Light parcel taking and placing robot

Abstract

The utility model discloses a light parcel pick-and-place robot, which relates to the technical field of robots and comprises a bottom plate, a rotating unit, an adjusting unit and a clamping unit. A rotating unit is mounted at the upper end of the bottom plate; the rotating unit comprises a rotating ring, a gear ring, a first motor, a first gear and a placing plate, the rotating ring is rotatably connected to the middle of the upper end of the bottom plate, the gear ring is fixedly connected to the upper end of the inner side of the rotating ring, the first motor is fixedly connected to the inner side of the rotating ring at the upper end of the bottom plate, and the first gear is fixedly connected to an output shaft of the first motor. The first gear is meshed with the gear ring, and the upper end of the rotating ring is fixedly connected with a containing plate. According to the light parcel taking and placing robot, after the robot clamps a parcel, the situation that the center of the device is changed and consequently the device inclines due to the fact that the parcel is heavy when the robot moves is avoided, and damage to the parcel is reduced through a damping device when the device passes through an uneven road surface.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a light package picking and placing robot. Background Art

[0002] With the development of the Internet, more and more people are shopping online, online transactions are becoming more frequent, and express delivery companies are developing rapidly. However, the pressure on parcel collection offices to pick up and put parcels is also increasing. A lot of manpower needs to be invested in picking up and putting parcels. However, people are not machines. People working for a long time may make some mistakes, which will affect the efficiency of picking up and putting parcels, and may affect some subsequent work.

[0003] Among them, the prior art authorization announcement number CN108748210A proposes a lightweight package picking and placing robot, including a wheel frame device, a chassis device, a lifting and rotating device, and a mechanical gripper device; the wheel frame device is used to provide walking power, wherein a driving motor is used to provide power to drive the wheels through a coupling to realize the walking of the lightweight package picking and placing robot; the chassis device is used to realize the connection between the wheel frame device and the identification device and the lifting and rotating device;

[0004] In the prior art, after the robot grabs a package, it may tilt when moving due to the weight of the package, which may cause the center of the device to change. When the device passes over uneven roads, there is no shock-absorbing device and the package support may be damaged. For this reason, we propose a lightweight package picking and placing robot. Utility Model Content

[0005] The technical problem to be solved by the utility model is to overcome the existing defects and provide a light package picking and placing robot. After the robot clamps the package, the center of the device will not change and tilt due to the heavy package when moving. When the device passes through an uneven road surface, the shock-absorbing device reduces damage to the package, which can effectively solve the problems in the background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a lightweight package picking and placing robot, comprising a base plate, a rotating unit, an adjusting unit and a clamping unit;

[0007] Bottom plate: A rotating unit is installed on the upper end;

[0008] Rotation unit: comprising a rotating ring, a gear ring, a motor 1, a gear 1 and a placement plate, wherein the middle part of the upper end of the bottom plate is rotatably connected with the rotating ring, the inner upper end of the rotating ring is fixedly connected with the gear ring, the inner side of the rotating ring at the upper end of the bottom plate is fixedly connected with the motor 1, the output shaft of the motor 1 is fixedly connected with the gear 1, the gear 1 is meshed with the gear ring, and the upper end of the rotating ring is fixedly connected with the placement plate;

[0009] Adjustment unit: installed on the rotating unit;

[0010] Gripping unit: Installed on the adjusting unit.

[0011] The motor drives the gear to rotate, and the engagement of the gear with the gear ring causes the rotating ring and the placement plate to rotate. The package is placed on the placement plate during movement, thereby preventing the center of gravity of the machine from changing when the package is clamped and moved, causing the machine to tip over.

[0012] Furthermore, the adjustment unit includes a mounting seat, a hydraulic press and a mounting plate, the outer side of the rotating ring is fixedly connected to the mounting seat, the upper end of the mounting seat is fixedly connected to the hydraulic press, and the upper end of the hydraulic press is fixedly connected to the mounting plate.

[0013] The hydraulic press 1 is supported by the mounting base, and the hydraulic press 1 enables the device to clamp packages at a higher distance.

[0014] Furthermore, the adjustment unit also includes an identification control system, a second hydraulic press and a fixed plate. Two identification control systems are fixedly connected to the left and right sides of the upper end of the mounting plate, the middle part of the upper end of the mounting plate is fixedly connected to the second hydraulic press, and the front end of the second hydraulic press is fixedly connected to the fixed plate.

[0015] The position of the package is scanned and confirmed by the identification control system, the clamping tool is moved by the hydraulic press, and the clamping tool is installed by the fixing plate.

