TWM630310U - Trolley fastening seat for cooperating with robotic arm - Google Patents

Abstract

A trolley fixing seat for a robotic arm, comprising a frame and at least one locking component, wherein the locking component is assembled on the frame to lock the trolley, wherein the locking component is provided with a locking component for locking the trolley A locking piece and a driving piece for driving the locking piece to rotate, the driving piece is connected with the frame, and the locking piece is located at the output end of the driving piece.

Description

Trolley holder for robotic arm

The present invention relates to the technical field of fixing devices, in particular to a trolley fixing seat for cooperating with a robotic arm.

The robot arm is an automatic operation device that can grab and handle objects according to a fixed program. A wide range of material handling trolleys, the trolley is controlled by a computer, equipped with a system centralized control and management computer, which is used to optimize the process of handling operations, issue correct handling instructions, and control the handling route. It operates in an orderly manner under the traffic control of the computer.

In the related technical means, the trolley carrying the material completes the transportation of the material from the starting point to the end point according to the instructions of the host computer, and the trolley is equipped with a sensor to accurately park at the end point. In view of the above-mentioned related technical means, after the trolley is parked at the end position, the position of the trolley will be displaced during the process of handling the material on the trolley by the robotic arm, resulting in the trolley not being in the predetermined position and the failure of the robotic arm to grasp the material. .

Therefore, in order to improve the defect that the position of the trolley will be displaced during the handling of the material on the trolley by the robotic arm, resulting in the trolley not being in the predetermined position and the failure of the robotic arm to grasp the material, this has been the research direction of the author.

The main purpose of this creation is to provide a trolley fixing seat used with the robotic arm to achieve the locking effect of the trolley, and to reduce the expected position offset of the trolley during the subsequent material handling process by the robotic arm to the trolley. In this case, the position of the trolley remains unchanged from beginning to end, which improves the effect of the success rate of the robotic arm gripping materials.

In order to achieve the above-mentioned purpose, a trolley holder for a robotic arm provided in this creation includes a frame and at least one locking component, wherein the locking component is assembled on the frame to lock the trolley, The locking assembly is provided with a locking piece for locking the trolley and a driving piece for driving the locking piece to rotate, the driving piece is connected with the frame, and the locking piece is located at the output end of the driving piece.

In this way, the trolley carrying the material runs to the end position according to the command of the host, that is, the position of the trolley fixing seat, the trolley is docked with the trolley fixing seat, the driving part drives the locking part to rotate, and the locking part cooperates with the locking groove of the trolley for clamping. In order to achieve the locking effect of the trolley, in the subsequent process of material handling on the trolley by the robotic arm, the position deviation of the trolley caused by the handling is reduced, so that the position of the trolley remains unchanged from beginning to end. Improves the success rate of the robotic arm gripping materials.

During implementation, the locking assembly is provided with a positioning block for positioning the trolley, the positioning block is located on the end face of the frame that faces the trolley, and the positioning block is connected to the frame and is in pressing contact with the trolley. The trolley moves to the position of the trolley fixed seat according to the command, and the trolley is pressed against and in contact with the positioning block. The positioning block prevents the trolley from continuing to move forward, positions the trolley, and improves the parking stability of the trolley.

When implemented, the locking assembly further includes a position sensor, the position sensor is installed on the end face of the positioning block that is close to the trolley, for detecting the distance between the trolley and the locking assembly, and outputting an electrical signal. By adopting the above technical solution, when the trolley moves towards the trolley fixing seat, the position sensor transmits a signal to detect the distance between the trolley and the positioning block, until when the trolley presses and contacts the positioning block, an electrical signal is output to a controller The driver controls the operation of the driving member, and the driving member drives the locking member to rotate, and engages the locking groove of the trolley, thereby improving the locking accuracy of the locking member to the trolley.

