CN216399673U

CN216399673U - Novel loading and unloading robot

Info

Publication number: CN216399673U
Application number: CN202122681546.6U
Authority: CN
Inventors: 胡昊天; 马晓峰; 顾宗连; 吕学威
Original assignee: Ambitious Robot Technology Panjin Co ltd
Current assignee: Ambitious Robot Technology Panjin Co ltd
Priority date: 2021-11-04
Filing date: 2021-11-04
Publication date: 2022-04-29
Anticipated expiration: 2031-11-04

Abstract

The utility model belongs to the field of robots, and particularly relates to a novel loading and unloading robot which comprises a mechanical arm, wherein a connecting shell is arranged on the mechanical arm, a connecting plate is fixedly arranged on the connecting shell, two sliding plates are slidably arranged at the bottom of the connecting plate, two connecting seats are fixedly arranged at the bottom of the connecting plate, a threaded rod is rotatably arranged between the two connecting seats, the sliding plates are sleeved on the threaded rod, a driving mechanism is arranged in the connecting shell and connected with the threaded rod, a containing groove is formed in one side of each sliding plate, a guide hole is formed in the inner wall of each containing groove, a guide rod is slidably arranged in each guide hole, a fixing plate is fixedly arranged at one end of each guide rod, a pull plate is fixedly arranged at the other end of each guide rod, and a plurality of connecting springs are fixedly arranged on one side of each fixing plate. The clamping device is reasonable in design, can clamp an article in multiple directions through the matching of the fixing plate and the clamping plate, and can realize stable fixing of the article.

Description

Novel loading and unloading robot

Technical Field

The utility model relates to the technical field of robots, in particular to a novel loading and unloading robot.

Background

The sorting of the stored goods refers to picking the goods from the goods picking area or the storage area according to the requirement of the delivery order or the delivery plan, and classifying and centralizing the operation process according to a certain mode, most of the existing loading and unloading work adopts the working mode of the goods robot, and the patent document with the authorization notice number of CN 207361315U through retrieval discloses a novel goods loading and unloading robot which comprises a device body, wherein the device body consists of a machine box arranged at the bottom of the device body and a placing box arranged at one side of the machine box, the novel goods loading and unloading robot is provided with the placing box at the bottom of a mechanical arm, the goods can be conveniently placed during loading and unloading, the operation efficiency is greatly improved, a counter is arranged at one side of the placing box, the counter can timely count the loaded and unloaded goods, and the goods can be automatically weighed, the device is very convenient, thereby greatly improving the labor efficiency and saving the cost.

However, the above design has disadvantages, and in the above design, the goods can be clamped in one direction, when the robot arm performs the loading and unloading operation, the goods may slip from the direction without being fixed, and the problem that the goods are not conveniently and stably fixed in multiple directions exists, so a novel loading and unloading robot is proposed to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the defect that goods are inconvenient to be fixed stably in multiple directions in the prior art, and provides a novel loading and unloading robot.

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

a novel loading and unloading robot comprises an arm, wherein a connecting shell is arranged on the arm, a connecting plate is fixedly arranged on the connecting shell, two sliding plates are slidably arranged at the bottom of the connecting plate, two connecting seats are fixedly arranged at the bottom of the connecting plate, a threaded rod is rotatably arranged between the two connecting seats, and slide threaded sleeve establishes on the threaded rod, be equipped with actuating mechanism in the link casing, and actuating mechanism is connected with the threaded rod, the groove has been seted up to one side of slide, the guiding hole has been seted up on the inner wall of accomodating the groove, slidable mounting has the guide bar in the guiding hole, the fixed plate that is provided with of one end of guide bar, the fixed arm-tie that is provided with of the other end of guide bar, one side fixed mounting of fixed plate has a plurality of coupling springs, coupling spring's the fixed setting of one end is on the inner wall of accomodating the groove, be equipped with fixture in the slide, and be connected with pulling mechanism between arm-tie and the fixture.

Preferably, the driving mechanism comprises a rotating motor, a worm and a worm wheel, the rotating motor is fixedly arranged in the connecting shell, the worm is fixedly connected with an output shaft of the rotating motor, the worm wheel is fixedly arranged on the threaded rod, and the worm is meshed with the worm wheel.

Preferably, fixture includes shifting chute, splint and reset spring, the shifting chute is seted up on the slide, and splint slip sets up in the shifting chute, installs reset spring between splint and the shifting chute.

