A warehouse handling robotic arm

Abstract

The present invention belongs to the technical field of robotic arms, and particularly relates to a warehouse handling robotic arm. Aiming at the problems of the existing warehouse handling robotic arm having a complex structure and requiring the cooperation of multiple sensors and controllers to cope with relatively complex grasping requirements, resulting in a high equipment cost, and the robotic arm with a relatively simple structure having a single function and requiring manual cooperation, thus leading to low handling efficiency, the following solution is now proposed. It includes a frame mechanism, a robotic arm mechanism, and a transfer mechanism. The robotic arm mechanism includes a cross beam, and a sliding seat is slidably sleeved outside the cross beam. Through the cooperation of the lifting mechanism and the transfer mechanism, the transfer bin can adjust its height and flip. The setting of the transfer bin reduces the movement requirements of the robotic arm, thereby simplifying the structure and function of the robotic arm, reducing the operation difficulty and manufacturing cost. When the robotic arm takes materials from one transfer bin, the other transfer bin can simultaneously perform the material storage operation, improving the handling efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and more specifically, it relates to a warehouse handling robotic arm. Background Art

[0002] A warehouse handling robotic arm generally refers to an automated device used to move, stack, and pick up goods in a warehouse or logistics center to achieve fast, efficient, and precise handling and storage of goods.

[0003] A common robotic arm usually consists of a robotic arm structure composed of multiple joints that can move and rotate in three-dimensional space. The robotic arm is usually driven by a motor, a servo system, or a hydraulic system, and has a certain degree of flexibility and precision. The end effector located at the end of the robotic arm is used to grasp, move, and release goods. The design of the end effector can vary according to specific application requirements, and common ones include grippers, vacuum suction cups, magnetic suction cups, etc. The entire movement and operation of the robotic arm are usually controlled by a computer or a PLC. Sensors installed on the robotic arm are used to detect information such as the surrounding environment, the position of goods, and the posture of the robotic arm to assist the control system in motion planning and decision-making.

[0004] Warehouse handling robotic arms can perform various tasks through pre-programmed paths or real-time control, such as moving goods from one location to another, stacking goods on shelves, picking up goods from shelves, etc. They can greatly improve the efficiency and precision of goods handling in warehouses and logistics centers, reduce labor costs, and improve operation safety.

[0005] However, during the implementation of the embodiments of the present invention, the inventor found that there are at least the following defects in the background art: The existing warehouse handling robotic arm has a complex structure and requires the cooperation of multiple sensors and controllers to cope with relatively complex grasping requirements, resulting in a high equipment cost. Robotic arms with relatively simple structures have single functions and require manual cooperation, making the handling efficiency low. Therefore, we propose a warehouse handling robotic arm to solve this problem. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems raised in the above background art, and to propose a warehouse handling robotic arm.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions:

[0008] A warehouse handling robotic arm, comprising a frame mechanism, a robotic arm mechanism and a transfer mechanism. The robotic arm mechanism includes a cross beam. A sliding seat is slidably sleeved on the outer side of the cross beam. A motor seat is fixedly installed at the bottom of the sliding seat. A rotating motor is arranged inside the motor seat. A rotating shaft is fixedly installed on the output shaft of the rotating motor. A top plate is fixedly installed at the bottom end of the rotating shaft. A lifting inner rod and two hydraulic cylinders are fixedly installed at the bottom of the top plate. A lifting cylinder is vertically slidably sleeved on the outer side of the lifting inner rod. A bottom plate is fixedly sleeved on the outer side of the lifting cylinder. One end of the hydraulic cylinder is fixedly connected to the bottom plate. A bent frame is fixedly installed at the bottom end of the lifting cylinder. A fork arm is fixedly installed on one side of the bent frame. A servo motor and a fixing plate are fixedly installed at the bottom of the cross beam. A fixing shaft is rotatably installed on one side of the fixing plate. Belt pulleys are fixedly sleeved on the outer sides of the output shaft of the servo motor and the fixing shaft. The same conveyor belt is drivingly installed on the two belt pulleys. The motor seat is fixedly sleeved on the outer side of the conveyor belt.

[0009] Furthermore: The frame mechanism includes two main brackets. Mounting plates are fixedly installed on the top plate and one end of the cross beam. A column is fixedly installed at the bottom of the main bracket located at the rear side. The cross beam is fixedly connected to the two main brackets through the two mounting plates respectively.

[0010] Furthermore: Guide rails are fixedly installed on both the left and right sides of the cross beam. A plurality of guide wheels are rotatably installed on the inner walls of both the left and right sides of the sliding seat. The guide wheels are in rolling connection with the corresponding guide rails.

