Mechanical arm device for logistics sorting

Abstract

The invention relates to the technical field of mechanical arms, in particular to a mechanical arm device for logistics sorting, which comprises a mechanical arm and a mechanical arm clamping jaw, and the mechanical arm clamping jaw is provided with an anti-falling mechanism with a micro motor. According to the anti-falling mechanism for the logistics box, the micro motor arranged on the clamping jaw drives the dragging plate to rotate to the bottom of the logistics box, so that the logistics box clamped by the clamping jaw of the mechanical arm can be subjected to a four-side limiting effect, the situation that the logistics box falls off in the overturning process of the mechanical arm is avoided, and meanwhile, the anti-falling mechanism designed by the invention can prevent the logistics box from falling off. The mechanical arm clamping jaw is high in automation degree and novel in design, and solves the problem that an existing mechanical arm clamping jaw is unstable in clamping. According to the mechanical arm clamping jaw, the designed adjusting mechanism limits the position of the dragging plate through the positioning bolt, so that the mechanical arm clamping jaw can be suitable for logistics boxes with different heights, and the situation that due to the fact that the logistics boxes are too high, an existing mechanical arm clamping jaw clamps the too high logistics boxes, and clamping is not stable is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a mechanical arm device for logistics sorting. Background Art

[0002] A robotic arm refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof fields. The robotic arm is a complex system with uncertainties such as parameter perturbation, external interference, and unmodeled dynamics. Therefore, the modeling model of the robotic arm also has uncertainty. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space, so as to cascade to form the terminal posture. At present, with the continuous development of e-commerce, the scale of logistics development is also getting larger and larger. For logistics distribution centers, one of the most important and tedious tasks is to sort materials, so as to quickly and accurately pick up the goods from their storage locations or other locations according to customer order requirements or distribution plans, and classify and centrally process them in a certain way. At present, most of the logistics sorting work still needs to be done manually, which is extremely labor-intensive and inefficient.

[0003] The existing patent (publication number is CN113290544A) discloses a mechanical arm device for logistics sorting, including a conveying mechanism, a mechanical arm assembly, and a clamping assembly, and is characterized in that it also includes an angle adjustment assembly, a control assembly, a transfer assembly and an installation assembly; the conveying mechanism is used to convey logistics objects; the mechanical arm is used to connect with the clamping assembly and drive the clamping assembly to adjust. In the process of implementing this solution, the inventor found that the following problems in the prior art have not been well solved: the clamping mechanism is too complicated; the clamping mechanism is not easy to assemble and disassemble, and it is not easy to adjust for logistics boxes of different sizes. Therefore, the present invention designs a mechanical arm device for logistics sorting. Summary of the invention

[0004] The purpose of the present invention is to provide a mechanical arm device for logistics sorting to solve the problems raised in the above background technology. To achieve the above purpose, the present invention provides the following technical solutions: a mechanical arm device for logistics sorting, including a mechanical arm and a mechanical arm clamp. The working principle of the mechanical arm and the mechanical arm clamp belongs to the prior art, and its working principle is not repeated here. The mechanical arm clamp is provided with an anti-falling mechanism with a micro motor, and the clamp of the mechanical arm clamp is provided with an adjustment mechanism with a positioning bolt.

[0005] The anti-fall mechanism includes a micro motor, a first contact sensor is fixedly connected to the rotating end of the micro motor, the adjustment mechanism includes a slide rail, a slider is slidably connected to the slide rail, and a positioning bolt is horizontally passed through the slider; when the clamp clamps the logistics box, the second contact sensor on the clamp will feed back the signal to the controller, and the controller will stop for seconds and then control the two micro motors to work. The above operation avoids the disadvantage that even if the micro motor works after the clamp contacts the logistics box, that is, it prevents the drag plate from touching the conveyor belt on the logistics box, and the micro motor cannot work after the mechanical arm is lifted; at the same time, each working stroke of the mechanical arm is consistent. Seconds before the mechanical arm completes a working stroke, the controller will control the two micro motors to reset. The working state of the two micro motors at this time is to drive the two drag plates to be parallel to the two clamps. At the same time, the two micro motors drive the two drag plates to rotate in a direction that avoids the two clamps.

[0006] Preferably, a fixed shaft is rotatably mounted on the first driving arm of the robotic arm, a robotic arm clamp is rotatably connected to the fixed shaft, the robotic arm clamp consists of a plurality of clamp sections, a group of symmetrical robotic arm clamps are mounted on the circumferential outer wall of the fixed shaft, and the robotic arm is externally connected to a power supply.

