Multi-stage portal frame material frame grabbing mechanism of air logistics robot

Abstract

The utility model provides an air logistics robot multistage gantry material frame grabbing mechanism which comprises two symmetrically-arranged lifting arms, two symmetrically-arranged pallet forks are arranged at the lower ends of the lifting arms, the pallet forks are horizontally arranged, one ends of the pallet forks are hinged to a lifting plate, hook parts are vertically led out from the other ends of the pallet forks in the horizontal direction, and the pallet forks are used for clamping bottom feet of a material frame. The lower ends of the forks are higher than the bottom feet; the lifting arm is further provided with a driving motor, and the driving end of the driving motor is fixedly connected with a vertically-arranged connecting rod. The lower ends of the connecting rods are fixedly connected with one ends of the forks, so that the driving motor drives the forks to rotate oppositely or reversely; the pallet fork extends below the bottom plate of the material frame, the hook parts are connected with the side portions of the bottom feet in a clamped mode, the pallet fork and the material frame are clamped and limited, the four sides of the material frame in the horizontal direction are all limited by the hook parts, and therefore the stability of the relative positions of the pallet fork and the material frame is improved, when the pallet fork supports the material frame, the material frame does not slide, and stacking can be accurately conducted.

Description

Technical Field

[0001] The utility model relates to the technical field of aerial logistics robots, in particular to a multi-stage door frame material frame grabbing mechanism for an aerial logistics robot. Background Art

[0002] When an aerial logistics robot is transporting material frames, a rotating pallet is generally set at the bottom; when the pallet descends to the bottom of the material frame, the pallet rotates and extends to support the material frame, and then the material frame rises with the pallet and moves to the target position for palletizing from bottom to top.

[0003] For example, Chinese patent CN216577876U discloses a novel palletizing truss robot, which includes two sets of symmetrically arranged forks. When the forks extend inward, they lift the material frame for transportation.

[0004] Since the fork only contacts the bottom of the material frame with its upper end surface, the relative position of the fork and the material frame is unstable, and the material frame is prone to slip, making it difficult for the material frame to accurately reach the target position, resulting in position deviation during stacking and easy collapse. Utility Model Content

[0005] In order to solve the technical problems in the background technology, the utility model discloses a multi-stage gantry material frame grabbing mechanism of an aerial logistics robot.

[0006] The utility model provides a multi-stage gantry material frame grabbing mechanism of an aerial logistics robot, comprising two symmetrically arranged lifting arms, the lower ends of which are each provided with two symmetrically arranged cargo forks, the cargo forks being arranged horizontally, one end of which is hinged to a lifting plate, and the other end of which is vertically extended with a hook in a horizontal direction, for clamping the bottom foot of the material frame, and the lower end of the cargo fork is higher than the bottom foot;

[0007] A driving motor is also installed on the lifting arm, and a vertically arranged connecting rod is fixedly connected to the driving end of the motor;

[0008] The lower end of the connecting rod is fixedly connected to one end of the fork, so that the driving motor drives the fork to rotate toward or away from each other;

[0009] When the forks rotate 90° toward each other, the forks extend under the bottom of the material frame, and the hooks engage the sides of the bottom feet;

[0010] When the fork is rotated 90° backward, the fork is separated from the material frame.

[0011] When the lifting arm descends until the forks are located under the bottom plate of the material frame, the drive motor drives the forks to rotate 90° towards each other, and the forks extend under the bottom plate of the material frame. The hooks engage the sides of the bottom feet to achieve the limit engagement between the forks and the material frame. The four horizontal sides of the material frame are restricted by the hooks, thereby improving the relative position stability of the forks and the material frame. When the forks lift the material frame, the material frame will not slide, and stacking can be performed accurately.

[0012] The direction of the hook directly affects the stability of the hook engaging the base foot. Based on this, a further improvement is that when the fork engages the base foot, the hook is arranged to face back to back. In this way, the fork is deployed from the inside to the outside, and the volume of the lifting arm can also be reduced.

