Mechanical arm

Abstract

The utility model discloses a manipulator, which relates to the technical field of storage equipment and comprises a base and a clamping jaw, the base is fixed in the center of a warehouse with a semicircular structure, a stand column is fixed above the base, a sliding sleeve capable of sliding up and down relative to the stand column is nested on the periphery of the stand column, a servo motor and a transmission gear shaft are mounted on one side of the sliding sleeve, and the servo motor is connected with the clamping jaw. One end of the transmission gear shaft is in transmission connection with one output end of the servo motor, and the other end of the transmission gear shaft is provided with a rotary gear; a rotary body is nested on the periphery of the sliding sleeve, an outer gear is arranged on the periphery of the rotary body, and the outer gear is meshed with the rotary gear of the transmission gear shaft; supporting arms are fixed to the outer sides of the rotating bodies, and the ends, away from the rotating bodies, of the supporting arms are fixed to the clamping jaws. The technical problems that in the prior art, when goods at the high position need to be taken and placed in a warehouse of a semicircular structure, manpower is wasted, and potential safety hazards exist are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of storage equipment, in particular to a manipulator. Background Art

[0002] A semicircular warehouse is a warehouse whose building is designed to be semicircular in shape. This design is usually to improve the ornamental value of the building and make it look more beautiful from the outside. However, due to the characteristics of the semicircular internal space, the utilization rate of this structure is not high and it is not suitable for use as a teaching place or other functional space. Therefore, semicircular warehouses can usually only be designed and arranged according to the structural characteristics of the semicircle to store items.

[0003] Due to the special nature of the semicircular structure, this type of warehouse will have some challenges in the storage and management of items. Therefore, permanent stairs or elevator facilities cannot be used. Ladders or mobile ladders and other folding climbing equipment can only be used to store and access items on high-level shelves. When using folding climbing equipment, the folding climbing equipment needs to be opened outside and then moved indoors for use. At least two people are required to cooperate when moving the folding climbing equipment, and during the climbing process, someone needs to be nearby to watch and assist to ensure the safety of the operators.

[0004] During the implementation process, the inventors found that the above-mentioned prior art has at least the following defects: when picking up and placing goods at a higher position in a semi-circular structure warehouse, it is necessary to use mobile folding climbing equipment, which requires personnel assistance, resulting in a waste of manpower and posing certain safety hazards. Utility Model Content

[0005] The embodiment of the present application provides a robot to solve the technical problems in the prior art of wasting manpower and posing safety hazards when picking up and placing goods at higher positions in a semicircular structure warehouse.

[0006] In order to solve the above technical problems, the utility model adopts the following technical scheme: a manipulator, comprising a base and a clamping claw, wherein the base can be fixed at the center position of a semicircular structure warehouse, a column is fixed above the base, a sleeve that can slide up and down relative to the column is nested on the outer periphery of the column, a servo motor and a transmission gear shaft are installed on one side of the sleeve, one end of the transmission gear shaft is transmission-connected to an output end of the servo motor, and the other end of the transmission gear shaft has a rotating gear; a rotating body is nested on the outer periphery of the sleeve, an external gear is provided on the outer periphery of the rotating body, and the external gear is meshed with the rotating gear of the transmission gear shaft; a support arm is fixed on the outer side of the rotating body, and the end of the support arm away from the rotating body is fixed to the clamping claw.

[0007] When using this manipulator to pick up and place goods at a higher position in a semicircular warehouse, the sliding sleeve can be first raised to a suitable height along the column, and then the transmission gear shaft can be driven to rotate by the servo motor. Since the transmission gear shaft is installed on one side of the sliding sleeve, one end of the sliding sleeve has a rotating gear and is meshed with the external gear on the outer periphery of the rotating body, the rotating body can rotate relative to the sliding sleeve, so that the clamping claw can rotate to a suitable angle to facilitate the grasping of objects. It can be achieved by a single person, saving manpower and effectively avoiding safety hazards.

[0008] Furthermore, a hollow cavity and a through groove that can penetrate it to the left and right are provided in the column, and the hollow cavity and the through groove both extend vertically; a rack is vertically fixed in the hollow cavity, and a climbing gear is meshed on one side of the rack, and the climbing gear can rotate under the drive of the servo motor; because the climbing gear is meshed with the rack in the hollow cavity, when the climbing gear rotates, the sleeve can be quickly raised and lowered.