[0011] Furthermore: Two support plates are fixedly installed on one side of the main bracket. Two gantry frames are fixedly installed between the two main brackets. A lifting mechanism is arranged on the gantry frame. The lifting mechanism includes a double-shaft motor and a conversion device. The conversion device includes a vertical cylinder. A vertical rod is slidably installed inside the vertical cylinder. The transfer mechanism includes two support frames. A connecting circular plate is arranged at the bottom end of the vertical rod. A connecting head is fixedly installed at the top of the support frame. The connecting circular plate is fixedly connected to the corresponding connecting head through bolts.

[0012] Furthermore: The double-shaft motor is fixedly connected to one side of the corresponding gantry frame. Transmission rods are fixedly installed on the two output shafts of the double-shaft motor. A conversion shaft is rotatably installed inside the conversion device. Sprockets are fixedly sleeved on the outer sides of the conversion shaft and the transmission rods. The same chain is drivingly installed on the two sprockets located on the same side. A rack is arranged on the outer side of the vertical rod. A driving gear is fixedly sleeved on the outer side of the conversion shaft. The driving gear is meshed with the corresponding rack.

[0013] Furthermore, the transfer mechanism further includes a transfer warehouse. External frames are provided on both the front and rear sides of the transfer warehouse. A turning shaft is fixedly installed on the external frame, and the turning shaft is rotatably connected to the corresponding support frame. A turning motor is fixedly installed on one side of the support frame located at the rear, and the output shaft of the turning motor is fixedly connected to the corresponding turning shaft.

[0014] Furthermore, two top frames are fixedly installed between the two external frames on the same transfer warehouse. The tops of the two top frames on the same side are fixedly installed with the same electric push rod, and the output end of the electric push rod extends into the corresponding transfer warehouse and is fixedly installed with a push plate.

[0015] Furthermore, extension frames are provided on both the front and rear sides of the bottom of the transfer warehouse. A baffle is slidably sleeved on the outside of the extension frame. An electric screw rod is provided at the bottom of the extension frame. The baffle is threadedly connected to the corresponding electric screw rod. Two limit sleeves are provided at the bottom of the extension frame. The baffle is arranged in a U shape. Two limit rods are fixedly installed on the top of the baffle, and the limit rods are slidably installed in the corresponding limit sleeves.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. Through the cooperation of the lifting mechanism and the transfer mechanism, the transfer warehouse can adjust its height and turn over. The setting of the transfer warehouse reduces the movement requirements of the robotic arm, thereby simplifying the structure and function of the robotic arm, and reducing the operation difficulty and manufacturing cost.

[0018] 2. Through the cooperation of the two transfer warehouses and the robotic arm, when the robotic arm takes materials from one transfer warehouse, the other transfer warehouse can simultaneously perform the operation of storing materials, improving the handling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a perspective structural view of a warehouse handling robotic arm according to the present invention from a first perspective;

[0020] Figure 2 is a perspective structural view of the robotic arm mechanism of a warehouse handling robotic arm according to the present invention;

[0021] Figure 3 is a partial structural view of the robotic arm mechanism of a warehouse handling robotic arm according to the present invention;

[0022] Figure 4 is Figure 3 a partial enlarged view of part A in

[0023] Figure 5 is a perspective structural view of a warehouse handling robotic arm according to the present invention from a second perspective;

[0024] Figure 6 is Figure 5 a partial enlarged view of part B in

[0025] Figure 7 is a schematic three - dimensional structure diagram of a transfer mechanism of a warehouse handling robotic arm proposed by the present invention;

[0026] Figure 8 is Figure 7 a partial enlarged view of part C in

[0027] In the figure:

[0028] Frame mechanism; 101, main support; 102, column; 103, pallet; 104, gantry;

[0029] Robotic arm mechanism; 201, cross beam; 202, sliding seat; 203, motor seat; 204, top plate; 205, hydraulic cylinder; 206, lifting inner rod; 207, lifting cylinder; 208, bottom plate; 209, bent frame; 210, fork arm; 211, servo motor; 212, pulley; 213, conveyor belt; 214, guide rail; 215, mounting plate;

[0030] Lifting mechanism; 301, double - shaft motor; 302, vertical cylinder; 303, sprocket; 304, connecting circular plate; 305, transmission rod;

[0031] Transfer mechanism; 401, support frame; 402, connecting head; 403, transfer bin; 404, external frame; 405, flipping motor; 406, electric push rod; 407, extension frame; 408, electric screw rod; 409, baffle; 410, limit sleeve; 411, limit rod. Specific embodiments

[0032] In order to more clearly illustrate the overall concept of the present invention, the following will be described in detail by way of examples in conjunction with the accompanying drawings of the specification.