[0016] Furthermore, the clamping unit includes an electric telescopic rod, a second motor, a motor mounting frame and a movable shaft. The inner side of the upper end of the electric telescopic rod is fixedly connected to the outer side of the movable shaft. The middle part of the outer side of the movable shaft is rotatably connected to the front end of a fixed plate. The right end of the fixed plate is fixedly connected to the motor mounting frame. The motor mounting frame is fixedly connected to the second motor, and the output shaft of the second motor is fixedly connected to one end of the movable shaft.

[0017] The movable shaft and the electric telescopic rod are driven to rotate by the second motor, and the second motor is fixed by the motor mounting frame. The second motor causes the electric telescopic rod to rotate, thereby completing the movement and placement of the package after clamping.

[0018] Furthermore, the clamping unit also includes a gear mounting plate, gear 2, a rack, a clamping arm and an anti-slip clamping block. The lower end of the electric telescopic rod is fixedly connected to the rack, the outer side of the electric telescopic rod is fixedly connected to the gear mounting plate, the left and right ends of the gear mounting plate are rotatably connected to gear 2, the gear 2 is meshed with the rack, the outer side of the gear 2 is fixedly connected to the clamping arm, and the lower end of the clamping arm is movably connected to the anti-slip clamping block.

[0019] The rack is driven to move by an electric telescopic rod, and the gear two is limited by the gear mounting plate. The meshing of the rack and gear two enables the clamping arm of the device to clamp the package, and the non-slip clamping block can be used to clamp irregularly shaped packages, while adapting to the clamping of different packages.

[0020] Furthermore, it also includes supporting legs, telescopic rods, shock-absorbing springs and power wheels. Two supporting legs are fixedly connected to the left and right sides of the lower end of the base plate. The lower end of each supporting leg is fixedly connected to one end of two telescopic rods. The lower end of the telescopic rod is fixedly connected to the power wheel. A shock-absorbing spring is sleeved on the telescopic rod between the power wheel and the supporting legs.

[0021] The device moves through the power wheels and supports the shock-absorbing springs through the telescopic rods, so that the device can move better when passing through uneven or large-angle roads.

[0022] Compared with the prior art, the beneficial effects of the utility model are: the lightweight package picking and placing robot has the following advantages:

[0023] 1. This lightweight parcel picking and placing robot will not tilt due to the change of the center of gravity of the device when it moves after gripping the parcel due to the heavy parcel. The parcel is placed on the plate during movement to prevent the center of gravity of the machine from changing when gripping the parcel and moving, causing the machine to tip over.

[0024] 2. This lightweight package picking and placing robot uses a shock-absorbing device to reduce damage to packages when passing through uneven roads, and uses a shock-absorbing spring to enable the device to move better when passing through uneven or angled roads. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of the utility model;

[0026] Figure 2 For this utility model Figure 1 A schematic diagram of the partially enlarged structure at center A;

[0027] Figure 3 For this utility model Figure 1 Schematic diagram of the partially enlarged structure of 2 locations;

[0028] Figure 4 It is a schematic diagram of the internal structure of the lower side of the utility model.

[0029] In the figure: 1 bottom plate, 2 supporting legs, 3 rotating unit, 31 rotating ring, 32 gear ring, 33 motor 1, 34 gear 1, 35 placement plate, 4 adjustment unit, 41 mounting seat, 42 hydraulic press 1, 43 mounting plate, 44 identification control system, 45 hydraulic press 2, 46 fixing plate, 5 clamping unit, 51 electric telescopic rod, 52 motor 2, 53 motor mounting frame, 54 movable shaft, 55 gear mounting plate, 56 gear 2, 57 rack, 58 clamping arm, 59 anti-slip clamping block, 6 telescopic rod, 7 shock-absorbing spring, 8 power wheel. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] See also Figure 1-4 , This embodiment provides a technical solution for a lightweight package picking and placing robot: A lightweight package picking and placing robot includes a base plate 1, a rotating unit 3, an adjusting unit 4 and a gripping unit 5;

[0032] Bottom plate 1: a rotating unit 3 is installed on the upper end;

[0033] Rotating unit 3: comprising a rotating ring 31, a gear ring 32, a motor 1 33, a gear 1 34 and a placement plate 35, the rotating ring 31 is rotatably connected to the middle of the upper end of the bottom plate 1, the gear ring 32 is fixedly connected to the inner upper end of the rotating ring 31, the motor 1 33 is fixedly connected to the inner side of the rotating ring 31 at the upper end of the bottom plate 1, the output shaft of the motor 1 33 is fixedly connected to the gear 1 34, the gear 1 34 is meshed with the gear ring 32, and the upper end of the rotating ring 31 is fixedly connected to the placement plate 35;

[0034] Adjustment unit 4: installed on the rotating unit 3;

[0035] Clamping unit 5: installed on the adjusting unit 4.