Preferably, the pulling mechanism comprises a groove, a stop lever and a steel wire rope, the groove is formed in the inner wall of the moving groove, the stop lever is fixedly arranged in the groove, one end of the steel wire rope is fixedly connected to the clamping plate, and the other end of the steel wire rope bypasses the stop lever and is fixedly connected to the pulling plate.

Preferably, the threaded rod is provided with two external threads with opposite rotation directions, the sliding plate is provided with an internal thread hole, and the external threads are meshed with the corresponding internal thread holes.

Preferably, two sliding grooves are formed in the bottom of the connecting plate, and the sliding plate is in sliding connection with the corresponding sliding groove.

Preferably, the inner walls of the two sides of the moving groove are provided with guide grooves, the two sides of the clamping plate are provided with guide rails, and the guide rails are in sliding connection with the guide grooves.

Preferably, the connecting seat is provided with a rotating groove, and the threaded rod is rotatably connected with the rotating hole through a bearing.

The utility model has the beneficial effects that:

1. when articles are loaded and unloaded, the articles need to be clamped and fixed, the mechanical arm can drive the connecting plate to move, so that the two sliding plates are placed on two sides of the articles, the rotating motor is started through the controller, the rotating motor can drive the worm to rotate, the worm can drive the threaded rod to rotate through the worm wheel, and the threaded rod can drive the two sliding plates to move towards the directions close to each other;

2. through the removal of slide, when the slide carries out the centre gripping to article through the fixed plate, the fixed plate can compress connecting spring and accomodate the inslot this moment, through arm-tie, wire rope's cooperation, can drive splint when the fixed plate removes and remove, and the removal of splint can carry out the centre gripping to article and fix.

Drawings

Fig. 1 is a schematic perspective view of a novel loading and unloading robot according to the present invention;

fig. 2 is a schematic front view of a novel loading and unloading robot according to the present invention;

FIG. 3 is a schematic structural diagram of part A of a novel loading and unloading robot provided by the utility model;

FIG. 4 is a schematic top view of a slide plate of the loading and unloading robot according to the present invention;

fig. 5 is a schematic structural diagram of part B of a novel loading and unloading robot provided by the utility model.

In the figure: 1. a mechanical arm; 2. a connecting shell; 3. a connecting plate; 4. a slide plate; 5. a connecting seat; 6. a threaded rod; 7. a rotating electric machine; 8. a worm; 9. a worm gear; 10. a receiving groove; 11. a guide hole; 12. a guide bar; 13. a fixing plate; 14. a connecting spring; 15. pulling a plate; 16. a moving groove; 17. a splint; 18. a return spring; 19. and (4) a pulling mechanism.

Detailed Description

The technical solution of the present invention will be clearly and completely described below with reference to specific embodiments. It is to be understood that the described embodiments are merely a few embodiments of the utility model, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.

When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present, and the "disposed" refers to an existing connection, whether connected, mounted, secured, or permanently connected. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Example one

Referring to fig. 1-5, a novel loading and unloading robot comprises a mechanical arm 1, a connecting shell 2 is mounted on the mechanical arm 1, a connecting plate 3 is fixedly mounted on the connecting shell 2, two sliding plates 4 are slidably mounted at the bottom of the connecting plate 3, two connecting seats 5 are fixedly arranged at the bottom of the connecting plate 3, a threaded rod 6 is rotatably mounted between the two connecting seats 5, the sliding plates 4 are sleeved on the threaded rod 6 in a threaded manner, a driving mechanism is arranged in the connecting shell 2 and connected with the threaded rod 6, an accommodating groove 10 is formed in one side of each sliding plate 4, a guide hole 11 is formed in the inner wall of the accommodating groove 10, a guide rod 12 is slidably mounted in the guide hole 11, a fixing plate 13 is fixedly arranged at one end of the guide rod 12, a pull plate 15 is fixedly arranged at the other end of the guide rod 12, a plurality of connecting springs 14 are fixedly mounted at one side of the fixing plate 13, one end of each connecting spring 14 is fixedly arranged on the inner wall of the accommodating groove 10, a clamping mechanism is arranged in the sliding plate 4, and a pulling mechanism 19 is connected between the pulling plate 15 and the clamping mechanism.