[0007] Preferably, the clamping jaws on a group of the mechanical arm clamping jaws are symmetrically fixedly connected to the slide rails, the corresponding two sides of the slide rails are penetrated by through grooves, the corresponding two sides of the outer walls of the slide rails are fixedly connected with connecting plates, the connecting plates are threadedly connected with fastening bolts, threaded holes are opened on the two clamping jaws, and multiple fastening bolts are threadedly connected to the clamping jaws, and the two ends of the positioning bolts are against the through grooves on the corresponding two sides of the slide rails.

[0008] Preferably, both of the slide rails are provided with slide grooves, and both of the slide grooves of the slide rails are slidably connected with sliders, and the bottom surfaces of the sliders are vertically fixedly connected with connecting rods, and the sides of the two connecting rods away from the sliders are fixedly connected to a chassis, and both of the chassis are fixedly installed with micro motors, and the two micro motors are micro forward and reverse motors, and both of the two micro forward and reverse motors are externally connected to power supplies through wires, and the wires are embedded in the robot arm clamps, the clamps and the robot arm.

[0009] Preferably, the fixed ends of the two micromotors are fixedly connected to a drag plate, and a first contact sensor is embedded in the two drag plates, and the top surface of the first contact sensor and the top surface of the drag plate are parallel to a straight line. A group of the robotic arm clamps and two drag plates are placed with logistics boxes, and the logistics boxes are placed on a conveyor belt, and the conveyor belt is connected to an external power supply; the designed robotic arm is mainly used to sort the logistics boxes on the conveyor belt in the logistics.

[0010] Preferably, a second contact sensor is embedded in both of the two clamping jaws, and the second contact sensor and the first contact sensor are electrically connected to the controller.

[0011] Preferably, the robotic arm comprises a base, a fixed base, a rotating column, a mounting column, a first driving arm and a second driving arm, the base is equipped with a fixed base, the fixed base is vertically equipped with a rotating column, the rotating column is rotatably equipped with a mounting column, the second driving arm is fixedly welded to the mounting column, the second driving arm is rotatably connected to the first driving arm, and the base is fixedly equipped with a controller, which is connected to an external power supply; the base is used to install and fix the robotic arm.

[0012] Preferably, the length of the connecting rod is four fifths of the length of the slide rail, and the projection of the carriage in the vertical direction is an "L"-shaped structure.

[0013] A method for using a mechanical arm device for logistics sorting, the method steps are as follows;

[0014] In the first step, when a group of mechanical arm claws clamp the logistics box, the second contact sensor will transmit a signal to the controller, and the controller will transmit the signal to the two micro motors to work, and the two micro motors will rotate together in the direction of the logistics box. When the two drag plates touch the logistics box, the first contact sensor touches the logistics box at the same time, and the logistics box will transmit a signal to the controller, and the controller will control the micro motor to continue working, as shown in the figure attached to the specification, which is the working state of the drag plate holding the logistics box. The above operation avoids the disadvantage of causing the logistics box to fall during the process of the mechanical arm claws clamping the logistics box. The micro motor designed by the present invention drives the drag plate to rotate, which has the advantage of electrified automatic operation, and can also effectively prevent the suction cup set on the existing mechanical arm or the mechanical arm claws from clamping the unstable logistics box from falling.

[0015] Step 2: When clamping logistics boxes of different heights, the user only needs to use a tool to unscrew the positioning bolts so that the slider can slide up and down in the slide rail. The slider drives the connecting rod, chassis and micro motor to move up or down synchronously. When the adjusted angle meets the use status of the logistics box, the user only needs to tighten the positioning bolts again with a tool, thereby avoiding the disadvantage of the slider, connecting rod, chassis and micro motor sliding down. At the same time, the above operation is convenient for working on logistics boxes of different heights, and has the advantage of high flexibility.

[0016] Step 3: When installing the slide rail onto the clamp, you only need to use a tool to tighten the fastening bolt into the threaded hole on the clamp, which facilitates the fixation of the clamp and the slide rail and has the advantage of easy disassembly and assembly.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] In the present invention, a micro motor arranged on the clamp drives the drag plate to rotate to the bottom of the logistics box, so that the logistics box clamped by the clamp of the robotic arm can be limited on four sides, which not only avoids the logistics box from falling during the flipping process of the robotic arm, but also the anti-fall mechanism designed by the present invention has a high degree of automation and novel design, and solves the problem of unstable clamping of the existing robotic arm clamp.