[0036] The motor 133 drives the gear 134 to rotate, and the engagement of the gear 134 with the gear ring 32 causes the rotating ring 31 and the placement plate 35 to rotate. The package is placed on the placement plate 35 during movement, thereby preventing the center of gravity of the machine from changing when the package is clamped and moved, causing the machine to tip over.

[0037] The adjusting unit 4 comprises a mounting seat 41, a hydraulic press 42 and a mounting plate 43. The mounting seat 41 is fixedly connected to the outer side of the rotating ring 31, the upper end of the mounting seat 41 is fixedly connected to the hydraulic press 42, and the upper end of the hydraulic press 42 is fixedly connected to the mounting plate 43.

[0038] The hydraulic press 42 is supported by the mounting base 41, and the hydraulic press 42 enables the device to clamp packages at a higher distance.

[0039] The adjustment unit 4 also includes an identification control system 44, a hydraulic press 45 and a fixed plate 46. Two identification control systems 44 are fixedly connected to the left and right sides of the upper end of the mounting plate 43, a hydraulic press 45 is fixedly connected to the middle of the upper end of the mounting plate 43, and a fixed plate 46 is fixedly connected to the front end of the hydraulic press 45.

[0040] The position of the package is scanned and confirmed by the identification control system 44, the clamping tool is moved by the hydraulic press 45, and the clamping tool is installed by the fixing plate 46.

[0041] The clamping unit 5 includes an electric telescopic rod 51, a motor 52, a motor mounting frame 53 and a movable shaft 54. The inner side of the upper end of the electric telescopic rod 51 is fixedly connected to the outer side of the movable shaft 54. The middle part of the outer side of the movable shaft 54 ​​is rotatably connected to the front end of the fixed plate 46. The right end of the fixed plate 46 is fixedly connected to the motor mounting frame 53. The motor mounting frame 53 is fixedly connected to the motor 52. The output shaft of the motor 52 is fixedly connected to one end of the movable shaft 54.

[0042] The movable shaft 54 ​​and the electric telescopic rod 51 are driven to rotate by the second motor 52, and the second motor 52 is fixed by the motor mounting frame 53. The second motor 52 causes the electric telescopic rod 51 to rotate, thereby completing the movement and placement of the package after clamping.

[0043] The clamping unit 5 also includes a gear mounting plate 55, a gear 2 56, a rack 57, a clamping arm 58 and an anti-slip clamp 59. The lower end of the electric telescopic rod 51 is fixedly connected to the rack 57, and the outer side of the electric telescopic rod 51 is fixedly connected to the gear mounting plate 55. The left and right ends of the gear mounting plate 55 are rotatably connected to the gear 2 56, and the gear 2 56 is meshed with the rack 57. The outer side of the gear 2 56 is fixedly connected to the clamping arm 58, and the lower end of the clamping arm 58 is movably connected to the anti-slip clamp 59.

[0044] The rack 57 is driven to move by the electric telescopic rod 51, and the gear 2 56 is limited by the gear mounting plate 55. The meshing of the rack 57 and the gear 2 56 enables the device clamping arm 58 to clamp the package, and the anti-slip clamping block 59 can clamp irregularly shaped packages, and at the same time adapt to the clamping of different packages.

[0045] It also includes support legs 2, telescopic rods 6, shock-absorbing springs 7 and power wheels 8. Two support legs 2 are fixedly connected to the left and right sides of the lower end of the base plate 1. The lower end of each support leg 2 is fixedly connected to one end of two telescopic rods 6. The lower end of the telescopic rod 6 is fixedly connected to the power wheel 8. A shock-absorbing spring 7 is sleeved on the telescopic rod 6 between the power wheel 8 and the support leg 2.

[0046] The device is moved by the power wheel 8 and supported by the telescopic rod 6 on the shock-absorbing spring 7. The shock-absorbing spring 7 enables the device to move better when passing through an uneven or angled road surface.

[0047] The working principle of a light package picking and placing robot provided by the utility model is as follows: the gear 1 34 is driven to rotate by the motor 1 33, and the rotating ring 31 and the placement plate 35 are rotated by the meshing of the gear 1 34 and the gear ring 32, and the package is placed by the placement plate 35 when moving, so as to prevent the center of gravity of the machine from changing when the package is clamped and moved, causing the machine to tip over. The hydraulic press 1 42 is supported by the mounting seat 41, and the hydraulic press 1 42 enables the device to clamp packages at a higher distance. The position of the package is scanned and confirmed by the identification control system 44, and the clamping tool is conveniently moved by the hydraulic press 2 45, and the clamping tool is installed by the fixed plate 46. The movable shaft 54 ​​and the electric telescopic rod 51 are driven to rotate by the motor 2 52, and the motor 2 52 is fixed by the motor mounting frame 53, and the electric telescopic rod 51 is rotated by the motor 2 52 to complete the movement and placement of the package after clamping. The electric telescopic rod 51 drives the rack 57 to move, the gear mounting plate 55 limits the position of the gear 2 56, and the meshing of the rack 57 and the gear 2 56 enables the device clamping arm 58 to clamp the package, and the anti-slip clamp block 59 clamps the irregularly shaped package, and adapts to the clamping of different packages. The power wheel 8 moves, and the telescopic rod 6 supports the shock-absorbing spring 7, which enables the device to move better when passing through an uneven or large-angle road surface.

