Lifting robot for logistics sorting

Abstract

The utility model relates to the field of automation equipment, in particular to a lifting robot for logistics sorting, which is characterized by comprising a gantry type frame, a moving platform transversely moving along the gantry type frame is arranged on the gantry type frame, and a grabbing clamp for grabbing articles is arranged on the moving platform. The grabbing clamp comprises a mechanical clamping jaw and a pair of flexible clamping jaws, the mechanical clamping jaw is used for clamping the boxed objects, the flexible clamping jaws are installed on the mechanical clamping jaw, the flexible clamping jaws synchronously move along with the mechanical clamping jaw, and the flexible clamping jaws are used for clamping irregular bagged packages. The logistics sorting device has the beneficial effects that the logistics sorting device can be suitable for box-packed objects and irregular bagged packages at the same time, blocked packages can be rapidly carried into a main line, and unmanned logistics sorting can be achieved.

Description

Technical Field

[0001] The present application relates to the field of automation equipment, and in particular to a lifting robot for logistics sorting. Background Art

[0002] Paper boxes and irregular bagged packages are widely used in logistics. In the process of logistics sorting, cross conveyor belts are often used to transport packages, which is prone to package blockage. Currently, most packages need to be cleared manually. Since manpower cannot work for a long time and the efficiency is low, most of the current manipulators are H-shaped or claw-shaped, which makes it difficult for most of the current manipulators to be suitable for both boxed objects and irregular bagged packages. When clamping irregular bagged packages, they are prone to falling off or excessive squeezing, causing the irregular bagged packages to deform. Utility Model Content

[0003] The purpose of this application is to provide a lifting robot for logistics sorting, which is suitable for both boxed items and irregular bagged packages, is conducive to protecting irregular bagged packages, can quickly move blocked packages into the main line, and is conducive to the realization of unmanned logistics sorting.

[0004] In order to achieve the above purpose, the technical solution adopted by the utility model is: a lifting robot for logistics sorting, including a gantry frame, a mobile platform that moves along the gantry frame is arranged on the gantry frame, a grabbing clamp for grabbing objects is arranged on the mobile platform, the grabbing clamp includes a mechanical claw and a pair of flexible claws, the mechanical claw is used to clamp boxed objects, the flexible claw is installed on the mechanical claw, the flexible claw synchronously follows the movement of the mechanical claw, and the flexible claw is used to clamp irregular bagged packages.

[0005] By adopting the above technical solution, the mechanical gripper and the flexible gripper can grasp the objects synchronously, and both boxed objects and irregular bagged packages can be grasped stably, making the lifting robot suitable for both boxed objects and irregular bagged packages. The stable gripping is also beneficial to protecting the irregular bagged packages. The movement of the mobile platform drives the movement of the gripping clamp, thereby realizing the sorting and transportation of boxed objects and irregular bagged packages, which is conducive to the realization of unmanned logistics sorting.

[0006] Preferably, the gantry frame includes a crossbeam and a load-bearing beam for supporting both ends of the crossbeam, both ends of the crossbeam are provided with synchronous wheels, two synchronous wheels are wound with synchronous belts, and one of the synchronous wheels is connected to a first motor, the first motor is used to drive the synchronous wheels to rotate, the mobile platform includes a mobile frame, a plurality of pulleys are provided at the bottom of the mobile frame, the pulleys are placed on the crossbeam, lateral limiters are provided on both sides of the mobile frame for limiting the position of the mobile frame, the mobile frame is connected to the synchronous belt, and the synchronous belt is used to drive the mobile frame to move along the crossbeam.

[0007] By adopting the above solution, the mobile frame moves on the beam through the pulley and the lateral limiter, and then the first motor, the synchronous wheel and the synchronous belt are used to drive the mobile frame to translate, thereby driving the grabbing clamp to translate.

[0008] Preferably, the mobile frame is provided with a lifting gear and a lifting rack, the lifting rack is vertically slidably installed on the mobile frame, the lifting gear is meshed with the lifting rack, and the mobile frame is also provided with a second motor for driving the lifting gear to rotate, the output shaft of the second motor is connected to the lifting gear, and the lower end of the lifting rack is connected to the grabbing clamp.

[0009] By adopting the above technical solution, the lifting gear rotates to drive the lifting rack to achieve lifting, thereby driving the grabbing clamp to lift.