[0033] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention.

[0034] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to terms such as "one solution", "some solutions", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the solution or example are included in at least one solution or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same solution or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more solutions or examples.

[0035] The technical solutions in the embodiments of this application are to solve the problems in the above-mentioned background technology, and the general idea is as follows: Embodiment 1

[0036] Refer to Figure 1 、 2 As shown in Figures 3 and 4, a warehouse handling robotic arm includes a frame mechanism 1, a robotic arm mechanism 2 and a transfer mechanism 4. The robotic arm mechanism 2 includes a cross beam 201. A sliding seat 202 is slidably sleeved on the outer side of the cross beam 201. A motor seat 203 is fixedly installed at the bottom of the sliding seat 202. A rotating motor is arranged in the motor seat 203. A rotating shaft is fixedly installed on the output shaft of the rotating motor. A top plate 204 is fixedly installed at the bottom end of the rotating shaft. A lifting inner rod 206 and two hydraulic cylinders 205 are fixedly installed at the bottom of the top plate 204. A lifting cylinder 207 is vertically slidably sleeved on the outer side of the lifting inner rod 206. A bottom plate 208 is fixedly sleeved on the outer side of the lifting cylinder 207. One end of the hydraulic cylinder 205 is fixedly connected to the bottom plate 208. A bent frame 209 is fixedly installed at the bottom end of the lifting cylinder 207. A fork arm 210 is fixedly installed on one side of the bent frame 209. A servo motor 211 and a fixing plate are fixedly installed at the bottom of the cross beam 201. A fixed shaft is rotatably installed on one side of the fixing plate. Belt pulleys 212 are fixedly sleeved on the output shaft of the servo motor 211 and the outer side of the fixed shaft. The same conveyor belt 213 is drivingly installed on the two belt pulleys 212. The motor seat 203 is fixedly sleeved on the outer side of the conveyor belt 213.

[0037] In this embodiment, the frame mechanism 1 includes two main brackets 101. Mounting plates 215 are fixedly installed on the top plate 204 and one end of the cross beam 201. A column 102 is fixedly installed at the bottom of the main bracket 101 located at the rear side. The cross beam 201 is fixedly connected to the two main brackets 101 through the two mounting plates 215 respectively.

[0038] In this embodiment, guide rails 214 are fixedly installed on both the left and right sides of the cross beam 201. A plurality of guide wheels are rotatably installed on the inner walls of both the left and right sides of the sliding seat 202. The guide wheels are in rolling connection with the corresponding guide rails 214.

[0039] It should be noted that mounting holes are provided at the edges of the mounting plate 215, and the width of the mounting plate 215 is wider than that of the cross beam 201, so as to facilitate the fixed connection of the cross beam 201 and the main bracket with screws. The guide rail 214 is in an I shape, that is, there are sliding grooves at the top and bottom of the guide rail 214 to support or limit the guide wheels, improving the smoothness of the sliding of the sliding seat.

[0040] The working principle of this embodiment is as follows: through the cooperation of the servo motor 211, the belt pulley 212 and the conveyor belt 213, the motor base 203 is driven to move linearly along the cross beam 201, so as to adjust the front and rear positions of the robotic arm mechanism 2. When the robotic arm mechanism 2 reaches the designated position, the rotating motor is started, and the rotating motor drives the top plate 204 and the lifting cylinder 207 to rotate together, so as to drive the bending frame 209 and the fork arm 210 to rotate around the lifting cylinder 207 until it rotates below the transfer bin 403. Finally, two hydraulic cylinders 205 are started to drive the lifting cylinder 207 and the fork arm 210 to move up and down, so that the fork arm 210 abuts against the materials in the transfer bin 403, realizing the function of picking up the materials. Then, the fork arm 210 is reset through the above mechanism, and the function of transporting the materials can be realized. Embodiment Two

[0041] Referring to Figure 1 、 5 As shown in Figures 6, 7, and 8, this embodiment is an improvement based on Embodiment One. Two support plates 103 are fixedly installed on one side of the main bracket 101, and two portal frames 104 are fixedly installed between the two main brackets 101. A lifting mechanism 3 is arranged on the portal frame 104. The lifting mechanism 3 includes a double-shaft motor 301 and a conversion device. The conversion device includes a vertical cylinder 302. A vertical rod is slidably installed in the vertical cylinder 302. The transfer mechanism 4 includes two support frames 401. A connecting circular plate 304 is arranged at the bottom end of the vertical rod. A connecting head 402 is fixedly installed at the top of the support frame 401. The connecting circular plate 304 and the corresponding connecting head 402 are fixedly connected by bolts.

