Logistics carrying manipulator grabbing device

Abstract

The invention discloses a logistics carrying manipulator grabbing device, and relates to the field of logistics equipment.The logistics carrying manipulator grabbing device comprises a mounting top plate, a plurality of mounting blocks are arranged on the periphery of the bottom of the mounting top plate, guide blocks are arranged at the tops of the mounting blocks, guide grooves matched with the guide blocks are formed in the bottom of the mounting top plate, and the guide grooves intersect at the center of the mounting top plate; a sensing device body is arranged below the intersection of the bottom of the mounting top plate and the guide grooves, and a center rotating shaft is arranged at the top of the sensing device body and rotationally connected with the mounting top plate. During carrying operation, the logistics manipulator gets close to goods, the sensing head of the sensing device firstly makes contact with the goods to detect the material of the goods, pressure change is transmitted to the first conductor and the second conductor on the mounting plate through the sensing rod, and the system accurately judges the characteristics of the goods according to the pressure change, so that the grabbing success rate is greatly increased; the safety and completeness of the goods in the carrying process are ensured, the logistics loss cost is reduced, and the logistics service quality is improved.

Description

Technical Field

[0001] The invention relates to the field of logistics equipment, and in particular to a logistics handling manipulator grasping device. Background Art

[0002] With the booming development of the modern logistics industry, the degree of automation and efficiency of cargo handling have become key competitive advantages. With the rapid rise of e-commerce and the large-scale development of the manufacturing industry, the cargo throughput of logistics centers has increased dramatically, which has put forward higher requirements for the accuracy, adaptability and intelligence level of the handling manipulator gripping device. Efficient and accurate gripping equipment can speed up the sorting and transportation of goods, reduce labor costs, and improve the overall efficiency of logistics operations to meet the growing market demand and the service commitment of fast delivery.

[0003] There are many problems with the current logistics handling manipulator grasping devices on the market. The clamping structure of many grasping devices is relatively fixed and single, and cannot flexibly adapt to goods of different shapes, sizes and materials, which limits their scope of application. In addition, some devices lack effective sensing and feedback mechanisms, making it difficult to accurately judge the position and status of the goods during the grasping process, and are prone to unstable grasping, falling and damaging goods. In addition, some devices have limited adjustment functions, making it difficult to quickly and accurately adjust the clamping spacing and angles, resulting in low work efficiency and unable to meet the high-speed, efficient and high-precision operation requirements of modern logistics.

[0004] Traditional logistics handling robot gripping devices usually pre-set fixed spacing and angles of the clamping device according to the approximate size of common goods. In actual operation, the gripping device is moved to the top of the goods by the movement of the robot arm, and then the gripping action is performed directly. There is a lack of effective identification and response measures for the material and specific shape of the goods, and a unified gripping force and method are often used. Moreover, during the gripping process, if the position of the goods is slightly deviated or the shape is irregular, the gripping strategy cannot be automatically adjusted in time, and manual intervention or re-operation is required, which seriously affects the handling efficiency and accuracy of the operation.

[0005] The lack of flexibility in gripping in existing technologies means that when faced with diverse goods, either the gripping cannot be done or the gripping effect is poor, causing damage to the goods and interruption of the logistics process, increasing operating costs and the risk of customer complaints. The lack of a precise sensing feedback mechanism leads to inaccurate gripping positions, which can easily lead to safety accidents and also reduce the accuracy and efficiency of cargo handling. The limitations of the adjustment function make it difficult to quickly adapt to different goods and cannot meet the rapidly changing operating scenarios in the logistics industry, hindering the further development of logistics automation and intelligent upgrades. Summary of the invention

[0006] Based on this, the purpose of the present invention is to provide a logistics handling robot grasping device to solve the technical problems of the prior art such as inflexible clamping, inaccurate sensing and inconvenient adjustment.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a logistics handling robot grasping device, comprising a mounting top plate, a plurality of mounting blocks are arranged around the bottom of the mounting top plate, a guide block is arranged on the top of the mounting block, a guide groove is provided at the bottom of the mounting top plate to cooperate with the guide block, and the plurality of guide grooves intersect at the center of the mounting top plate, a sensing device body is arranged at the bottom of the mounting top plate below the intersection of the guide grooves, a central rotating shaft is arranged on the top of the sensing device body, the central rotating shaft is rotatably connected to the mounting top plate, a connecting rope is arranged on the central rotating shaft, and the other end of the connecting rope is connected to the guide block, a connecting block is arranged on the mounting top plate to cooperate with the central rotating shaft, and a control device is arranged on the top of the connecting block to control the central rotating shaft.

[0008] By adopting the above technical solution, the guide blocks are moved in coordination with the provided guide grooves, and the connecting ropes are driven to rotate in coordination with the central rotating shaft, thereby driving a plurality of guide blocks to move synchronously.