[0010] Preferably, the grabbing clamp includes a connecting bracket, the upper end of the connecting bracket is fixedly connected to the lifting rack, the lower part of the connecting bracket is rotatably connected to a turntable, a third motor is installed on the connecting bracket, the output shaft of the third motor is connected to the turntable to drive the turntable to rotate, and the mechanical clamp and the flexible clamp are both installed at the bottom of the turntable.

[0011] By adopting the above solution, the cooperation between the third motor and the turntable enables the mechanical clamp and the flexible clamp to rotate as needed, and the third motor drives the turntable to rotate, thereby controlling the overall direction of the grabbing clamp.

[0012] Preferably, two vertical mounting plates extend from the bottom of the turntable, a fourth motor is arranged between the two mounting plates, the mechanical clamp comprises two active jaws and two driven jaws, the two active jaws are rotatably mounted on the outer sides of the two mounting plates and connected to the output shaft of the fourth motor, the active jaws and the driven jaws are provided with teeth at one end for connecting to the mounting plates, the two driven jaws are rotatably mounted on the outer sides of the two mounting plates, and the active jaws and the driven jaws on the same mounting plate are meshed, and the flexible clamps are fixedly mounted between the two active jaws and between the two driven jaws.

[0013] By adopting the above solution, the fourth motor drives the two active claws to rotate. Since the driven claw is engaged with the active claw, the driven claw rotates with the active claw, thereby realizing the opening and closing of the mechanical clamp and the flexible clamp opens and closes synchronously.

[0014] Preferably, a wheel for driving the gantry frame to move is provided at the bottom of the load-bearing beam, and an adaptive shock-absorbing structure is provided at the bottom of the load-bearing beam, and the adaptive shock-absorbing structure includes a mounting bracket and a motor bracket fixedly connected to the load-bearing beam, a slider is fixedly provided on the mounting bracket, and a slide rail is fixedly provided on the motor bracket, and the motor bracket is mounted on the mounting bracket to achieve vertical sliding movement through the cooperation of the slide rail and the slider, a fifth motor is provided on the motor bracket, and an output shaft of the fifth motor is connected to the wheel for driving the wheel to rotate, and a spring upper nail is provided on the motor bracket, and a spring lower nail is provided on the mounting bracket, the spring upper nail is located directly above the spring lower nail, and a shock-absorbing spring is connected between the spring upper nail and the spring lower nail.

[0015] By adopting the above solution, when the gantry frame moves, when the mounting bracket moves downward, the shock absorbing spring pulls down the motor bracket, thereby pulling down the fifth motor so that the wheel fits more closely to the bottom surface, thereby achieving a shock absorbing effect.

[0016] In summary, the beneficial technical effects of this application are:

[0017] 1. The mechanical gripper and the flexible gripper grab the items synchronously, whether it is boxed objects or irregular bagged packages, they can be stably gripped, making the lifting robot suitable for both boxed objects and irregular bagged packages. The stable gripping is also conducive to protecting irregular bagged packages. The movement of the mobile platform drives the movement of the gripper, thereby realizing the sorting and transportation of boxed objects and irregular bagged packages, which is conducive to the realization of unmanned logistics sorting.

[0018] 2. The mobile frame moves on the crossbeam through pulleys and transverse limiters, and then the first motor, synchronous wheel and synchronous belt are used to drive the mobile frame to translate, thereby driving the grabbing clamp to translate. The lifting gear rotates to drive the lifting rack to achieve lifting and lowering, thereby driving the grabbing clamp to lift and lower. The third motor and the turntable are set in coordination so that the mechanical clamp and the flexible clamp can rotate as needed. The third motor drives the turntable to rotate, thereby controlling the overall direction of the grabbing clamp, making the grabbing clamp more flexible.

[0019] 3. The setting of the adaptive shock-absorbing structure enables the gantry frame to provide a shock-absorbing effect when moving, making the wheels fit the ground more closely. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the lifting robot in this application.

[0021] Figure 2 Schematic diagram of the structure of the adaptive shock absorbing structure in this embodiment.

[0022] Figure 3 yes Figure 1 Enlarged schematic diagram of part A.

[0023] Figure 4 It is a schematic diagram of the structure of the mobile platform in this embodiment.

[0024] Figure 5 Schematic diagram of the structure of the grabbing clamp in this embodiment.