[0019] In the present invention, the designed adjustment mechanism limits the position of the drag plate by means of positioning bolts, so that it can be applicable to logistics boxes of different heights, thus avoiding the situation where the logistics box is too high, resulting in unstable clamping of the existing mechanical arm clamp due to the logistics box being too high. At the same time, the present invention has the advantages of being smart in design and applicable to logistics boxes of different heights, and having the advantage of being simple to operate. At the same time, the adjustment mechanism is installed on the clamp by tightening the bolts, which facilitates the installation and disassembly of the mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the structure of the fixed shaft and the adjustment mechanism in the present invention;

[0022] Figure 3 It is a schematic diagram of the structure of the fixed shaft, the adjustment mechanism and the logistics box in the present invention;

[0023] Figure 4 It is a schematic diagram of the structure of the clamping jaws, the adjusting mechanism and the anti-falling mechanism in the present invention;

[0024] Figure 5 For the present invention Figure 2 Schematic diagram of the local enlarged structure at A.

[0025] In the figure: 1. Robotic arm; 101. Fixed axis; 102. Base; 103. Fixed seat; 104. Rotating column; 105. Mounting column; 106. First driving arm; 107. Second driving arm; 2. Robotic arm clamp; 201. Clamp; 3. Slide rail; 301. Through slot; 4. Connecting plate; 5. Fastening bolt; 6. Positioning bolt; 7. Sliding block; 8. Connecting rod; 9. Chassis; 10. Micro motor; 11. Drag board; 12. First contact sensor; 13. Second contact sensor; 14. Controller; 15. Logistics box; 16. Conveyor belt. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technical staff in this field without creative work are within the scope of protection of the present invention.

[0027] See also Figures 1 to 5 The present invention provides a technical solution: a mechanical arm device for logistics sorting, including a mechanical arm 1 and a mechanical arm clamp 2. The working principles of the mechanical arm 1 and the mechanical arm clamp 2 belong to the prior art, and their working principles are not described in detail here. The mechanical arm clamp 2 is provided with an anti-fall mechanism with a micro motor 10, and the clamp 201 of the mechanical arm clamp 2 is provided with an adjustment mechanism with a positioning bolt 6.

[0028] The anti-fall mechanism includes a micro motor 10, a first contact sensor 12 is fixedly connected to the rotating end of the micro motor 10, the adjustment mechanism includes a slide rail 3, a slider 7 is slidably connected to the slide rail 3, and a positioning bolt 6 is horizontally passed through the slider 7; when the clamp 201 clamps the logistics box 15, the second contact sensor 13 on the clamp 201 will feed back the signal to the controller 14, and the controller 14 will stop for 1 second and then control the two micro motors 10 to work. The above operation avoids the situation that when the clamp 201 contacts the logistics box 15, even if The micro motor 10 works, that is, preventing the carriage 11 from touching the conveyor belt on the logistics box 15, and cannot ensure that the micro motor 10 works only after the robotic arm 1 is lifted; at the same time, each working stroke of the robotic arm 1 is consistent. 2 seconds before the robotic arm 1 completes a working stroke, the controller 14 will control the two micro motors 10 to reset. The working state of the two micro motors 10 at this time is to drive the two carriages 11 to be parallel to the two clamps 201. At the same time, the two micro motors 10 drive the two carriages 11 to rotate in a direction that avoids the two clamps 201.

[0029] In this embodiment, Figure 1 Figure and Figure 2 As shown, a fixed shaft 101 is rotatably mounted on the first driving arm 106 of the robotic arm 1, and a robotic arm clamp 2 is rotatably connected to the fixed shaft 101. The robotic arm clamp 2 is composed of a plurality of clamp sections 201. A group of symmetrical robotic arm clamps 2 are mounted on the circumferential outer wall of the fixed shaft 101, and the robotic arm 1 is externally connected to a power supply.

[0030] In this embodiment, Figures 1 to 5As shown, the jaws 201 on a group of the mechanical arm jaws 2 are symmetrically fixedly connected to the slide rails 3, and the corresponding two sides of the slide rails 3 are penetrated with through grooves 301, and the corresponding two sides of the outer walls of the slide rails 3 are fixedly connected with connecting plates 4, and the connecting plates 4 are threadedly connected with fastening bolts 5, and threaded holes are opened on the two jaws 201, and multiple fastening bolts 5 are threadedly connected to the jaws 201, and the two ends of the positioning bolts 6 are against the through grooves 301 on the corresponding two sides of the slide rail 3.