[0009] The present invention is further configured such that a connecting piece is rotatably provided at the bottom of the mounting block, a first connecting rod is provided at the bottom of the connecting piece, the other end of the first connecting rod is connected to the second connecting rod, the other end of the second connecting rod is connected to a clamping device, the clamping device comprises a connecting shaft, a first clamping device, a second clamping device and a third clamping device are provided at a certain angle on the connecting shaft, a telescopic device is provided on the connecting shaft to cooperate with the first clamping device, and a connecting port is provided on one side of the connecting shaft to cooperate with the first clamping device.

[0010] By adopting the above technical solution, it is possible to adjust different clamping devices to clamp objects according to different clamping requirements.

[0011] The present invention is further configured such that a cavity structure is configured inside the main body of the sensing device, a mounting plate is movably provided inside the main body of the sensing device, a first conductor is provided on the top of the mounting plate, a second conductor is provided on the top of the main body of the sensing device, a sensing rod is provided on the bottom of the mounting plate, the other end of the sensing rod extends outside the main body of the sensing device, and a sensing head is provided on the bottom of the sensing rod.

[0012] By adopting the above technical solution, the characteristics of the object to be clamped are detected by the sensing device, so that the clamping device is adjusted according to actual needs.

[0013] The present invention is further configured such that a second spring is provided on the top of the mounting plate, and the second spring is connected to the top of the induction device body.

[0014] By adopting the above technical solution, the auxiliary sensing device is reset, and after completing the measurement of one object, the measurement of the next object continues.

[0015] The present invention is further configured such that the guide groove cooperates with the guide block to be provided with a first spring, and the first spring is provided on a side of the guide block away from the connecting rope.

[0016] By adopting the above technical solution, the connecting rope is assisted in resetting, so that the reeling distance of the connecting rope can be adjusted according to different clamping requirements.

[0017] The present invention is further configured that the guide block is provided with a connecting buckle to cooperate with the connecting rope

[0018] By adopting the above technical solution, the connection between the guide block and the connecting rope is realized, and the movement of the guide block is controlled and the position of the clamping claw is adjusted by winding the connecting rope.

[0019] The present invention is further configured that one side of the connecting member is provided with a control shaft in cooperation with the first connecting rod.

[0020] By adopting the above technical solution, the angle of the rotating shaft can be adjusted by controlling the rotating shaft to clamp different objects.

[0021] In summary, the present invention mainly has the following beneficial effects:

[0022] 1. During the handling operation, the logistics manipulator approaches the goods, and the induction head of the induction device first contacts the goods to detect their material. The pressure change is transmitted to the first conductor and the second conductor on the mounting plate through the induction rod. The system accurately judges the characteristics of the goods based on this, and then selects an appropriate clamping device, such as a first clamping device, a second clamping device or a third clamping device, and adjusts its position through the telescopic device. This intelligent sensing mechanism can effectively avoid damage to the goods caused by improper grasping, greatly improves the success rate of grasping, ensures the safety and integrity of the goods during the handling process, reduces logistics loss costs, and improves the quality of logistics services;

[0023] 2. When it is necessary to transport goods of different sizes, the control device of the present invention is activated to drive the central shaft to rotate, thereby reeling in the connecting rope. The connecting rope drives the guide block to move in the guide groove, so that the connecting structure composed of the connecting piece at the bottom of the mounting block, the first connecting rod and the second connecting rod is adjusted accordingly, thereby changing the spacing and angle between the clamping devices. The entire adjustment process is rapid and accurate, and can quickly adapt to the diverse size requirements of goods, reducing the time for complex manual adjustments of equipment due to frequent changes of goods, significantly improving the overall operating efficiency of logistics handling, and helping logistics companies to efficiently cope with large-scale and diversified cargo handling tasks and enhance market competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a bottom view of the overall structure of the present invention;

[0026] Figure 3 It is a schematic diagram of the structure of the clamping arm of the present invention;

[0027] Figure 4 It is a side view of the clamping arm of the present invention;

[0028] Figure 5 It is a schematic diagram of the installation top plate structure of the present invention;

[0029] Figure 6 It is a schematic diagram of the main structure of the sensing device of the present invention.

[0030] In the figure: 1. Install the top plate; 2. Control device; 3. Connecting block; 4. Mounting block; 5. Connecting piece; 6. Control shaft; 7. First connecting rod; 8. Second connecting rod; 9. First clamping device; 10. Telescopic device; 11. Guide block; 12. Second clamping device; 13. Connecting port; 14. Third clamping device; 15. Guide groove; 16. Sensing device body; 17. Connecting shaft; 18. Sensing head; 19. Sensing rod; 20. First spring; 21. First conductor; 22. Second spring; 23. Center shaft; 24. Connecting rope; 25. Connecting buckle; 26. Second conductor; 27. Mounting plate. DETAILED DESCRIPTION

[0031] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0032] The following describes an embodiment of the present invention based on its overall structure.