During implementation, a telescopic rod for adjusting the distance between the locking piece and the frame is provided between the locking piece and the driving piece, and one end of the telescopic rod along the extending direction is connected with the locking piece. The locking piece uses a telescopic rod to adjust the distance between the locking piece and the frame, and adjusts the position of the locking piece according to the distance between the limit rings of different trolleys, so that the locking piece can achieve the effect of locking the trolley, which increases the connection between the trolley fixing seat and the different trolleys. The scope of application improves the adaptability of the trolley fixing seat.

When implemented, it further includes a limit plate for limiting the position of the trolley, the limit plate is provided with two groups, the limit plate is connected with the frame and is parallel to the ground, and the limit plate is additionally provided with a space for avoiding the trolley the avoidance slot. Therefore, when the trolley moves toward the trolley fixing seat, the trolley is located between the avoidance grooves of the two limit plates, and the limit plates limit the left and right directions of the trolley, which further positions the trolley and improves the parking stability of the trolley.

When implemented, the avoidance groove is provided with a guide surface, so when the trolley runs to the end of the limit plate that is close to the trolley, the guide surface can position the advancing direction of the trolley, so that the central axis of the trolley is in the center of the trolley fixing seat. The axes are coincident, so that the locking piece can accurately engage with the locking groove of the trolley, thereby improving the accuracy of locking the trolley by the locking piece.

During implementation, the rack is provided with a fixing plate for connecting with the ground, the fixing plate is located at the end of the rack that is close to the ground and is parallel to the ground, so the fixing plate increases the contact area between the rack and the ground, thereby improving the performance of the rack. The stability of the rack on the ground is improved.

During implementation, the fixing plate is provided with a fixing hole for detachable connection with the ground after the bolt is passed through, which further enhances the installation stability of the trolley fixing seat. The adaptability of the trolley mount.

During implementation, the frame is additionally provided with a chute and a moving slider slidably connected to the chute, and the moving slider is at one end away from the chute and is fixedly connected with the fixed end of the driving member, thereby, The moving slider drives the driving piece to move in the direction of the chute, and then drives the locking piece to move along the direction of the chute, so that the locking piece can be spatially adjusted relative to the frame for matching with different trolleys , to improve the applicability of the trolley fixing seat.

In order to further understand the creation, a preferred embodiment is given below, and the specific components of the creation and the effects achieved are described in detail as follows in conjunction with the drawings and drawing numbers.

Please refer to FIGS. 1-4 , which are an embodiment of a trolley fixing base used for cooperating with a robotic arm in the creation, which is composed of a frame 1 and at least one locking component 2 .

The locking assembly 2 is assembled on the frame 1 for locking the trolley, wherein the locking assembly 2 is provided with a locking member 22 for locking the trolley and a driving member 21 for driving the locking member 22 to rotate , the driving member 21 is connected with the frame 1 , and the locking member 22 is located at the output end of the driving member 21 .

As shown in FIG. 1 and FIG. 2 , the frame 1 has a vertical column and a horizontal bar parallel to the ground. The vertical column is connected to the ground. The horizontal bar is used to provide an installation foundation for the locking assembly. A accommodating chamber 12 is formed together. In this embodiment, the frame 1 is generally set as a rectangular frame, with four groups of uprights and three groups of cross bars, two ends of the cross bars are respectively fixedly connected to the two uprights, the three groups of cross bars are enclosed in a concave shape, and the openings face The direction of the trolley.

As shown in FIG. 2 , in order to enhance the installation stability of the trolley fixing seat, the frame 1 is provided with a fixing plate 11 for connecting with the ground, and the fixing plate 11 is located at the end of the frame 1 near the ground and parallel to the ground. In this embodiment, the fixing plates 11 are arranged in four groups, which are respectively located at one end of the upright column of the rack 1 facing the ground and are fixedly connected to the upright column. The fixing plate 11 is provided with a fixing hole 111. The fixing hole 111 is used to detachably connect the fixing plate 11 to the ground through bolts. On the one hand, the installation stability of the trolley fixing seat is enhanced, and on the other hand, the positioning of the trolley fixing seat is facilitated. Adjust to expand the adaptability of the trolley mount.