[0031] In this embodiment, Figures 1 to 5 As shown, the two slide rails 3 are provided with slide grooves, the slide grooves of the two slide rails 3 are slidably connected with sliders 7, the bottom surfaces of the sliders 7 are vertically fixedly connected with connecting rods 8, the two connecting rods 8 are fixedly connected with chassis 9 on one side away from the sliders 7, and micro motors 10 are fixedly installed in the two chassis 9, the two micro motors 10 are micro forward and reverse motors, and the two micro forward and reverse motors are externally connected to power supplies through wires, and the wires are embedded in the robot arm jaws 2, jaws 201 and robot arm 1.

[0032] In this embodiment, Figures 1 to 5 As shown, the fixed ends of the two micromotors 10 are fixedly connected to a carriage 11, and the first contact sensors 12 are embedded in the two carriages 11. The top surface of the first contact sensor 12 and the top surface of the carriage 11 are parallel to a straight line. A logistics box 15 is placed on a group of the robot arm grippers 2 and the two carriages 11. The logistics box 15 is placed on a conveyor belt 16, and the conveyor belt 16 is connected to an external power supply. The designed robot arm 1 is mainly used to sort the logistics boxes 15 on the conveyor belt in the logistics.

[0033] In this embodiment, Figures 1 to 5 As shown, the two clamping jaws 201 are both embedded with a second contact sensor 13 , and the second contact sensor 13 and the first contact sensor 12 are both electrically connected to the controller 14 .

[0034] In this embodiment, Figures 1 to 5 As shown, the robotic arm 1 includes a base 102, a fixed base 103, a rotating column 104, a mounting column 105, a first driving arm 106 and a second driving arm 107. The fixed base 103 is installed on the base 102, the rotating column 104 is vertically installed on the fixed base 103, the mounting column 105 is rotatably installed on the rotating column 104, the second driving arm 107 is fixedly welded on the mounting column 105, the first driving arm 106 is rotatably connected to the second driving arm 107, and a controller 14 is fixedly installed on the base 102, and the controller 14 is externally connected to a power supply; the base 102 is used to install and fix the robotic arm 1.

[0035] In this embodiment, Figures 1 to 5 As shown, the length of the connecting rod 8 is four fifths of the length of the slide rail 3 , and the projection of the carriage 11 in the vertical direction is an “L”-shaped structure.

[0036] The use method and advantages of the present invention: When the mechanical arm device is in use, the working process is as follows:

[0037] like Figures 1 to 5 As shown, when a group of robot arm grippers 2 clamp the logistics box 15, the second contact sensor 13 will transmit a signal to the controller 14, and the controller 14 will transmit a signal to the two micro motors 10 to work, and the two micro motors 10 will rotate together in the direction of the logistics box 15. When the two drag plates 11 contact the logistics box 15, the first contact sensor 12 contacts the logistics box 15 at the same time, and the logistics box 15 will transmit a signal to the controller 14, and the controller 14 will control the micro motor 10 to continue working, as shown in the accompanying drawings of the specification Figure 1 As shown, the working state of the carriage 11 holding the logistics box 15 is achieved. The above operation avoids the disadvantage of the logistics box 15 falling off when the robot arm clamp 2 clamps the logistics box 15. The micro motor 10 designed in the present invention drives the carriage 11 to rotate, which has the advantage of electrified automatic operation. At the same time, it can also effectively prevent the suction cup set on the existing robot arm 1 or the robot arm clamp 2 from clamping the logistics box 15 unstably and causing it to fall off.

[0038] When clamping logistics boxes 15 of different heights, the user only needs to use a tool to unscrew the positioning bolt 6 so that the slider 7 can slide up and down in the slide rail 3. The slider 7 drives the connecting rod 8, the chassis 9 and the micro motor 10 to move up or down synchronously. When the adjusted angle is in line with the use status of the logistics box 15, the user only needs to tighten the positioning bolt 6 again with a tool, thereby avoiding the disadvantage of the slider 7, the connecting rod 8, the chassis 9 and the micro motor 10 sliding down. At the same time, the above operation is convenient for working on logistics boxes 15 of different heights, and has the advantage of high flexibility.