[0013] Since the material frames have various models and their sizes are inconsistent, in order to make the utility model applicable to different material frames, further improvements are: a driving assembly is also installed on the lifting arm to drive the fork to move horizontally, so that the distance of the forks on the same lifting wall can be adjusted. Its specific structure is: the driving assembly includes a horizontally arranged screw rod, one end of which is fixedly connected to the driving end of the mobile motor and the other end is rotatably connected to the lifting arm; a screw rod nut is threadedly connected to the screw rod; a connecting rod is installed on a support, and its two ends are rotatably connected to the support through bearings; a driving motor is installed on the upper end of the support; the support is fixedly connected to the screw rod nut.

[0014] If the forks are independent of each other, the moving distances of the two forks on the same lifting arm will be inconsistent, which will make it difficult for the hook to accurately engage the base. Based on this, further improvements are: a bidirectional reducer is installed on the lifting arm; the screw rods are set to two symmetrically arranged, and their opposite ends are respectively fixedly connected to one of the power output ends of the bidirectional reducer.

[0015] In order to improve the moving stability of the fork, further improvements are as follows: linear guide rails are arranged on both sides of the bidirectional reducer; and the support is fixedly connected to the slider of the linear guide rail.

[0016] Since the base is generally in the shape of a quadrangular pyramid with an inclined side surface, the hook is clamped with the side surface of the base, which is prone to sliding and the clamping is unstable. Based on this, further improvements are made in that: the four corners of the bottom plate of the material frame extend downward with connecting parts; the connecting part is a square tube, and the upper end of the base is fixedly connected to the lower end of the connecting part; the hook clamps the connecting part.

[0017] When the fork rotates, it will be blocked by the side of the base, and the hook is difficult to snap into place. Based on this, further improvements are: an L-shaped recess is provided on the inner side of the connection between the fork and the hook; the recess runs through the inner side of the connection between the fork and the hook; the recess is composed of a transverse portion and a longitudinal portion, the transverse portion extends in the extension direction of the hook, and the longitudinal portion extends to the hinge of the fork. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0019] Figure 1 It is a structural schematic diagram of the utility model;

[0020] Figure 2 yes Figure 1 The enlarged view of point A in the middle;

[0021] Figure 3 It is a bottom view of the utility model;

[0022] Figure 4 It is a schematic diagram of the structure of the lifting arm;

[0023] Figure 5 It is the front view of the lifting arm;

[0024] Figure 6 yes Figure 5 Cross-sectional view of the middle BB;

[0025] Figure 7 It is a schematic diagram of the structure of the fork;

[0026] In the figure: 1. lifting arm; 2. fork; 3. hook; 4. material frame; 5. driving motor; 6. connecting rod; 7. lead screw; 8. moving motor; 9. lead screw nut; 10. support; 11. bearing; 12. bidirectional reducer; 13. linear guide; 14. mounting plate; 15. cover plate; 16. rubber sheet; 21. concave platform; 22. groove; 41. base; 42. connecting part. DETAILED DESCRIPTION

[0027] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0028] Embodiment 1:

[0029] like Figure 1 , Figure 4 and Figure 5 As shown, the utility model discloses a multi-stage gantry material frame grabbing mechanism of an aerial logistics robot, comprising two symmetrically arranged lifting arms 1. A mounting plate 14 is provided on the outer side of the lower end of the lifting arm 1, and two rows of horizontally arranged linear guide rails 13 are installed on the inner side of the mounting plate 14, and each row is provided with two groups of symmetrically arranged linear guide rails 13 on the left and right. The sliders of the left linear guide rail 13 are fixedly connected to a support 10, and the sliders of the right linear guide rail 13 are also fixedly connected to a support 10, and are both fixed by bolts.

[0030] The support 10 is in the shape of a rectangular parallelepiped, and its length direction is arranged vertically, and a vertical through hole is opened inside the support 10. A driving motor 5 is arranged at the upper end of the support 10, and its driving shaft is fixedly connected to the power input end of the planetary reducer. The planetary reducer is fixedly installed at the upper end of the support 10, and its driving shaft faces downward.