1 and 2 , the locking assembly 2 includes a driving member 21 , a locking member 22 , a telescopic rod 23 , a positioning block 24 , a position sensor 25 , a controller and a limit plate 26 . The driving member 21 is installed on the transverse bar of the frame 1 along the length direction, and is used for driving the locking member 22 to rotate. The driving member 21 is located on the end surface of the cross bar of the frame 1 along the length direction and is close to the trolley. The driving member 21 is parallel to the horizontal bar of the frame 1 along the width direction. The driving members 21 are located on both sides of the symmetric axis of the trolley fixing base and are axially symmetrical, and the driving members 21 can be slewing motors.

The locking member 22 is located at the output end of the driving member 21, and is used for fitting into the locking groove of the trolley and engaging with it. In this embodiment, the locking member 22 is generally arranged in a rectangular block shape, the locking member 22 is parallel to the transverse bar of the rack 1 along the length direction, and one end of the locking member 22 is parallel to one end of the telescopic rod 23 along the extending direction For the fixed connection, the locking pieces 22 are arranged in two, and the two locking pieces 22 are respectively located on both sides of the symmetry axis of the trolley fixing seat, and are arranged axially symmetrically.

3 and 4, in the normal state, the locking member 22 and the trolley locking groove are parallel to each other, the locking member 22 is away from one end of the telescopic rod 23 and faces away from the ground; and in the locked state, the locking The locking member 22 is engaged with the locking groove of the trolley, and one end of the locking member 22 away from the telescopic rod 23 faces the direction of the frame 1 .

As shown in FIG. 1 , the telescopic rod 23 is located between the driving member 21 and the locking member 22 , and is used to adjust the distance between the locking member 22 and the frame 1 to increase the applicable range of the locking member 22 for docking with different trolleys. One end of the telescopic rod 23 away from the locking member 22 is connected with the driving member 21 . In this embodiment, there are two telescopic rods 23 , which correspond to the driving member 21 and the locking member 22 one-to-one respectively.

The positioning block 24 is fixedly connected with the frame 1 for positioning the trolley. The positioning block 24 is located on the end face of the frame 1 that faces the trolley with a short distance. Press and touch. In this embodiment, the positioning block 24 is provided with two transverse bars located between the driving member 21 and the frame 1 along the width direction, and are axially symmetrically arranged on both sides of the symmetry axis of the trolley fixing seat. The trolley moves to the position of the positioning block 24 according to the command to press against and contact with the positioning block 24 . The positioning block 24 prevents the trolley from continuing to move forward and achieves the effect of positioning the trolley in the front and rear.

The position sensor 25 is installed on the end face of the positioning block 24 that faces the trolley, so as to detect the distance between the trolley and the locking assembly 2 and output an electrical signal. The controller (not shown) is installed on the rack 1 And it is electrically connected to the driving member 21 for receiving the electrical signal of the position sensor 25 to control whether the driving member 21 executes the rotation command. In the process of the trolley moving towards the trolley fixing seat, the position sensor 25 transmits a signal to detect the distance between the trolley and the positioning block 24, until when the trolley presses and contacts the positioning block 24, it outputs an electrical signal to the controller to control the The actuator controls the operation of the driving member 21, and the driving member 21 drives the locking member 22 to rotate, and engages the locking groove of the trolley. Actually, the position sensor 25 can be an electromagnetic sensor, a photoelectric sensor, a travel switch, a two-dimensional matrix position sensor 25 and the like. In this embodiment, the position sensor 25 is a travel switch, which can send out an "action" signal when the trolley is in contact with the positioning block 24. The travel switch has a simple structure and reliable action.

