WO2021046896A1

WO2021046896A1 - Robot gripping device for logistic transportation

Info

Publication number: WO2021046896A1
Application number: PCT/CN2019/106966
Authority: WO
Inventors: 任雯雯
Original assignee: 苏州龙骐自动化科技有限公司
Priority date: 2019-09-12
Filing date: 2019-09-20
Publication date: 2021-03-18
Also published as: CN110549321A

Abstract

A robot gripping device for logistic transportation, comprising a base (1), a gripping mechanism (14) and an angle adjustment mechanism. The upper part of the base (1) is provided with a height adjustment mechanism for adjusting the angle adjustment mechanism, the angle adjustment mechanism comprises an angle adjustment arm (11) and a connecting arm (12), the angle adjustment arm (11) and the connecting arm (12) are rotatably connected by means of a rotating shaft (21), the bottom of the connecting arm (12) is provided with a gripping mechanism mounting base (13), and a gripping mechanism (14) for gripping an object is mounted on the gripping mechanism mounting base (13). The device can grip goods at different positions, and the height adjustment assembly is provided to facilitate the adjustment of the height of the angle adjustment mechanism.

Description

Robot gripping device for logistics transportation

Technical field

The invention relates to the technical field of intelligent robots, in particular to a robot gripping device for logistics transportation.

Background technique

A robot is a machine device that automatically performs work. It can accept human commands, run pre-arranged programs, or act according to principles and programs formulated with artificial intelligence technology. Its task is to assist or replace human work, such as production, construction, or dangerous work.

Chinese patent CN209158387U discloses a robot gripping device, which includes a rectangular shell, the center of the upper surface of the rectangular shell is fixedly connected with a column, the upper edge of the column is processed with a circular through hole, and the circular through hole is embedded A horizontal rod is installed, a plurality of semi-circular ring shells are fixedly connected to the horizontal rod, each of the semi-circular ring shells is processed with a rectangular groove, and the rectangular groove is embedded with a horizontal No. 1 rotating end For the micro-rotating motor, an electric control telescopic rod is fixedly connected to the rotating end of each of the No. 1 micro-rotating motors. However, it is inconvenient to adjust the tilt angle of the clamping mechanism of the device, which affects the flexibility of the device. Therefore, we propose a robot clamping device for logistics transportation.

Summary of the invention

The purpose of the present invention is to provide a robot gripping device for logistics transportation, including a base, a gripping mechanism and an angle adjustment mechanism. The upper part of the base is provided with a height adjustment mechanism for adjusting the angle adjustment mechanism. The angle adjustment mechanism includes an angle adjustment arm, The connecting arm, the angle adjusting arm and the connecting arm are rotationally connected by a rotating shaft, the bottom of the connecting arm is provided with a clamping mechanism mounting seat, and the clamping mechanism mounting seat is equipped with a clamping mechanism for clamping objects to solve the existing device The problem of inconvenient adjustment of the tilt angle of the gripping mechanism.

In order to achieve the above objectives, the present invention provides the following technical solutions:

A robot gripping device for logistics transportation includes a base, a gripping mechanism, and an angle adjusting mechanism. The upper part of the base is provided with a height adjusting mechanism for adjusting the angle adjusting mechanism. The angle adjusting mechanism includes an angle adjusting arm, a connecting arm, and an angle adjusting arm. The connecting arm is rotatably connected with the connecting arm through a rotating shaft, the bottom of the connecting arm is provided with a clamping mechanism mounting seat, and the clamping mechanism mounting seat is equipped with a clamping mechanism for clamping objects.

As a further solution of the present invention: the height adjustment assembly includes a screw, a first driving part, a driving gear, a driven gear, and a screw block. The bottom of the screw is installed on the base, and the top of the screw is fixedly installed with a driven gear. The left side of the gear is provided with a driving gear, which meshes with the driven gear, a first driving part is arranged under the driving gear, and the first driving part and the driving gear are fixedly connected by bolts, and a screw is sleeved on the screw. The block, the screw and the screw block are connected by a thread, and the screw block is connected with an angle adjustment mechanism.

As a further solution of the present invention: the left side of the screw is provided with a vertical limit rod for limiting the angle adjustment mechanism, the bottom of the vertical limit rod is fixedly installed on the vertical limit rod mounting seat, and the vertical limit rod is fixedly mounted on the vertical limit rod mounting seat. The position rod mounting seat is fixedly connected with the base through bolts, the top of the vertical limit rod is fixedly connected with the first driving part, and the screw block is slidably connected with the vertical limit rod through the first connecting rod.