[0042] In this embodiment, the double-shaft motor 301 is fixedly connected to one side of the corresponding portal frame 104. Transmission rods 305 are fixedly installed on both output shafts of the double-shaft motor 301. A conversion shaft is rotatably installed in the conversion device. Chain wheels 303 are fixedly sleeved on the outer sides of the conversion shaft and the transmission rods 305. The same chain is installed on the two chain wheels 303 on the same side. A rack is arranged on the outer side of the vertical rod. A driving gear is fixedly sleeved on the outer side of the conversion shaft. The driving gear meshes with the corresponding rack.

[0043] It should be noted that the rotation of the conversion shaft is driven by the cooperation of the biaxial motor 301, the transmission rod 305, the sprocket 303 and the chain, and then the vertical movement of the vertical rod is driven by the cooperation of the conversion shaft, the driving gear and the rack. In this way, the support frame 401 and the transfer bin 403 are synchronously driven to move vertically from both sides, which not only runs smoothly, but also reduces the use of the controller compared with other existing lifting devices.

[0044] In this embodiment, the transfer mechanism 4 further includes a transfer bin 403. External frames 404 are arranged on the front and rear sides of the transfer bin 403. A turning shaft is fixedly installed on the external frame 404 and is rotatably connected to the corresponding support frame 401. A turning motor 405 is fixedly installed on one side of the support frame 401 at the rear side, and the output shaft of the turning motor 405 is fixedly connected to the corresponding turning shaft.

[0045] It should be noted that the transfer bin 403 can be used as a temporary storage point for materials, making the warehouse handling process more efficient and orderly. By placing the materials in the transfer bin 403 first, the handling path can be better planned and arranged, reducing chaos and errors during the handling process. In addition, the transfer bin 403 can also be used for quality inspection, sorting and distributing materials, thus improving the efficiency and accuracy of warehouse handling.

[0046] In this embodiment, two top frames are fixedly installed between the two external frames 404 on the same transfer bin 403. The tops of the two top frames on the same side are fixedly installed with the same electric push rod 406. The output end of the electric push rod 406 extends into the corresponding transfer bin 403 and is fixedly installed with a push plate. By driving the push rod to drive the push plate to move, it is convenient to push the materials out of the transfer bin 403 to prevent the materials from getting stuck in the transfer bin 403 and causing failure to discharge.

[0047] In this embodiment, extension frames 407 are arranged on the front and rear sides of the bottom of the transfer bin 403. A baffle 409 is slidably sleeved on the outside of the extension frame 407. An electric lead screw 408 is arranged at the bottom of the extension frame 407. The baffle 409 is threadedly connected to the corresponding electric lead screw 408. Two limit sleeves 410 are arranged at the bottom of the extension frame 407. The baffle 409 is arranged in a U shape. Two limit rods 411 are fixedly installed at the top of the baffle 409, and the limit rods 411 are slidably installed in the corresponding limit sleeves 410. By driving the baffle 409 to move back and forth through the electric push rod 406, the materials in the transfer bin 403 can be limited to prevent the materials from falling during the turning process.

[0048] The working principle of this embodiment is as follows: The double-shaft motor 301 drives the rotation of two transmission rods 305. The transmission rods 305 drive the rotation of the conversion shaft through the cooperation of the sprockets 303 and the chain. The conversion shaft drives the vertical rod in the vertical cylinder 302 to move vertically through the cooperation of the driving gear and the rack, thereby driving the support frame 401 and the transfer bin 403 to move up and down, adjusting the height of the transfer bin 403, facilitating subsequent feeding. The flipping motor 405 drives the flipping shaft to rotate, thereby driving the transfer bin 403 to rotate around the two flipping shafts. As shown in the attached drawings of the specification Figure 5 When the transfer bin 403 is placed vertically, it is convenient for storing materials. When the transfer bin 403 is placed horizontally, it is convenient for feeding. Through the cooperation of the two transfer bins 403 and the robotic arm, when the robotic arm takes materials from one transfer bin 403, the other transfer bin 403 can store materials simultaneously, improving the handling efficiency.