[0009] Furthermore, the servo motor is a dual-axis motor, one output end of the servo motor is connected to a climbing gear shaft, the climbing gear is installed on the outer periphery of the climbing gear shaft, the other output end of the servo motor is connected to an active bevel gear, one end of the transmission gear shaft has a driven bevel gear, and the driven bevel gear is meshed with the active bevel gear.

[0010] Furthermore, one output shaft of the servo motor is connected to the transmission gear shaft via an electromagnetic clutch A with a brake, and the other output shaft of the servo motor is connected to the active bevel gear via an electromagnetic clutch B with a brake; thus, the separate control of the lifting of the sleeve and the rotation of the rotating body can be achieved through one servo motor.

[0011] Furthermore, the clamp includes a fixed plate, two clamping blocks are slidably installed on one side of the fixed plate, a clamping cylinder is fixed on the other side of the fixed plate, the output end of the clamping cylinder passes through the fixed plate and is connected to a guide rod, oblique grooves are symmetrically provided on both sides of the guide rod, and protrusions are provided on the sides of the two clamping blocks, and the protrusions are located in the oblique grooves.

[0012] Furthermore, a cylinder jacket is installed on one side of the fixed plate, the clamping cylinder is installed in the cylinder jacket, a horizontal moving cylinder is embedded in the cylinder jacket, the output end of the horizontal moving cylinder is fixed to the cylinder body of the clamping cylinder, and the cylinder body of the horizontal moving cylinder is fixed to the support arm; therefore, when the support arm is adjusted to a suitable height and angle of the semicircular structure warehouse, the clamping block can clamp or release the object by controlling the horizontal moving cylinder and the clamping cylinder.

[0013] It can be seen from the above technical solutions that the utility model has at least the following technical effects or advantages:

[0014] When using this manipulator to pick up and place goods at a higher position in a semicircular warehouse, the sliding sleeve can be first raised to a suitable height along the column, and then the transmission gear shaft can be driven to rotate by the servo motor. Since the transmission gear shaft is installed on one side of the sliding sleeve, one end of the sliding sleeve has a rotating gear and is meshed with the external gear on the outer periphery of the rotating body, the rotating body can rotate relative to the sliding sleeve, so that the clamping claw can rotate to a suitable angle to facilitate the grasping of objects. It can be achieved by a single person, saving manpower and effectively avoiding safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solution of the utility model, the following is a brief introduction to the drawings required for the description. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work:

[0016] Figure 1 It is a schematic diagram of the structure of the utility model;

[0017] Figure 2 It is a structural schematic diagram of the clamping jaws in the utility model.

[0018] Explanation of the accompanying drawings: 1. base, 2. column, 3. servo motor, 4. sleeve, 5-1. electromagnetic clutch A with brake, 5-2. electromagnetic clutch B with brake, 6. driving bevel gear, 7. driven bevel gear, 8. rotating gear, 9. rotating body, 10. rack, 11. support arm, 12. climbing gear shaft, 13. climbing gear, 14. horizontal moving cylinder, 15. cylinder jacket, 16. clamping cylinder, 17. clamping block. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this patent, other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.

[0020] The utility model discloses a manipulator, which includes a base 1, a column 2 is fixed on the base 1, a sleeve 4 is nested on the outer periphery of the column 2, a rotating body 9 is nested on the outer periphery of the sleeve 4, a support arm 11 is fixed on one side of the rotating body 9, and a clamp is installed on the end of the support arm 11 away from the rotating body 9. The base 1 is fixed at the center of a semicircular structure warehouse, the sleeve 4 can be raised and lowered along the column 2, and the rotating body 9 can rotate coaxially relative to the sleeve. Thus, the height and direction of the clamp can be changed by the sleeve 4 and the rotating body 9, and when it is necessary to take and place goods at a higher position in the semicircular structure warehouse, it can be achieved with the help of the clamp.

[0021] like Figure 1 As shown, the column 2 is arranged above the base 1, the bottom of the column 2 is fixed to the upper surface of the base 1, and the upper end of the column 2 extends toward the top of the semicircular structure warehouse. In this embodiment, the column 2 is a hollow structure, and a hollow cavity and a through groove that can penetrate it from left to right are provided inside it, and the hollow cavity and the through groove both extend vertically along the column 2. Among them, a rack 10 is fixed in the hollow cavity, and a climbing gear 13 is meshed on one side of the rack 10. Correspondingly, a servo motor 3 is installed on one side of the sleeve 4, and an output end of the servo motor 3 can drive the climbing gear 13 to rotate, thereby realizing the lifting and lowering of the sleeve 4 relative to the column 2. In other embodiments, a lead screw can also be installed on the column 2, and a nut can be installed in the sleeve 4, and the sleeve 4 can be lifted and lowered relative to the column 2 by the cooperation of the lead screw and the nut.