As a further solution of the present invention, a second driving part is provided on one side of the angle adjusting arm, the second driving part and the screw block are fixedly connected by bolts, the output end of the second driving part is fixedly connected with the angle adjusting arm, and the rotating shaft Baffles are welded on both ends of the angle adjustment arm, and a driving cavity is provided in the angle adjustment arm.

As a further solution of the present invention: an electric push rod and a battery are arranged in the drive cavity, the electric push rod is electrically connected to the battery, and the telescopic end of the electric push rod is fixedly connected with a second connecting rod, and the second connecting rod is far away from the electric push rod. One end of the rod is fixedly connected with the rotating shaft.

As a further solution of the present invention, a third driving member is fixedly installed on the baffle on the front side, the telescopic end of the third driving member is fixedly connected with a connecting arm by bolts, the first driving member, the second driving member and the third The driving parts are all servo motors, and the models of the first driving part, the second driving part and the third driving part are the same.

As a further solution of the present invention: the clamping mechanism includes a clamping block, an air cylinder, a vertical vertical plate and a protection plate. There are two cylinders, and the cylinders are arranged symmetrically with respect to the vertical central axis of the clamping mechanism mounting seat. The output ends of the cylinders are respectively fixedly connected with vertical vertical plates by bolts, the lower part of the vertical vertical plate is fixedly connected with a protective plate, and the lower part of the protective plate is equipped with a clamping block.

As a further solution of the present invention, a horizontal limit rod is fixedly installed in the middle of the mounting seat of the clamping mechanism, and the vertical vertical plate and the horizontal limit rod are slidably connected.

In summary, the beneficial effects of the present invention are: the embodiment of the present invention is provided with an angle adjustment mechanism, which can clamp goods at different positions, and the spacing between the clamping blocks is adjustable, which is further suitable for different types of goods. Clamping, and the setting of the height adjustment assembly facilitates the adjustment of the height of the angle adjustment mechanism.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the invention.

Figure 2 is a schematic diagram of the structure of the vertical limit rod mounting seat in the invention.

Fig. 3 is a schematic diagram of the structure of the angle adjusting arm in the invention.

Fig. 4 is a schematic diagram of the structure of the connecting arm in the invention.

Fig. 5 is a schematic diagram of the structure of the rotating shaft in the invention.

Fig. 6 is a schematic diagram of the structure of the clamping mechanism in the invention.

In the picture: 1- base, 2- screw, 3- vertical limit rod, 4- vertical limit rod mounting seat, 5- first connecting rod, 6-first driving part, 7- driving gear, 8- Driven gear, 9-clamping block, 10-screw block, 11-angle adjustment arm, 12-connecting arm, 13-clamping mechanism mounting seat, 14-clamping mechanism, 15-second drive part, 16-drive Cavity, 17-battery, 18-electric push rod, 19-second connecting rod, 20-baffle plate, 21-rotating shaft, 22-third drive, 23-horizontal limit rod, 24-cylinder, 25-vertical Vertical board, 26-protection board.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Example 1

As shown in Figure 1, in the embodiment of the present invention, a robot gripping device for logistics transportation includes a base 1, a gripping mechanism 14 and an angle adjustment mechanism. The upper part of the base 1 is provided with a height adjustment mechanism for adjusting the angle adjustment mechanism. The angle adjusting mechanism includes an angle adjusting arm 11 and a connecting arm 12. The angle adjusting arm 11 and the connecting arm 12 are rotationally connected by a shaft 21. The bottom of the connecting arm 12 is provided with a clamping mechanism mounting seat 13, and a clamping mechanism mounting seat 13 A clamping mechanism 14 for clamping objects is installed on it;

The height adjustment assembly includes a screw 2, a first driving member 6, a driving gear 7, a driven gear 8 and a screw block 10. The bottom of the screw 2 is mounted on the base 1, and the top of the screw 2 is fixedly mounted with a driven gear 8. The left side of the driven gear 8 is provided with a driving gear 7, which meshes with the driven gear 8. A first driving member 6 is provided below the driving gear 7, and the first driving member 6 and the driving gear 7 pass between The screw is fixedly connected, the screw 2 is sleeved with a screw block 10, the screw 2 and the screw block 10 are connected by a thread, and the screw block 10 is connected with an angle adjustment mechanism.