[0049] Finally, it should be noted that: Obviously, the above embodiments are only examples for clearly explaining the present invention, rather than limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. The obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. A warehouse handling robot arm, characterized in that: The invention comprises a frame mechanism (1), a mechanical arm mechanism (2) and a transfer mechanism (4), wherein the mechanical arm mechanism (2) comprises a crossbeam (201), an outer sliding sleeve of the crossbeam (201) is provided with a sliding seat (202), a motor seat (203) is fixedly mounted at the bottom of the sliding seat (202), a rotating motor is arranged inside the motor seat (203), a rotating shaft is fixedly mounted on the output shaft of the rotating motor, a top plate (204) is fixedly mounted at the bottom end of the rotating shaft, a lifting inner rod (206) and two hydraulic cylinders (205) are fixedly mounted at the bottom of the top plate (204), a lifting cylinder (207) is fixedly mounted on the outer vertical sliding sleeve of the lifting inner rod (206), and the lifting cylinder (207) is provided with a lifting cylinder (207). 07) is provided with a bottom plate (208) on the outer side of the fixed sleeve, one end of the hydraulic cylinder (205) is fixedly connected to the bottom plate (208), a bent frame (209) is fixedly installed on the bottom end of the lifting cylinder (207), a fork arm (210) is fixedly installed on one side of the bent frame (209), a servo motor (211) and a fixed plate are fixedly installed on the bottom of the crossbeam (201), a fixed shaft is rotatably installed on one side of the fixed plate, the output shaft of the servo motor (211) and the outer side of the fixed shaft are fixedly sleeved with pulleys (212), the same conveyor belt (213) is installed on the two pulleys (212), and the motor seat (203) is fixedly sleeved on the outer side of the conveyor belt (213); The transfer mechanism (4) further comprises a transfer bin (403), the front and rear sides of the transfer bin (403) are both provided with external frames (404), a flip shaft is fixedly mounted on the external frames (404), the flip shaft is rotationally connected to the corresponding support frame (401), a flip motor (405) is fixedly mounted on one side of the support frame (401) at the rear side, and the output shaft of the flip motor (405) is fixedly connected to the corresponding flip shaft; Two top racks are fixedly installed between two external racks (404) located on the same transfer bin (403); the tops of the two top racks located on the same side are fixedly installed with a same electric push rod (406); the output end of the electric push rod (406) extends into the corresponding transfer bin (403) and is fixedly installed with a push plate; Extension frames (407) are provided on both the front and rear sides of the bottom of the transfer warehouse (403); a baffle (409) is provided on the outer sliding sleeve of the extension frame (407); an electric screw (408) is provided at the bottom of the extension frame (407); the baffle (409) is threadedly connected to the corresponding electric screw (408); two limiting sleeves (410) are provided at the bottom of the extension frame (407); the baffle (409) is U-shaped; two limiting rods (411) are fixedly installed on the top of the baffle (409); the limiting rods (411) are slidably installed in the corresponding limiting sleeves (410).

2. A warehouse handling robot arm according to claim 1, characterized in that: The frame mechanism (1) comprises two main brackets (101), a top plate (204) and one end of the crossbeam (201) are fixedly mounted with a mounting plate (215), a column (102) is fixedly mounted on the bottom of the main bracket (101) located at the rear side, and the crossbeam (201) is fixedly connected to the two main brackets (101) via the two mounting plates (215).

3. A warehouse handling robot arm according to claim 1, characterized in that: Guide rails (214) are fixedly mounted on both left and right sides of the crossbeam (201), and a plurality of guide wheels are rotatably mounted on both left and right inner walls of the sliding seat (202), wherein the guide wheels are rollingly connected to the corresponding guide rails (214).

4. A warehouse handling robot arm according to claim 2, characterized in that: Two support plates (103) are fixedly mounted on one side of the main support (101), two gantry frames (104) are fixedly mounted between the two main supports (101), a lifting mechanism (3) is arranged on the gantry frame (104), the lifting mechanism (3) comprises a dual-axis motor (301) and a conversion device, the conversion device comprises a vertical cylinder (302), a vertical rod is slidably mounted in the vertical cylinder (302), the transfer mechanism (4) comprises two support frames (401), a connecting circular plate (304) is arranged at the bottom end of the vertical rod, a connecting head (402) is fixedly mounted on the top of the support frame (401), and the connecting circular plate (304) is fixedly connected to the corresponding connecting head (402) by bolts.

5. A warehouse handling robot arm according to claim 4, characterized in that: The dual-axis motor (301) is fixedly connected to one side of the corresponding gantry frame (104); a transmission rod (305) is fixedly mounted on both output shafts of the dual-axis motor (301); a conversion shaft is rotatably mounted in the conversion device; sprockets (303) are fixedly sleeved on the outer sides of the conversion shaft and the transmission rod (305); the same chain is transmission-mounted on the two sprockets (303) on the same side; a rack is arranged on the outer side of the vertical rod; a drive gear is fixedly sleeved on the outer side of the conversion shaft; and the drive gear is meshed with the corresponding rack.

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