[0031] like Figure 6 As shown, bearings 11 are installed at both ends of the inner wall of the support 10, and the connecting rod 6 is inserted into the bearing 11 to achieve a rotational connection. The upper end of the connecting rod 6 is fixedly connected to the driving shaft of the planetary reducer, and the lower end is connected to the horizontally arranged fork 2, and a screw is provided at the lower end of the connecting rod 6, which is inserted into one end of the fork 2 and fixed by a threaded nut. A groove 22 is provided at one end of the fork 2, so that the nut is hidden in the groove 22. The screw and the fork 2 are connected by a flat key, so that the drive motor 5 can drive the fork 2 to rotate.

[0032] like Figure 3 and Figure 7 As shown, the other end of the fork 2 extends vertically along the horizontal direction with a hook 3 for engaging the foot 41 of the material frame 4. When the hook 3 engages the foot 41, the fork 2 is located below the bottom plate of the material frame 4, and the lower end of the fork 2 is higher than the foot 41. When the fork 2 engages the foot 41, the hook 3 is arranged back to back, so that two adjacent feet 41 and the remaining two adjacent feet 41 are subjected to pressure in the back direction, which can improve the stability of the hook 3 engaging the foot 41. Moreover, the fork 2 is unfolded from the inside to the outside, which can also reduce the volume of the lifting arm 1.

[0033] A bidirectional reducer 12 is also installed on the mounting plate 14, and a mobile motor 8 is connected to its power input end. Symmetrically arranged screw rods 7 are provided on both sides of the bidirectional reducer 12, and the opposite ends of the screw rods 7 are respectively connected to a power output end of the bidirectional reducer 12, and the back end of the screw rod 7 is rotatably connected to the mounting plate 14 through a seat bearing 11. A screw nut 8 is threadedly connected to the screw rod 7, and the screw nut 8 is fixedly connected to the support 10. When the mobile motor 8 is started, the support 10 can be driven to move toward or away from each other, thereby changing the spacing of the forks 2 on the same lifting arm 1, so that the utility model can grab material frames 4 of different sizes. Moreover, the setting of the bidirectional reducer 12 allows the two supports 10 to move synchronously, so that the hook 3 can accurately clamp the base 41.

[0034] A cover plate 15 is also provided on the inner side of the lifting arm 1, so that the drive motor 5, the moving motor 8, the planetary reducer, the bidirectional reducer 12, the linear guide 13, and the lead screw 7 are all hidden between the cover plate 15 and the mounting plate 14, which can prevent the above components from accidentally colliding and also play a role in dust prevention.

[0035] A vertically arranged rubber plate 16 is provided on the inner side of the cover plate 15 . The rubber plate 16 is in contact with the material frame 4 , so as to prevent the material frame 4 from colliding with the cover plate 15 and causing deformation and wear.

[0036] Before the utility model grabs the material frame 4, the fork 2 is parallel to the mounting plate 14 and is located near the mounting plate 14; when the lifting arm 1 is lowered until the fork 2 is located below the bottom plate of the material frame 4, the driving motor 5 drives the fork 2 to rotate 90° in the opposite direction, and the fork 2 extends below the bottom plate of the material frame 4. The hook 3 engages the side of the foot 41 to achieve the engagement limit between the fork 2 and the material frame 4. The four sides of the material frame 4 in the horizontal direction are all restricted by the hook 3, thereby improving the relative position stability of the fork 2 and the material frame 4. When the fork 2 holds up the material frame 4, the material frame 4 will not slide, and can be accurately stacked. When the utility model releases the material frame 4, the driving motor 5 drives the fork 2 to rotate 90° in the opposite direction to reset, and the fork 2 is separated from the material frame 4.

[0037] Embodiment 2:

[0038] Compared with the first embodiment, the difference is that: since the foot 41 is generally in the shape of a quadrangular pyramid, and its side is an inclined slope, the hook 3 is easily slipped when it is clamped with the side of the foot 41, and the clamping is not stable, so the following design is made: Figure 2 As shown, connecting parts 42 extend downward from the four corners of the bottom plate of the material frame 4; the connecting part 42 is a square tube, the upper end of the base 41 is fixedly connected to the lower end of the connecting part 42; the hook part 3 is clamped to the connecting part 42.