The limit plate 26 is connected to the frame 1 and is parallel to the ground, and is used to limit the left and right direction of the trolley; a connecting block 12 is provided between the limit plate 26 and the transverse bar of the frame 1 along the width direction. The connecting block 12 is located at one end of the frame 1 close to the ground, and is used to limit the position of the bottom of the trolley. One end of the connecting block 12 is fixedly connected to the frame 1, and the other end is connected to the end face of the limiting plate 26 away from the ground. Fixed connection. The limiting plate 26 is provided with an avoidance groove 261 for avoiding the trolley, and the opening direction of the avoidance groove 261 faces the axis of symmetry of the trolley and the trolley fixing seat. In this embodiment, the limit plate 26 is generally a flat rectangular block, and the limit plate 26 is provided with two groups. When the trolley moves toward the trolley fixing seat, the trolley is located in the avoidance grooves of the two limit plates 26 Between 261, the limit plate 26 limits the left and right directions of the trolley. In addition, the escape groove 261 is provided with a guide surface 262 . When the trolley runs to the end of the limit plate 26 that is close to the trolley, the guide surface 262 positions the advancing direction of the trolley so that the central axis of the trolley coincides with the central axis of the trolley fixing seat, and the locking member 22 completes the locking of the trolley. Precise snap fit of the slot.

In order to improve the applicability of the trolley fixing seat, the trolley fixing seat is adapted to different trolleys. The rack 1 is provided with a chute 13 and a moving slider 14 . The moving slider 14 is slidably connected to the chute 13 , and one end of the moving slider 14 away from the chute 13 is fixedly connected to the fixed end of the driving member 21 . In this embodiment, the chute 13 is located on the end face of the longitudinal bar of the frame 1 facing the trolley. The longitudinal direction of the chute 13 is consistent with the longitudinal bar of the frame 1 . Moving the slider 14 drives the driving member 21 to move in the direction of the chute 13 , and then drives the locking member 22 to move along the direction of the chute 13 , so that the locking member 22 can be spatially adjusted relative to the rack 1 position, which in turn matches the position of the different trolley locking slots.

An implementation principle of a trolley fixing seat for a robot arm in the embodiment of the present application is as follows: according to the position of the trolley locking groove, the position of the moving slider 14 on the chute 13 is adjusted, so as to adjust the spatial position of the locking member 22 so that the locking member 22 is connected to the trolley. The position of the locking groove corresponds; the trolley carrying the material runs to the position of the trolley fixing seat according to the instruction of the host computer, the trolley gradually approaches the trolley fixing seat, and is located in the avoidance groove 261 under the action of the guide surface 262, and the trolley faces the end face of the trolley fixing seat In contact with the limit plate 26 and the positioning block 24, the trolley is pressed against the limit plate 26, and then the position sensor 25 outputs an electrical signal and transmits it to the controller, and the controller outputs a control signal to the driving member 21 to control the driving member 21 to rotate , thereby driving the locking piece 22 to achieve the effect of being clamped with the locking groove of the trolley, thereby improving the parking stability of the trolley.

Therefore, the design of this creation has the following advantages: 1. Because the locking piece set up in this creation cooperates with the locking groove of the trolley for clamping, so as to realize the locking effect of the trolley, in the subsequent process of material handling on the trolley by the robotic arm, the expected handling of the trolley is reduced. The position of the trolley is not changed, so that the position of the trolley remains unchanged from beginning to end, which improves the success rate of the robotic arm in gripping materials. 2. This creation uses the position sensor to transmit signals to detect the distance between the trolley and the positioning block during the process of the trolley moving towards the trolley fixed seat, until the trolley presses against the positioning block and outputs an electrical signal to a controller. , the controller controls the operation of the driving member, the driving member drives the locking member to rotate, and clamps the locking groove of the trolley, thereby improving the locking accuracy of the locking member to the trolley. 3. This creation uses a telescopic rod to adjust the distance between the locking piece and the frame, and adjusts the position of the locking piece according to the distance between the limit rings of different trolleys, so that the locking piece can achieve the effect of locking the trolley, which increases the connection between the trolley fixing seat and different trolleys. The scope of application improves the adaptability of the trolley fixing seat. 4. The positioning block set in this creation can effectively prevent the trolley from continuing to move forward, and the limit plate can limit the left and right directions of the trolley, and cooperate with the locking piece to simultaneously position the trolley from four directions. Improve the parking stability of the trolley.