In the embodiment, the driving mechanism comprises a rotating motor 7, a worm 8 and a worm wheel 9, the rotating motor 7 is fixedly arranged in the connecting shell 2, the worm 8 is fixedly connected with an output shaft of the rotating motor 7, the worm wheel 9 is fixedly arranged on the threaded rod 6, the worm 8 is meshed with the worm wheel 9, the clamping mechanism comprises a moving groove 16, a clamping plate 17 and a return spring 18, the moving groove 16 is arranged on the sliding plate 4, the clamping plate 17 is arranged in the moving groove 16 in a sliding manner, the return spring 18 is arranged between the clamping plate 17 and the moving groove 16, the pulling mechanism comprises a groove, a stop lever and a steel wire rope, the groove is arranged on the inner wall of the moving groove 16, the stop lever is fixedly arranged in the groove, one end of the steel wire rope is fixedly connected on the clamping plate 17, the other end of the steel wire rope bypasses the stop lever and is fixedly connected on the pulling plate 15, two external threads with opposite rotation directions are arranged on the threaded rod 6, an internal threaded hole is formed in the sliding plate 4, and the external screw thread meshes with the corresponding internal screw hole, two sliding grooves are formed in the bottom of the connecting plate 3, the sliding plate 4 is in sliding connection with the corresponding sliding grooves, guide grooves are formed in the inner walls of the two sides of the moving groove 16, guide rails are arranged on the two sides of the clamping plate 17 and are in sliding connection with the guide grooves, a rotating groove is formed in the connecting seat 5, and the threaded rod 6 is rotatably connected with the rotating hole through a bearing.

Example two

Referring to fig. 1-5, a novel loading and unloading robot comprises a mechanical arm 1, a connecting shell 2 is mounted on the mechanical arm 1, a connecting plate 3 is fixedly mounted on the connecting shell 2, two sliding plates 4 are slidably mounted at the bottom of the connecting plate 3, two connecting seats 5 are welded at the bottom of the connecting plate 3, a threaded rod 6 is rotatably mounted between the two connecting seats 5, the sliding plates 4 are sleeved on the threaded rod 6 in a threaded manner, a driving mechanism is arranged in the connecting shell 2 and connected with the threaded rod 6, an accommodating groove 10 is formed in one side of each sliding plate 4, a guide hole 11 is formed in the inner wall of each accommodating groove 10, a guide rod 12 is slidably mounted in each guide hole 11, a fixing plate 13 is welded at one end of each guide rod 12, a pull plate 15 is welded at the other end of each guide rod 12, a plurality of connecting springs 14 are fixedly mounted at one side of each fixing plate 13, one end of each connecting spring 14 is welded on the inner wall of each accommodating groove 10, a clamping mechanism is arranged in the sliding plate 4, and a pulling mechanism 19 is connected between the pulling plate 15 and the clamping mechanism.

In this embodiment, actuating mechanism includes rotating electrical machines 7, worm 8 and worm wheel 9, and rotating electrical machines 7 welds in connecting shell 2, and worm 8 and rotating electrical machines 7's output shaft fixed connection, and worm wheel 9 welds on threaded rod 6, and worm 8 meshes with worm wheel 9 mutually, can drive threaded rod 6 and rotate through being provided with actuating mechanism.

In this embodiment, fixture includes shifting chute 16, splint 17 and reset spring 18, and shifting chute 16 sets up on slide 4, and splint 17 slides and sets up in shifting chute 16, installs reset spring 18 between splint 17 and the shifting chute 16, through being provided with splint mechanism, can carry out multi-direction centre gripping to article and fix, improves the fixed stability of article.

In this embodiment, pulling mechanism includes recess, pin and wire rope, and the recess is seted up on the inner wall of shifting chute 16, and the pin welding is in the recess, and wire rope's one end fixed connection is on splint 17, and wire rope's the other end bypasses pin and fixed connection on arm-tie 15, and through being provided with pulling mechanism, arm-tie 15 can drive splint 17 and remove.

In this embodiment, be equipped with two external screw threads that revolve to opposite on the threaded rod 6, seted up the internal thread hole on the slide 4, and the external screw thread meshes with the internal thread hole that corresponds, owing to be provided with two external screw threads, the rotation of threaded rod 6 can drive slide 4 and remove, and the moving direction of two slides 4 is opposite.

In this embodiment, two sliding grooves are opened at the bottom of the connecting plate 3, and the sliding plate 4 is connected with the corresponding sliding groove in a sliding manner, so that the sliding plate 4 can stably move in the sliding groove by being provided with the sliding groove.

In this embodiment, be equipped with the guide slot on the both sides inner wall of removal groove 16, the both sides of splint 17 all are equipped with the guide rail, and guide rail and guide slot sliding connection, through being provided with the guide slot and leading the seat, can make splint 17 carry out stable removal.

