipped with stabilizer blade assorted dog.

4. The warehouse transfer robot of claim 1, wherein: the U-shaped plate is provided with two linear ball bearings on the upper side, and the sliding rod is arranged on the inner side of the linear ball bearings in a sliding mode.

5. The warehouse transfer robot of claim 1, wherein: two opposite ends of the clamping plates are fixedly provided with a plurality of anti-skid rubber sheets.

6. The warehouse transfer robot of claim 1, wherein: the moving mechanism comprises a supporting frame seat, a b screw rod, an assembly plate, a driving motor and four universal wheels, wherein the supporting frame seat is fixedly arranged at the lower end of the base, the b screw rod is rotationally arranged at the lower end of the base, the assembly plate is slidingly arranged at the inner side of the supporting frame seat, the b screw rod is in threaded connection with the assembly plate, the driving motor is fixedly arranged at the lower end of the base, the driving motor and the upper side of the b screw rod are in meshed transmission through helical teeth, the four universal wheels are respectively and fixedly arranged at the four corners of the lower end of the assembly plate, and a limiting rod is fixedly arranged at the lower end of the base and is in sliding connection with the assembly plate.