[0048] It is worth noting that the input ends of the motor 1 33 and the motor 2 52 disclosed in the above embodiments are electrically connected to the output end of the external power supply through an external PLC controller, and both the motor 1 33 and the motor 2 52 adopt servo motors. The external PLC controller controls the operation of the motor 1 33 and the motor 2 52 using methods commonly used in the prior art.

[0049] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A lightweight package picking and placing robot, characterized in that: It comprises a base plate (1), a rotating unit (3), an adjusting unit (4) and a clamping unit (5); Bottom plate (1): a rotating unit (3) is installed on the upper end; The rotating unit (3) comprises a rotating ring (31), a gear ring (32), a motor (33), a gear (34) and a placement plate (35); the middle part of the upper end of the base plate (1) is rotatably connected to the rotating ring (31); the inner upper end of the rotating ring (31) is fixedly connected to the gear ring (32); the inner side of the rotating ring (31) at the upper end of the base plate (1) is fixedly connected to the motor (33); the output shaft of the motor (33) is fixedly connected to the gear (34); the gear (34) is meshed with the gear ring (32); the upper end of the rotating ring (31) is fixedly connected to the placement plate (35); Adjustment unit (4): mounted on the rotation unit (3); Gripping unit (5): installed on the adjusting unit (4).

2. A lightweight package picking and placing robot according to claim 1, characterized in that: The adjusting unit (4) comprises a mounting seat (41), a hydraulic press (42) and a mounting plate (43); the outer side of the rotating ring (31) is fixedly connected to the mounting seat (41); the upper end of the mounting seat (41) is fixedly connected to the hydraulic press (42); and the upper end of the hydraulic press (42) is fixedly connected to the mounting plate (43).

3. A lightweight package picking and placing robot according to claim 2, characterized in that: The adjustment unit (4) further comprises an identification control system (44), a second hydraulic press (45) and a fixed plate (46); two identification control systems (44) are fixedly connected to the left and right sides of the upper end of the mounting plate (43); the second hydraulic press (45) is fixedly connected to the middle of the upper end of the mounting plate (43); and the front end of the second hydraulic press (45) is fixedly connected to the fixed plate (46).

4. A lightweight package picking and placing robot according to claim 1, characterized in that: The clamping unit (5) comprises an electric telescopic rod (51), a second motor (52), a motor mounting frame (53) and a movable shaft (54); the inner side of the upper end of the electric telescopic rod (51) is fixedly connected to the outer side of the movable shaft (54); the middle part of the outer side of the movable shaft (54) is rotatably connected to the front end of a fixed plate (46); the right end of the fixed plate (46) is fixedly connected to the motor mounting frame (53); the motor mounting frame (53) is fixedly connected to the second motor (52); and the output shaft of the second motor (52) is fixedly connected to one end of the movable shaft (54).

5. A lightweight package picking and placing robot according to claim 4, characterized in that: The clamping unit (5) further comprises a gear mounting plate (55), a second gear (56), a rack (57), a clamping arm (58) and an anti-slip clamping block (59); the lower end of the electric telescopic rod (51) is fixedly connected to the rack (57); the outer side of the electric telescopic rod (51) is fixedly connected to the gear mounting plate (55); the left and right ends of the gear mounting plate (55) are rotatably connected to the second gear (56); the second gear (56) is meshed with the rack (57); the outer side of the second gear (56) is fixedly connected to the clamping arm (58); the lower end of the clamping arm (58) is movably connected to the anti-slip clamping block (59).

6. A lightweight package picking and placing robot according to claim 1, characterized in that: The invention also comprises a supporting leg (2), a telescopic rod (6), a shock absorbing spring (7) and a power wheel (8); the lower end of the base plate (1) is fixedly connected to two supporting legs (2) on the left and right sides; the lower end of each supporting leg (2) is fixedly connected to one end of two telescopic rods (6); the lower end of the telescopic rod (6) is fixedly connected to the power wheel (8); and the shock absorbing spring (7) is sleeved on the telescopic rod (6) between the power wheel (8) and the supporting leg (2).

Images