[0033] A logistics handling manipulator grasping device, such as Figure 1-6As shown, it includes a mounting top plate 1, a plurality of mounting blocks 4 are arranged around the bottom of the mounting top plate 1, a guide block 11 is arranged on the top of the mounting block 4, a guide groove 15 is opened at the bottom of the mounting top plate 1 to cooperate with the guide block 11, and the plurality of guide grooves 15 intersect at the center of the mounting top plate 1, a sensing device body 16 is arranged below the intersection of the guide grooves 15 at the bottom of the mounting top plate 1, a central rotating shaft 23 is arranged on the top of the sensing device body 16, the central rotating shaft 23 is rotatably connected to the mounting top plate 1, a connecting rope 24 is arranged on the central rotating shaft 23, and the other end of the connecting rope 24 is connected to the guide block 11, the mounting top plate 1 is provided with a connecting block 3 to cooperate with the central rotating shaft 23, and a control device 2 is arranged on the top of the connecting block 3 to control the central rotating shaft 23, and the connecting rope 24 is controlled to be retracted by rotating the central rotating shaft 24, thereby driving the guide block 11 to move in the guide groove 15, controlling the movement of the entire clamping device, and adjusting the interval between the clamping devices according to different objects to adapt to different products.

[0034] Furthermore, a connecting piece 5 is rotatably provided at the bottom of the mounting block 4, a first connecting rod 7 is provided at the bottom of the connecting piece 5, the other end of the first connecting rod 7 is connected to the second connecting rod 8, the other end of the second connecting rod 8 is connected to the clamping device, a control shaft 6 is provided on one side of the connecting piece 5 to cooperate with the first connecting rod 7, the clamping device includes a connecting shaft 17, a first clamping device 9, a second clamping device 12 and a third clamping device 14 are provided on the connecting shaft 17 at a certain angle, a telescopic device 10 is provided on the connecting shaft 17 to cooperate with the first clamping device 9, a connecting port 13 is provided on one side of the connecting shaft 17 to cooperate with the first clamping device 9, and the first clamping device 9, the second clamping device 12 and the third clamping device 14 are adjusted by the connecting shaft 17 Angle, according to the actual use requirements, the corresponding clamping device is adjusted for clamping. In coordination with this, the sensing device body 16 is set into a cavity structure, and a mounting plate 27 is movably arranged in the sensing device body 16. A first conductor 21 is arranged on the top of the mounting plate 27, and a second conductor 26 is arranged on the top of the sensing device body 16. A sensing rod 19 is arranged at the bottom of the mounting plate 27, and the other end of the sensing rod 19 extends outside the sensing device body 16. A sensing head 18 is arranged at the bottom of the sensing rod 19. The sensing head is mainly used to detect the material. The first conductor 21 and the second conductor 26 are arranged to test the change in pressure generated when the sensing rod 19 contacts the object. Combined with the sensing head, the material of the logistics item is judged to select the corresponding clamping device.

[0035] Furthermore, a second spring 22 is provided on the top of the mounting plate 27, and the second spring 22 is connected to the top of the sensing device body 16. After the detection of an object is completed, the mounting plate 27 is reset by the second spring 22, so as to perform the next measurement.

[0036] The guide groove 15 is provided with a first spring 20 in cooperation with the guide block 11. The first spring 20 is arranged on a side of the guide block 11 away from the connecting rope 24. Through the first spring 20, the guide block 11 is reset after losing control of the connecting rope 24. The guide block 11 is provided with a connecting buckle 25 in cooperation with the connecting rope 24. The connection between the guide block 11 and the connecting rope 24 is achieved through the connecting buckle 25.

[0037] In actual use, first conduct a comprehensive inspection of the logistics handling manipulator grasping device to ensure that the mounting top plate 1 is firmly installed on the manipulator arm and that all components are tightly connected without looseness. Check whether there are any debris in the guide groove 15 that hinders the movement of the guide block 11, whether the connecting rope 24 is intact and firmly connected, whether the control device 2 can normally control the rotation of the central shaft 23, and whether all components in the induction device body 16 are working normally, including the first conductor 21, the second conductor 26, the induction rod 19 and the induction head 18, etc., to ensure that the equipment is in good operating condition;

[0038] When the robot approaches the cargo to be transported, the induction head 18 of the induction device body 16 first contacts the cargo surface. As the contact occurs, the induction rod 19 is pressed upward to push the mounting plate 27, and the distance and pressure relationship between the first conductor 21 on the mounting plate 27 and the second conductor 26 at the top of the induction device body 16 changes. Based on this change, combined with the preliminary detection of the cargo material by the induction head 18, the system automatically determines the material characteristics and approximate shape of the cargo, and thus selects a suitable clamping device, such as the first clamping device 9, the second clamping device 12 or the third clamping device 14.