[0022] Specifically in the present embodiment, the servo motor 3 is a dual-axis motor, one output end of the servo motor 3 faces the interior of the column 2 and is connected to the climbing gear shaft 12, and the climbing gear 13 is installed on the outer periphery of the climbing gear shaft 12. Therefore, by controlling the servo motor 3 to drive the climbing gear shaft 12 and the climbing gear 13 to rotate, the sliding sleeve 4 can be lifted and lowered relative to the column 2.

[0023] More specifically, the other output end of the servo motor 3 is connected to an active bevel gear 6 for controlling the rotation of the rotating body 9. Figure 1 As shown, a transmission gear shaft is also installed on one side of the sliding sleeve 4. The transmission gear shaft is installed vertically. A driven bevel gear 7 is provided at the lower end of the transmission gear shaft. The driven bevel gear 7 is meshed with the active bevel gear 6. Therefore, when the active bevel gear 6 rotates, the vertically installed transmission gear shaft can rotate. A rotary gear 8 is provided at the upper end of the transmission gear shaft. Correspondingly, an external gear is also provided on the outer periphery of the rotating body 9. The external gear is meshed with the rotary gear 8 on the transmission gear shaft. Therefore, when the transmission gear shaft rotates, the rotating body 9 can be driven to rotate relative to the sliding sleeve 4.

[0024] In addition, in this embodiment, the servo motor 3 can independently control the rotation of the climbing gear shaft 12 and the active bevel gear 6. Figure 1As shown, one output shaft of the servo motor 3 is connected to the climbing gear shaft 12 via a brake electromagnetic clutch A5-1, and the other output end of the servo motor 3 is connected to the active bevel gear 6 via a brake electromagnetic clutch B5-2. During the lifting and lowering process of the sleeve 4, the brake electromagnetic clutch A5-1 is engaged, and the brake electromagnetic clutch B5-2 is disconnected, and the rotation of the servo motor 3 can drive the rotation of the climbing gear 13. During the rotation of the rotating body 9 relative to the sleeve 4, the brake electromagnetic clutch A5-1 is disconnected, and the brake electromagnetic clutch B5-2 is engaged, and the servo motor 3 drives the transmission gear shaft to rotate through the active bevel gear 6.

[0025] On the other hand, Figure 2 As shown, the clamp includes a fixed plate, one side of which is slidably mounted with two clamping blocks 17, and the other side of which is fixed with a clamping cylinder 16, the output end of which passes through the fixed plate and is connected to a guide rod, and the two sides of the guide rod are symmetrically provided with oblique grooves. Correspondingly, the sides of the two clamping blocks 17 are provided with protrusions, and the protrusions are located in the oblique grooves of the guide rod, so that when the clamping cylinder 16 is actuated, it can drive the two clamping blocks 17 to clamp or release the object.

[0026] In addition, a cylinder jacket 15 is installed on one side of the fixed plate, one end of the cylinder jacket 15 is fixed to a plate surface of the fixed plate, and the clamping cylinder 16 is located in the cylinder jacket 15. A horizontal moving cylinder 14 is also embedded in the cylinder jacket 15, and there is a gap between the cylinder body of the horizontal moving cylinder 14 and the inner wall of the cylinder jacket 15, so that the horizontal moving cylinder 14 can slide relatively in the cylinder jacket 15. The output end of the horizontal moving cylinder 14 is connected to the cylinder body of the clamping cylinder 16, and the cylinder body of the clamping cylinder 16 is relatively fixed to the cylinder jacket 15 and the fixed plate. Therefore, after the cylinder body of the horizontal moving cylinder 14 is fixed to the support arm 11, when the output end of the horizontal moving cylinder 14 is extended, it can drive the clamping block 17 to extend forward, and when the clamping cylinder 16 is extended or retracted, the clamping block 17 can clamp or release the object. It should be understood that the support arm 11 may be a connecting rod structure, and the cylinder body of the horizontal moving cylinder 14 may be fixed to the end of the support arm 11 away from the rotating body 9 by welding, which is well known to those skilled in the art and will not be described in detail.