[0039] like Figure 7 As shown, an L-shaped recess 21 is provided on the inner side of the upper end surface of the connection between the fork 2 and the hook 3; the recess 21 passes through the inner side of the connection between the fork 2 and the hook 3; the recess 21 is composed of a transverse portion and a longitudinal portion, the transverse portion extends in the extension direction of the hook 3, and the longitudinal portion extends to the hinge of the fork 2. In this way, the fork 2 can be prevented from being blocked by the side of the foot 41 when rotating.

[0040] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without deviating from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A multi-stage gantry material frame grabbing mechanism for an aerial logistics robot, comprising two symmetrically arranged lifting arms (1), wherein the lower ends of the lifting arms (1) are each provided with two symmetrically arranged cargo forks (2), characterized in that: The cargo fork (2) is arranged horizontally, one end of which is hinged to the lifting arm (1), and the other end of which is vertically extended with a hook portion (3) in the horizontal direction for clamping the bottom foot (41) of the material frame (4), and the lower end of the cargo fork (2) is higher than the bottom foot (41); The lifting arm (1) is also provided with a driving motor (5), the driving end of which is fixedly connected to a vertically arranged connecting rod (6); The lower end of the connecting rod (6) is fixedly connected to one end of the fork (2), so that the driving motor (5) drives the fork (2) to rotate towards or away from each other; When the forks (2) are rotated 90 degrees toward each other, the forks (2) extend below the bottom of the material frame (4), and the hooks (3) engage the sides of the base feet (41); When the fork (2) is rotated 90° in the reverse direction, the fork (2) is separated from the material frame (4).

2. The multi-stage gantry material frame grabbing mechanism of the aerial logistics robot according to claim 1, characterized in that: When the cargo fork (2) is engaged with the base foot (41), the hook portion (3) is arranged facing back to back.

3. The multi-stage gantry material frame grabbing mechanism of the aerial logistics robot according to claim 1, characterized in that: The lifting arm (1) is also provided with a driving assembly for driving the fork (2) to move horizontally, thereby achieving adjustable distance between the forks (2) on the same lifting arm (1).

4. The multi-stage gantry material frame grabbing mechanism of the aerial logistics robot according to claim 3, characterized in that: The driving assembly comprises a horizontally arranged screw rod (7), one end of which is fixedly connected to the driving end of the moving motor (8), and the other end of which is rotationally connected to the lifting arm (1); The screw rod (7) is threadedly connected with a screw rod nut (9); The connecting rod (6) is mounted on the support (10), and its two ends are rotatably connected to the support (10) via bearings (11); The driving motor (5) is mounted on the upper end of the support (10); The support (10) is fixedly connected to the screw nut (9).

5. The multi-stage gantry material frame grabbing mechanism of the aerial logistics robot according to claim 4, characterized in that: A bidirectional reducer (12) is installed on the lifting arm (1); The screw rods (7) are provided as two symmetrically arranged screw rods, and the opposite ends thereof are respectively fixedly connected to one of the power output ends of the bidirectional reducer (12).

6. The multi-stage gantry material frame grabbing mechanism of the aerial logistics robot according to claim 5, characterized in that: Linear guide rails (13) are provided on both sides of the bidirectional reducer (12); The support (10) is fixedly connected to a slide block of the linear guide rail (13).

7. The multi-stage gantry material frame grabbing mechanism of the aerial logistics robot according to claim 1, characterized in that: The four corners of the bottom plate of the material frame (4) are provided with connecting parts (42) extending downwards; The connecting portion (42) is a square tube, and the upper end of the base (41) is fixedly connected to the lower end of the connecting portion (42); The hook portion (3) is snap-connected to the connecting portion (42).

8. The multi-stage gantry material frame grabbing mechanism of the aerial logistics robot according to claim 7, characterized in that: An L-shaped recess (21) is provided inside the connection between the fork (2) and the hook (3); The concave platform (21) passes through the inner side of the connection between the fork (2) and the hook (3); The concave platform (21) is composed of a transverse portion and a longitudinal portion, wherein the transverse portion extends in the extension direction of the hook portion (3), and the longitudinal portion extends toward the hinge of the fork (2).

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