[0025] Description of reference numerals:

[0026] 1. Gantry frame; 11. Crossbeam; 111. Synchronous wheel; 112. Synchronous belt; 12. Load-bearing beam; 13. Wheel; 2. Mobile platform; 21. Mobile frame; 22. Pulley; 23. Transverse limiter; 24. Lifting gear; 25. Lifting rack; 26. Second motor; 3. Grabbing clamp; 31. Flexible clamping claw; 32. Connecting bracket; 33. Turntable; 34. Third motor; 35. Mounting plate; 36. Fourth motor; 37. Active claw; 38. Driven claw; 4. Adaptive shock-absorbing structure; 41. Mounting bracket; 42. Motor bracket; 43. Slider; 44. Slide rail; 45. Fifth motor; 46. Spring upper nail; 47. Spring lower nail; 48. Shock-absorbing spring. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model is described in detail below in conjunction with the accompanying drawings. The description in this part is only exemplary and explanatory and should not have any limiting effect on the protection scope of the utility model.

[0028] The present application discloses a lifting robot for logistics sorting, which is mainly used to solve the problem of package blocking on the cross-belt logistics sorting line. Currently, packages are cleared manually, but the developed lifting robot can quickly move the blocked packages into the main line, which is conducive to the realization of unmanned logistics sorting. Figure 1 As shown, the lifting robot specifically includes a gantry frame 1, on which is provided a mobile platform 2 which moves along the gantry frame 1, on which is provided a grabbing clamp 3 for grabbing items, and on which is provided a mobile platform 2 for grabbing items, and the grabbing clamp 3 includes a mechanical clamp and a pair of flexible clamps 31, the mechanical clamp is used to grab boxed items, the flexible clamp 31 is installed on the mechanical clamp, the flexible clamp 31 synchronously follows the movement of the mechanical clamp, and the flexible clamp 31 is used to grab irregular bagged packages, the mechanical clamp and the flexible clamp 31 synchronously grab items, and both boxed items and irregular bagged packages can be clamped stably, so that the lifting robot is suitable for both boxed items and irregular bagged packages, and the stable clamping is beneficial to protecting the irregular bagged packages, and the grabbing clamp 3 is driven to move by the movement of the mobile platform 2, thereby realizing the sorting and transportation of boxed items and irregular bagged packages, which is beneficial to realizing unmanned logistics sorting.

[0029] like Figure 1 and Figure 2 As shown, the gantry frame 1 includes a crossbeam 11, a load-bearing beam 12 for supporting both ends of the crossbeam 11, a wheel 13 for driving the gantry frame 1 to move is arranged at the bottom of the load-bearing beam 12, and an adaptive shock-absorbing structure 4 is arranged at the bottom of the load-bearing beam 12. The adaptive shock-absorbing structure 4 includes a mounting bracket 41 and a motor bracket 42 fixedly connected to the load-bearing beam 12, a slider 43 is fixedly arranged on the mounting bracket 41, and a slide rail 44 is fixedly arranged on the motor bracket 42. The motor bracket 42 is slidably installed on the mounting bracket 41 in the vertical direction through the cooperation of the slide rail 44 and the slider 43. A fifth motor 45 is provided on 42, and the output shaft of the fifth motor 45 is connected to the wheel 13 to drive the wheel 13 to rotate, and a spring upper nail 46 is provided on the motor bracket 42, and a spring lower nail 47 is provided on the mounting bracket 41, the spring upper nail 46 is located directly above the spring lower nail 47, and a shock-absorbing spring 48 is connected between the spring upper nail 46 and the spring lower nail 47. When the gantry frame 1 is moving, when the mounting bracket 41 moves downward, the shock-absorbing spring 48 is driven to pull down the motor bracket 42, thereby pulling down the fifth motor 45 so that the wheel 13 is more closely attached to the bottom surface, thereby achieving a shock-absorbing effect.

[0030] like Figure 3 and Figure 4As shown, synchronous wheels 111 are provided at both ends of the beam 11, and synchronous belts 112 are wound around the two synchronous wheels 111, and a first motor is connected to one of the synchronous wheels 111, and the first motor is used to drive the synchronous wheels 111 to rotate, and the mobile platform 2 includes a mobile frame 21, and a plurality of pulleys 22 are provided at the bottom of the mobile frame 21, and the pulleys 22 are placed on the beam 11, and lateral limiters 23 for limiting the position of the mobile frame 21 are provided on both sides of the mobile frame 21, and the mobile frame 21 is connected to the synchronous belt 112, and the synchronous belt 112 is used to drive the mobile frame 21 to move along the beam 11, and the mobile frame 21 is moved on the beam 11 through the pulleys 22 and the lateral limiters 23, and then the first motor and the cooperation of the synchronous wheel 111 and the synchronous belt 112 are used to realize the translation of the mobile frame 21, thereby realizing the translation of the grabbing clamp 3.