[0027] The usage of this robot is as follows:

[0028] When it is necessary to take the goods, the braked electromagnetic clutch A5-1 is engaged, the braked electromagnetic clutch B5-2 is released, the servo motor 3 drives the climbing gear shaft 12 and the climbing gear 13 to rotate, the sleeve 4 moves to the specified height, and the servo motor 3 stops rotating. When the rotating body 9 needs to rotate, the braked electromagnetic clutch A5-1 is disconnected, the braked electromagnetic clutch B5-2 is engaged, and the servo motor 3 drives the active bevel gear 6 to rotate. Since the active bevel gear 6 is engaged with the driven bevel gear 7 at the lower end of the transmission gear shaft, and the rotating gear 8 at the upper end of the transmission gear shaft is engaged with the outer gear of the rotating body 9, the servo motor 3 can drive the rotating body 9 to rotate, so that the support arm 11 points to the appropriate angle. Finally, the horizontal moving cylinder 14 extends to make the clamping block 17 close to the shelf, and the object can be clamped or released by extending or retracting the clamping cylinder 16. Therefore, through this manipulator, it is realized that the high-level goods can be taken and placed by a single person in a semicircular structure warehouse, saving manpower and effectively avoiding safety hazards.

[0029] In the description of the present invention, the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "vertical", "horizontal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the purpose of describing the present invention rather than requiring the present invention to be constructed or operated in a specific position, and therefore cannot be understood as a limitation on the present invention. The terms "connected" and "connected" in the present invention should be understood in a broad sense, for example, it can be a connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate component. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0030] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in their embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novelties disclosed herein.

Claims

1. A robot arm, comprising a base (1) and a gripper, characterized in that: The base (1) can be fixed at the center of a semicircular structure warehouse, a column (2) is fixed above the base (1), a sleeve (4) is embedded on the outer periphery of the column (2) and can slide up and down relative to the column (2), a servo motor (3) and a transmission gear shaft are installed on one side of the sleeve (4), one end of the transmission gear shaft is transmission-connected to an output end of the servo motor (3), and the other end of the transmission gear shaft has a rotary gear (8); a rotating body (9) is embedded on the outer periphery of the sleeve (4), an external gear is provided on the outer periphery of the rotating body (9), and the external gear is meshed with the rotary gear (8) of the transmission gear shaft; a support arm (11) is fixed on the outer side of the rotating body (9), and one end of the support arm (11) away from the rotating body (9) is fixed to a clamp.

2. A robot according to claim 1, characterized in that: A hollow cavity and a through slot that can penetrate the column (2) to the left and right are provided in the column (2), and the hollow cavity and the through slot both extend vertically; a rack (10) is vertically fixed in the hollow cavity, and a climbing gear (13) is meshed on one side of the rack (10), and the climbing gear (13) can rotate under the drive of the servo motor (3).

3. A robot according to claim 2, characterized in that: The servo motor (3) is a dual-shaft motor. One output end of the servo motor (3) is connected to a climbing gear shaft (12). The climbing gear (13) is mounted on the outer periphery of the climbing gear shaft (12). The other output end of the servo motor (3) is connected to an active bevel gear (6). One end of the transmission gear shaft has a driven bevel gear (7). The driven bevel gear (7) is meshed with the active bevel gear (6).

4. A robot according to claim 3, characterized in that: An output shaft of the servo motor (3) is connected to the transmission gear shaft via an electromagnetic clutch A (5-1) with a brake, and another output shaft of the servo motor (3) is connected to the active bevel gear (6) via an electromagnetic clutch B (5-2) with a brake.

5. A robot according to any one of claims 1 to 4, characterized in that: The clamping jaw comprises a fixing plate, two clamping blocks (17) are slidably mounted on one side of the fixing plate, a clamping cylinder (16) is fixed on the other side of the fixing plate, an output end of the clamping cylinder (16) passes through the fixing plate and is connected to a guide rod, oblique grooves are symmetrically arranged on both sides of the guide rod, and convex blocks are arranged on the sides of the two clamping blocks (17), and the convex blocks are located in the oblique grooves.

6. A robot according to claim 5, characterized in that: A cylinder jacket (15) is also installed on one side of the fixing plate. A clamping cylinder (16) is installed in the cylinder jacket (15). A horizontal moving cylinder (14) is embedded in the cylinder jacket (15). The output end of the horizontal moving cylinder (14) is fixed to the cylinder body of the clamping cylinder (16). The cylinder body of the horizontal moving cylinder (14) is fixed to the support arm.

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