As shown in Figure 2, the left side of the screw rod 2 is provided with a vertical limit rod 3 for limiting the angle adjustment mechanism. The bottom of the vertical limit rod 3 is fixedly installed on the vertical limit rod mounting seat 4, The straight limiting rod mounting seat 4 is fixedly connected to the base 1 by bolts, the top of the vertical limiting rod 3 is fixedly connected to the first driving member 6, and the screw block 10 is connected to the vertical limiting rod 3 through the first connecting rod 5 Sliding connection

The arrangement of the vertical limit rod 3 can not only limit the position of the angle adjustment mechanism, but also can achieve stable support for the first driving member 6.

Example 2

The arrangement of the vertical limit rod 3 can not only limit the angle adjustment mechanism, but also achieve stable support for the first driving member 6;

As shown in Fig. 3, one side of the angle adjusting arm 11 is provided with a second driving part 15, and the second driving part 15 and the screw block 10 are fixedly connected by bolts, and the output end of the second driving part 15 is fixedly connected with the angle adjustment Arm 11, as shown in Figure 5, two ends of the shaft 21 are welded with baffles 20, the angle adjustment arm 11 is provided with a drive cavity 16, and the drive cavity 16 is provided with an electric push rod 18 and a battery 17, the electric push rod 18 and The storage battery 17 is electrically connected, and the telescopic end of the electric push rod 18 is fixedly connected with a second connecting rod 19, and the end of the second connecting rod 19 away from the electric push rod 18 is fixedly connected with the rotating shaft 21;

The opening of the second driving member 15 can realize the adjustment of the inclination angle of the angle adjusting arm 11 and the connecting arm 12, and the opening of the electric push rod 18 can drive the rotation shaft 21 and the connecting arm 12 to move, thereby realizing the adjustment of the position of the connecting arm 12;

As shown in FIG. 4, a third driving member 22 is fixedly installed on the baffle 20 on the front side, and the telescopic end of the third driving member 22 is fixedly connected with a connecting arm 12 by bolts;

As shown in Figure 6, the clamping mechanism 14 includes a clamping block 9, an air cylinder 24, a vertical vertical plate 25 and a protection plate 26. There are two air cylinders 24, and the air cylinder 24 is vertically centered with respect to the clamping mechanism mounting seat 13. The output ends of the two cylinders 24 are arranged symmetrically. The output ends of the two cylinders 24 are respectively fixedly connected with a vertical vertical plate 25 by bolts. The lower part of the vertical vertical plate 25 is fixedly connected with a protective plate 26, and the lower part of the protective plate 26 is equipped with a clamping block 9;

A horizontal limit rod 23 is fixedly installed in the middle of the clamping mechanism mounting seat 13, and the vertical vertical plate 25 and the horizontal limit rod 23 are slidably connected. The arrangement of the horizontal limit rod 23 realizes the limit of the vertical vertical plate 25.

The first driving part 6, the second driving part 15 and the third driving part 22 are all servo motors, and the first driving part 6, the second driving part 15 and the third driving part 22 have the same model.

In summary, the working principle of the present invention is: when in use, the cylinder 24 is turned on, and the cylinder 24 drives the vertical vertical plate 25 and the clamping block 9 to slide to realize the clamping of the goods, and the spacing between the clamping blocks 9 Adjustable, suitable for the gripping of different types of goods;

When the height of the angle adjustment mechanism needs to be adjusted, the first driving part 6 is turned on, and the first driving part 6 drives the driving gear 7, the driven gear 8 and the screw 2 to rotate, so that the screw 2 drives the screw block 10 and the angle adjustment mechanism to move up and down to achieve Adjusted the height of the angle adjustment mechanism;

The opening of the second driving member 15 can realize the adjustment of the inclination angle of the angle adjusting arm 11 and the connecting arm 12, and the opening of the electric push rod 18 can drive the rotating shaft 21 and the connecting arm 12 to move, thereby realizing the adjustment of the position of the connecting arm 12.

The embodiment of the present invention is provided with an angle adjustment mechanism, which can clamp the goods at different positions, and the spacing between the clamping blocks 9 is adjustable, which is further suitable for the clamping of different types of goods, and the setting of the height adjustment assembly is convenient. Adjust the height of the angle adjustment mechanism.