[0039] According to the selected clamping device, the control device 2 is started, driving the central shaft 23 to rotate, and the connecting rope 24 on the central shaft 23 is wound or loosened accordingly. When the connecting rope 24 is wound, the guide block 11 is pulled to move in the guide groove 15, driving the connection structure composed of the mounting block 4 and the connecting member 5 below, the first connecting rod 7 and the second connecting rod 8 to extend or contract accordingly, thereby adjusting the interval between the clamping devices to match the size of the goods. At the same time, the angles of the first clamping device 9, the second clamping device 12 and the third clamping device 14 are adjusted by connecting the shaft 17 and the telescopic device 10 provided in conjunction with the first clamping device 9 to ensure that the goods can be accurately grasped.

[0040] After the adjustment of the gripping device is completed, the manipulator continues to descend so that the selected gripping device is in close contact with the surface of the goods, and then the gripping device firmly clamps the goods through the telescopic device 10 or other driving mechanism. After confirming that the goods are stably grasped, the manipulator moves the goods to the designated location, such as a shelf, a transport vehicle, etc., according to the preset path.

[0041] When the goods are placed at the destination, the clamping device releases the goods, the control device 2 reverses the central shaft 23, loosens the connecting rope 24, and the guide block 11 returns to the initial position under the action of the first spring 20 in the guide groove 15, thereby driving the clamping device to reset. At the same time, the mounting plate 27 in the sensing device body 16 also returns to its original position under the action of the second spring 22, ready for the next cargo detection and grabbing operation.

[0042] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contributions as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A logistics handling robot grasping device, comprising a mounting top plate (1), characterized in that: A plurality of mounting blocks (4) are arranged around the bottom of the mounting top plate (1), a guide block (11) is arranged on the top of the mounting block (4), a guide groove (15) is provided at the bottom of the mounting top plate (1) to cooperate with the guide block (11), and the plurality of guide grooves (15) intersect at the center of the mounting top plate (1), a sensing device body (16) is arranged at the bottom of the mounting top plate (1) below the intersection of the guide grooves (15), a central rotating shaft (23) is arranged on the top of the sensing device body (16), the central rotating shaft (23) is rotatably connected to the mounting top plate (1), a connecting rope (24) is arranged on the central rotating shaft (23), and the other end of the connecting rope (24) is connected to the guide block (11), a connecting block (3) is arranged on the mounting top plate (1) to cooperate with the central rotating shaft (23), and a control device (2) is arranged on the top of the connecting block (3) to control the central rotating shaft (23).

2. A logistics handling manipulator grasping device according to claim 1, characterized in that: A connecting member (5) is rotatably provided at the bottom of the mounting block (4), a first connecting rod (7) is provided at the bottom of the connecting member (5), the other end of the first connecting rod (7) is connected to a second connecting rod (8), the other end of the second connecting rod (8) is connected to a clamping device, the clamping device comprises a connecting shaft (17), a first clamping device (9), a second clamping device (12) and a third clamping device (14) are provided on the connecting shaft (17) at a certain angle, a telescopic device (10) is provided on the connecting shaft (17) to cooperate with the first clamping device (9), and a connecting port (13) is provided on one side of the connecting shaft (17) to cooperate with the first clamping device (9).

3. A logistics handling manipulator grasping device according to claim 1, characterized in that: The induction device body (16) is configured as a cavity structure, a mounting plate (27) is movably provided in the induction device body (16), a first conductor (21) is provided at the top of the mounting plate (27), a second conductor (26) is provided at the top of the induction device body (16), a sensing rod (19) is provided at the bottom of the mounting plate (27), the other end of the sensing rod (19) extends outside the induction device body (16), and a sensing head (18) is provided at the bottom of the sensing rod (19).

4. A logistics handling manipulator grasping device according to claim 1, characterized in that: A second spring (22) is arranged on the top of the mounting plate (27), and the second spring (22) is connected to the top of the induction device body (16).

5. The logistics handling manipulator grasping device according to claim 1 is characterized in that: The guide groove (15) is matched with the guide block (11) to be provided with a first spring (20), and the first spring (20) is arranged on a side of the guide block (11) away from the connecting rope (24).

6. A logistics handling manipulator grasping device according to claim 1, characterized in that: The guide block (11) is provided with a connecting buckle (25) to cooperate with the connecting rope (24).

7. The logistics handling robot grasping device according to claim 1 is characterized in that: A control shaft (6) is provided on one side of the connecting member (5) in cooperation with the first connecting rod (7).

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