In the embodiment, the connecting seat 5 is provided with a rotating groove, the threaded rod 6 is rotatably connected with the rotating hole through a bearing, when articles are loaded and unloaded, the articles need to be clamped and fixed, the connecting plate 3 can be driven to move through the mechanical arm 1, so that the two sliding plates 4 are placed on two sides of the articles, the rotating motor 7 is started through the controller, the rotating motor 7 can drive the worm 8 to rotate, the worm 8 can drive the threaded rod 6 to rotate through the worm wheel 9, the threaded rod 6 can drive the two sliding plates 4 to move towards the direction of approaching each other, through the movement of the sliding plates 4, when the sliding plates 4 clamp the articles through the fixing plate 13, the fixing plate 13 can compress the connecting spring 14 and is accommodated in the accommodating groove 10, through the matching of the pulling plate 15 and the steel wire rope, the fixing plate 13 can drive the clamping plate 17 to move when moving, the removal of splint 17 can carry out the centre gripping to article fixed, through fixed plate 13 and splint 17's cooperation, can carry out diversified centre gripping to article, can realize the fixed firm to article.

The present invention provides a new loading and unloading robot, which is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are set forth only to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims

1. The utility model provides a novel loading and unloading robot, includes arm (1), its characterized in that, install connection shell (2) on arm (1), fixed mounting has connecting plate (3) on connection shell (2), the bottom slidable mounting of connecting plate (3) has two slide (4), the bottom of connecting plate (3) is fixed to be provided with two connecting seats (5), two rotate between connecting seat (5) and install threaded rod (6), just slide (4) thread bush is established on threaded rod (6), be equipped with actuating mechanism in connection shell (2), just actuating mechanism is connected with threaded rod (6), accomodate groove (10) has been seted up to one side of slide (4), guide hole (11) have been seted up on the inner wall of accomodating groove (10), slidable mounting has guide bar (12) in guide hole (11), the fixed plate (13) that is provided with of one end of guide bar (12), the fixed arm-tie (15) that is provided with of the other end of guide bar (12), one side fixed mounting of fixed plate (13) has a plurality of coupling spring (14), the fixed setting of one end of coupling spring (14) is on the inner wall of accomodating groove (10), be equipped with fixture in slide (4), just be connected with pulling mechanism (19) between arm-tie (15) and the fixture.

2. A novel handling robot as claimed in claim 1, characterized in that the drive mechanism comprises a rotating motor (7), a worm (8) and a worm wheel (9), the rotating motor (7) is fixedly arranged in the connecting shell (2), the worm (8) is fixedly connected with the output shaft of the rotating motor (7), the worm wheel (9) is fixedly arranged on the threaded rod (6), and the worm (8) is meshed with the worm wheel (9).

3. A novel handling robot according to claim 1, characterized in that said gripping means comprise a moving slot (16), a clamping plate (17) and a return spring (18), said moving slot (16) is provided on the slide (4), the clamping plate (17) is slidably arranged in the moving slot (16), and the return spring (18) is installed between the clamping plate (17) and the moving slot (16).

4. A new handling robot according to claim 1, characterized in that the pulling mechanism (19) comprises a groove, a stop bar and a wire rope, the groove is opened on the inner wall of the moving groove (16), the stop bar is fixedly arranged in the groove, one end of the wire rope is fixedly connected to the clamping plate (17), and the other end of the wire rope bypasses the stop bar and is fixedly connected to the pulling plate (15).

5. A novel loading and unloading robot as claimed in claim 1, characterized in that the threaded rod (6) is provided with two external threads with opposite rotation directions, the slide plate (4) is provided with an internal threaded hole, and the external threads are meshed with the corresponding internal threaded holes.

6. A novel loading and unloading robot as claimed in claim 1, characterized in that the bottom of the connecting plate (3) is provided with two sliding grooves, and the sliding plate (4) is connected with the corresponding sliding grooves in a sliding manner.

7. A novel loading and unloading robot as claimed in claim 3, characterized in that the inner walls of the moving groove (16) are provided with guide grooves, the clamping plate (17) is provided with guide rails on both sides, and the guide rails are slidably connected with the guide grooves.

8. A novel loading and unloading robot as claimed in claim 1, characterized in that the connecting seat (5) is provided with a rotation groove, and the threaded rod (6) is rotatably connected with the rotation hole through a bearing.