[0031] A lifting gear 24 and a lifting rack 25 are provided on the mobile frame 21. The lifting rack 25 is installed on the mobile frame 21 in a vertical sliding manner. The lifting gear 24 is meshed with the lifting rack 25. The mobile frame 21 is also provided with a second motor 26 for driving the lifting gear 24 to rotate. The output shaft of the second motor 26 is connected to the lifting gear 24. The lower end of the lifting rack 25 is connected to the grabbing clamp 3. The lifting gear 24 rotates to drive the lifting rack 25 to be lifted and lowered, thereby driving the grabbing clamp 3 to be lifted and lowered.

[0032] like Figure 5 As shown, the grabbing clamp 3 includes a connecting bracket 32, the upper end of the connecting bracket 32 ​​is fixedly connected to the lifting rack 25, and the lower part of the connecting bracket 32 ​​is rotatably connected to a turntable 33. A third motor 34 is installed on the connecting bracket 32, and the output shaft of the third motor 34 is connected to the turntable 33 to drive the turntable 33 to rotate. The mechanical clamp and the flexible clamp 31 are both installed at the bottom of the turntable 33. The matching arrangement of the third motor 34 and the turntable 33 enables the mechanical clamp and the flexible clamp 31 to rotate as needed, and the third motor 34 drives the turntable 33 to rotate, thereby controlling the overall direction of the grabbing clamp 3.

[0033] In this embodiment, two vertical mounting plates 35 extend from the bottom of the turntable 33, and a fourth motor 36 is arranged between the two mounting plates 35. The mechanical clamp includes two active jaws 37 and two driven jaws 38. The two active jaws 37 are respectively rotatably mounted on the outer sides of the two mounting plates 35 and connected to the output shaft of the fourth motor 36. The active jaws 37 and the driven jaws 38 are provided with teeth at one end for connecting with the mounting plates 35. The two driven jaws 38 are respectively rotatably mounted on the outer sides of the two mounting plates 35, and the active jaws 37 and the driven jaws 38 on the same mounting plate 35 are meshed. The flexible jaws 31 are respectively fixedly mounted between the two active jaws 37 and between the two driven jaws 38. The fourth motor 36 drives the two active jaws 37 to rotate. Since the driven jaws 38 are meshed with the active jaws 37, the driven jaws 38 rotate with the active jaws 37, thereby realizing the opening and closing grasping of the mechanical clamp, and the flexible jaws 31 open and close synchronously.

[0034] In addition, the first motor, the second motor 26, the third motor 34, the fourth motor 36 and the fifth motor 45 are all stepper motors, so as to better control the output of the motor and improve the accuracy of movement, and the fifth motor 45 is also specifically a brushless motor with low interference and low noise.

[0035] The implementation principle of this embodiment is:

[0036] The wheels 13 on the gantry frame 1 and the mobile platform 2 cooperate to move the grabbing clamp 3 to the top of the object to be transported, and the second motor 26 drives the lifting gear 24 to rotate to drive the lifting rack 25 to descend, and the grabbing clamp 3 is lowered to the object. The fourth motor 36 drives the two active claws 37 to rotate, and the two driven claws 38 rotate synchronously, so that the active claw 37 merges with the driven claw 38, and the flexible clamp 31 follows it to merge. When grabbing boxed objects, the active claw 37 and the driven claw 38 merge to grab. When grabbing irregular bagged packages, the flexible clamp 31 can increase the contact area with the irregular bagged packages, thereby stably grabbing the irregular bagged packages. Finally, the transportation of the items is achieved through the cooperation of the mobile platform 2, the lifting rack 25 and the lifting gear 24.

[0037] It should be noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

[0038] This article uses specific examples to illustrate the principles and implementation methods of the utility model. The description of the above examples is only used to help understand the method and core idea of ​​the utility model; the above is only the preferred implementation method of the utility model. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of the utility model, and can also combine the above-mentioned technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the concept and technical solution of the utility model to other occasions without improvement, should be regarded as the protection scope of the utility model.