For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description, and therefore it is intended to fall within the claims. All changes within the meaning and scope of the equivalent elements of are included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the invention And to simplify the description, rather than indicating or implying that the pointed device or element must have a specific orientation, be configured and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of these features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In addition, it should be understood that although this specification is described in accordance with the implementation manners, not each implementation manner only includes an independent technical solution. This narration in the specification is only for the sake of clarity, and those skilled in the art should regard the specification as a whole The technical solutions in the various embodiments can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims

A robot gripping device for logistics transportation includes a base (1), a gripping mechanism (14), and an angle adjustment mechanism. The upper part of the base (1) is provided with a height adjustment mechanism for adjusting the angle adjustment mechanism, and is characterized in that the angle The adjusting mechanism includes an angle adjusting arm (11) and a connecting arm (12). The angle adjusting arm (11) and the connecting arm (12) are rotationally connected by a shaft (21), and the bottom of the connecting arm (12) is provided with a clamping mechanism A clamping mechanism (14) for clamping objects is installed on the mounting seat (13) and the clamping mechanism mounting seat (13).
The robot gripping device for logistics transportation according to claim 1, wherein the height adjustment assembly includes a screw (2), a first driving member (6), a driving gear (7), a driven gear (8) and a screw Block (10), the bottom of the screw (2) is installed on the base (1), the top of the screw (2) is fixedly installed with a driven gear (8), and the left side of the driven gear (8) is provided with a driving gear (7), the driving gear (7) meshes with the driven gear (8), a first driving member (6), the first driving member (6) and the driving gear (7) are provided under the driving gear (7) They are fixedly connected by bolts, a screw block (10) is sleeved on the screw (2), the screw (2) and the screw block (10) are connected by a thread, and the screw block (10) is connected with an angle adjusting mechanism.
The robot gripping device for logistics transportation according to claim 2, wherein the left side of the screw (2) is provided with a vertical limit rod (3) for limiting the angle adjustment mechanism, and the vertical limit rod The bottom of (3) is fixedly installed on the vertical limit rod mounting seat (4), the vertical limit rod mounting seat (4) is fixedly connected to the base (1) by bolts, and the top of the vertical limit rod (3) It is fixedly connected with the first driving member (6), and the screw block (10) is slidably connected with the vertical limit rod (3) through the first connecting rod (5).
The robot gripping device for logistics transportation according to claim 3, wherein a second driving member (15), a second driving member (15) and a screw block (10) are provided on one side of the angle adjusting arm (11). ) Are fixedly connected by bolts, the output end of the second driving member (15) is fixedly connected with an angle adjusting arm (11), two ends of the rotating shaft (21) are welded with baffles (20), and the angle adjusting arm (11) There is a driving cavity (16).
The robot gripping device for logistics transportation according to claim 4, characterized in that an electric push rod (18) and a battery (17) are provided in the driving chamber (16), and the electric push rod (18) and the battery (17) It is electrically connected, and the telescopic end of the electric push rod (18) is fixedly connected with a second connecting rod (19), and the end of the second connecting rod (19) away from the electric push rod (18) is fixedly connected with the rotating shaft (21).
The robot gripping device for logistics transportation according to claim 4, characterized in that a third driving member (22) is fixedly installed on the front baffle (20), and the telescopic end of the third driving member (22) A connecting arm (12) is fixedly connected with bolts.
The robot gripping device for logistics transportation according to any one of claims 1-6, wherein the gripping mechanism (14) comprises a gripping block (9), an air cylinder (24), a vertical vertical plate (25) and There are two protective plates (26) and two cylinders (24), and the cylinders (24) are arranged symmetrically with respect to the vertical central axis of the clamping mechanism mounting seat (13), and the output ends of the two cylinders (24) are respectively fixed by bolts A vertical vertical plate (25) is connected, a protective plate (26) is fixedly connected to the lower part of the vertical vertical plate (25), and a clamping block (9) is installed at the lower part of the protective plate (26).
The robot gripping device for logistics transportation according to claim 7, characterized in that the middle part of the gripping mechanism mounting seat (13) is fixedly installed with a horizontal limit rod (23), a vertical vertical plate (25) and a horizontal limiter. The position rod (23) is slidably connected.
The robot gripping device for logistics transportation according to claim 6, wherein the first driving member (6), the second driving member (15) and the third driving member (22) are all servo motors, and the first The model of the driving part (6), the second driving part (15) and the third driving part (22) are the same.