[0039] When installing the slide rail 3 on the clamp 201, it is only necessary to use a tool to tighten the fastening bolt 5 into the threaded hole on the clamp 201, which facilitates the fixation of the clamp 201 and the slide rail 3 and has the advantage of being easy to disassemble and assemble.

[0040] The above shows and describes the basic principles, main features and advantages of the present invention. Technical personnel in this industry should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A mechanical arm device for logistics sorting, characterized by: It comprises a mechanical arm (1) and a mechanical arm clamp (2), wherein the mechanical arm clamp (2) is provided with an anti-falling mechanism having a micro motor (10), and the clamp (201) of the mechanical arm clamp (2) is provided with an adjustment mechanism having a positioning bolt (6); The anti-fall mechanism comprises a micro motor (10), a first contact sensor (12) is fixedly connected to the rotating end of the micro motor (10), and the adjustment mechanism comprises a slide rail (3), a slider (7) is slidably connected to the slide rail (3), and a positioning bolt (6) is horizontally passed through the slider (7).

2. A logistics sorting robot arm device according to claim 1, characterized in that: A fixed shaft (101) is rotatably mounted on the first driving arm (106) of the mechanical arm (1), and a mechanical arm clamp (2) is rotatably connected to the fixed shaft (101). The mechanical arm clamp (2) is composed of a plurality of clamp sections (201). A group of symmetrical mechanical arm clamps (2) are mounted on the circumferential outer wall of the fixed shaft (101), and the mechanical arm (1) is externally connected to a power supply.

3. A logistics sorting robot arm device according to claim 1, characterized in that: The clamping jaws (201) on a group of the mechanical arm clamping jaws (2) are symmetrically fixedly connected to the slide rail (3), and the corresponding two sides of the slide rail (3) are penetrated by through grooves (301), and the corresponding two sides of the outer walls of the slide rail (3) are fixedly connected with connecting plates (4), and the connecting plates (4) are threadedly connected with fastening bolts (5), and the two clamping jaws (201) are provided with threaded holes, and multiple fastening bolts (5) are threadedly connected to the clamping jaws (201), and the two ends of the positioning bolts (6) are against the through grooves (301) on the corresponding two sides of the slide rail (3).

4. A logistics sorting robot arm device according to claim 1, characterized in that: The two slide rails (3) are each provided with a slide groove, and a slider (7) is slidably connected in the slide groove of the two slide rails (3), and the bottom surface of the slider (7) is vertically fixedly connected with a connecting rod (8), and the side of the two connecting rods (8) away from the slider (7) is fixedly connected to a chassis (9), and micro motors (10) are fixedly installed in the two chassis (9), and the two micro motors (10) are micro forward and reverse motors. The two micro forward and reverse motors are both connected to an external power supply through wires, and the wires are embedded in the robot arm clamp (2), the clamp (201) and the robot arm (1).

5. A logistics sorting robot arm device according to claim 4, characterized in that: The fixed ends of the two micromotors (10) are fixedly connected to a carriage (11), and a first contact sensor (12) is embedded in the two carriages (11). The top surface of the first contact sensor (12) and the top surface of the carriage (11) are parallel to a straight line. A logistics box (15) is placed on a set of the mechanical arm grippers (2) and the two carriages (11), and the logistics box (15) is placed on a conveyor belt (16), and the conveyor belt (16) is externally connected to a power supply.

6. A logistics sorting robot arm device according to claim 1, characterized in that: The two clamping jaws (201) are both embedded with a second contact sensor (13), and the second contact sensor (13) and the first contact sensor (12) are both electrically connected to a controller (14).

7. A logistics sorting robot arm device according to claim 1, characterized in that: The robot arm (1) comprises a base (102), a fixed base (103), a rotating column (104), a mounting column (105), a first driving arm (106) and a second driving arm (107); the fixed base (103) is mounted on the base (102); the rotating column (104) is vertically mounted on the fixed base (103); the mounting column (105) is rotatably mounted on the rotating column (104); the second driving arm (107) is fixedly welded to the mounting column (105); the first driving arm (106) is rotatably connected to the second driving arm (107); a controller (14) is fixedly mounted on the base (102); and the controller (14) is externally connected to a power supply.

8. A logistics sorting robot arm device according to claim 5, characterized in that: The length of the connecting rod (8) is four fifths of the length of the slide rail (3), and the projection of the carriage (11) in the vertical direction is an "L"-shaped structure.

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