Claims

1. A lifting robot for logistics sorting, characterized by: The invention comprises a gantry frame (1), wherein a mobile platform (2) is arranged on the gantry frame (1) and moves along the gantry frame (1), wherein a grabbing clamp (3) for grabbing articles is arranged on the mobile platform (2), wherein the grabbing clamp (3) comprises a mechanical clamp and a pair of flexible clamps (31), wherein the mechanical clamp is used for grabbing boxed articles, wherein the flexible clamp (31) is installed on the mechanical clamp, wherein the flexible clamp (31) synchronously follows the movement of the mechanical clamp, and wherein the flexible clamp (31) is used for grabbing irregular bagged packages.

2. A lifting robot for logistics sorting according to claim 1, characterized in that: The gantry frame (1) comprises a crossbeam (11) and a load-bearing beam (12) for supporting both ends of the crossbeam (11); both ends of the crossbeam (11) are provided with synchronous wheels (111); two synchronous belts (112) are wound around the two synchronous wheels (111); one of the synchronous wheels (111) is connected to a first motor; the first motor is used to drive the synchronous wheel (111) to rotate; the mobile platform (2) comprises a mobile frame (21); a plurality of pulleys (22) are provided at the bottom of the mobile frame (21); the pulleys (22) are placed on the crossbeam (11); transverse limiters (23) for limiting the position of the mobile frame (21) are provided on both sides of the mobile frame (21); the mobile frame (21) is connected to the synchronous belt (112); the synchronous belt (112) is used to drive the mobile frame (21) to move along the crossbeam (11).

3. A lifting robot for logistics sorting according to claim 2, characterized in that: The movable frame (21) is provided with a lifting gear (24) and a lifting rack (25); the lifting rack (25) is vertically slidably mounted on the movable frame (21); the lifting gear (24) is meshed with the lifting rack (25); the movable frame (21) is also provided with a second motor (26) for driving the lifting gear (24) to rotate; the output shaft of the second motor (26) is connected to the lifting gear (24); and the lower end of the lifting rack (25) is connected to the grabbing clamp (3).

4. A lifting robot for logistics sorting according to claim 3, characterized in that: The grabbing clamp (3) comprises a connecting bracket (32), the upper end of the connecting bracket (32) is fixedly connected to the lifting rack (25), a turntable (33) is rotatably connected to the lower part of the connecting bracket (32), a third motor (34) is installed on the connecting bracket (32), the output shaft of the third motor (34) is connected to the turntable (33) to drive the turntable (33) to rotate, and the mechanical clamp and the flexible clamp (31) are both installed at the bottom of the turntable (33).

5. A lifting robot for logistics sorting according to claim 4, characterized in that: Two vertical mounting plates (35) extend from the bottom of the rotating disk (33), and a fourth motor (36) is arranged between the two mounting plates (35). The mechanical clamp comprises two active jaws (37) and two driven jaws (38). The two active jaws (37) are rotatably mounted on the outer sides of the two mounting plates (35) and connected to the output shaft of the fourth motor (36). One end of the active jaw (37) and the driven jaw (38) for connecting to the mounting plates (35) are provided with teeth. The two driven jaws (38) are rotatably mounted on the outer sides of the two mounting plates (35), and the active jaws (37) and the driven jaws (38) on the same mounting plate (35) are meshed with each other. The flexible clamp (31) is fixedly mounted between the two active jaws (37) and between the two driven jaws (38).

6. A lifting robot for logistics sorting according to claim 2, characterized in that: The bottom of the load-bearing beam (12) is provided with a wheel (13) for driving the gantry frame (1) to move; the bottom of the load-bearing beam (12) is provided with an adaptive shock-absorbing structure (4); the adaptive shock-absorbing structure (4) comprises a mounting bracket (41) and a motor bracket (42) fixedly connected to the load-bearing beam (12); a slider (43) is fixedly provided on the mounting bracket (41); a slide rail (44) is fixedly provided on the motor bracket (42); the motor bracket (42) is vertically movable through the cooperation of the slide rail (44) and the slider (43). The motor support (42) is provided with a fifth motor (45), the output shaft of the fifth motor (45) is connected to the wheel (13) to drive the wheel (13) to rotate, and the motor support (42) is provided with a spring upper nail (46), the mounting support (41) is provided with a spring lower nail (47), the spring upper nail (46) is located directly above the spring lower nail (47), and a shock absorbing spring (48) is connected between the spring upper nail (46) and the spring lower nail (47).

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