The above are the specific embodiments of the present creation and the technical means used. Many changes and modifications can be derived from the disclosure or teaching of this article, which can still be regarded as equivalent changes made to the concept of the present creation. If the function does not exceed the substantive spirit covered by the description and drawings, it should be regarded as within the technical scope of this creation, and should be stated first.

To sum up, according to the content disclosed above, this creation can indeed achieve the expected purpose of a new type, providing a trolley fixing seat for a robotic arm, which is extremely practical and valuable for industrial use, and a new type patent is filed according to law Application.

1: Rack

11: Fixed plate

111:Fixing hole

12: Connection block

13: Chute

14: Move the slider

2: lock assembly

21: Drivers

22: Locks

23: Telescopic rod

24: Positioning block

25: Position Sensor

26: Limit board

261: Avoid Slot

262: Guide surface

FIG. 1 is a schematic diagram of the overall structure of the embodiment of the present invention. FIG. 2 is a schematic structural diagram of another perspective of the present invention. FIG. 3 is a schematic diagram of a conventional state of the locking member in the embodiment of the present invention. FIG. 4 is a schematic diagram of the locking state of the locking member in the embodiment of the present invention.

1: Rack

11: Fixed plate

111:Fixing hole

12: Connection block

13: Chute

14: Move the slider

2: lock assembly

21: Drivers

22: Locks

23: Telescopic rod

24: Positioning block

25: Position Sensor

26: Limit board

261: Avoid Slot

262: Guide surface

Claims (9)

A trolley fixing seat for a robot arm, comprising: a frame; and at least one locking component assembled on the above-mentioned frame to lock the trolley, wherein the locking component is provided with a locking piece for locking the trolley and a driving member for driving the locking member to rotate, the driving member is connected with the frame, and the locking member is located at the output end of the driving member. The trolley fixing seat for a robot arm according to claim 1, wherein the locking component is provided with a positioning block for positioning the trolley, the positioning block is located on the end face of the frame that faces the trolley close to the trolley, and the positioning block is The block is connected to the frame and pressed into contact with the trolley. As claimed in claim 2, the trolley fixing seat for a robot arm, wherein the locking component further includes a position sensor, and the position sensor is installed on the end face of the positioning block that faces the trolley and is used for detecting The distance between the trolley and the locking assembly and output an electrical signal. The trolley fixing seat for a robot arm according to claim 1, wherein a telescopic rod for adjusting the distance between the locking member and the frame is provided between the locking member and the driving member, and the telescopic rod extends along the extension direction. One end is connected with the locking piece. As claimed in claim 1, the trolley fixing base for matching the robot arm further includes a limit plate for limiting the position of the trolley, the limit plate is provided with two groups, the limit plate is connected with the frame and Parallel to the ground, the limiting plate is additionally provided with an avoidance groove for avoiding the trolley. As claimed in claim 5, the trolley fixing seat used with the robot arm, wherein the escape groove is provided with a guide surface. As claimed in claim 1, the trolley fixing base used for the robot arm, wherein the frame is provided with a fixing plate for connecting with the ground, and the fixing plate is located at the end of the frame which is close to the ground and is parallel to the ground. As claimed in claim 7, the trolley fixing base used for the robot arm, wherein the fixing plate is provided with a fixing hole for detachable connection with the ground after the bolt is passed through. As claimed in claim 1, the frame is further provided with a chute and a sliding block slidably connected to the chute, and the movable sliding block is one end away from the chute. , and is fixedly connected with the fixed end of the driver.

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