Self-adaptive multi-material-frame adjusting telescopic sleeve mechanism of air logistics robot

Abstract

The utility model relates to an air logistics robot self-adaption multi-material-frame adjusting telescopic sleeve mechanism which comprises a sleeve framework capable of doing lifting motion, material frames to be sorted are located at the bottom of the sleeve framework, adjusting units are arranged at the four corner ends of the inner side of the sleeve framework respectively, and each adjusting unit comprises an inner side right-angle face and guide angle steel corresponding to the angle ends of the material frames. A lifting plate is fixedly connected to the outer side face of the guide angle steel, a sliding rail plate is fixed to the inner side of the sleeve framework, kidney-shaped guide holes which are vertically arranged at intervals are obliquely formed in the sliding rail plate, and guide columns which are in sliding fit with the kidney-shaped guide holes are installed on the lifting plate. When the guide angle steel synchronous lifting plate ascends and descends, the guide angle steel at the four corner ends of the sleeve framework can synchronously contract inwards or expand outwards under the moving action of the guide columns along the inclined kidney-shaped guide holes, and the right-angle faces of the inner side faces of the guide angle steel can correct the position of a material frame. And position adjustment of the material frames of multiple specifications is met, and it is ensured that the robot gripper can accurately clamp the material frames.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an adaptive multi-material frame adjusting telescopic sleeve mechanism of an aerial logistics robot. Background Art

[0002] Aerial logistics robots have gradually become the protagonists in many practical applications such as warehousing and handling. They integrate the technologies of the crane industry, forklift industry, truss robot industry, CNC machine tool industry, servo controller industry and software industry, and use high-dimensional ideas to encapsulate advanced technologies, turning complex industrial robot systems into standard products that are as simple and easy to use as home appliances.

[0003] When an aerial logistics robot sorts material frames, in order to ensure that the gripper can accurately hold the material frame, the position of the material frame is usually adjusted by a correction mechanism. However, the sorting mechanism used by existing logistics robots only adjusts the opposite sides of the material frame during adjustment, which takes a long time to adjust. In the end, the position of the material frame will still have a certain deviation, so manual fine-tuning is required. Moreover, the material frame specifications adjusted by the existing correction mechanism are limited by its structure and are relatively simple, which cannot meet the requirements of adjusting material frames of multiple specifications. Summary of the invention

[0004] The technical problem to be solved by the utility model is: in order to overcome the deficiencies in the prior art, the utility model provides an adaptive multi-material frame adjustment telescopic sleeve mechanism for an aerial logistics robot which can effectively ensure accurate material frame position adjustment.

[0005] The technical solution adopted by the utility model to solve the technical problem is: an aerial logistics robot adaptive multi-material frame adjustment telescopic sleeve mechanism, including a sleeve frame that can perform lifting movement, the material frame to be sorted is located at the bottom of the sleeve frame, and the four corners of the inner side of the sleeve frame are respectively provided with adjustment units.

[0006] The adjustment unit includes a guide angle steel whose inner right-angle surface corresponds to the corner end of the material frame, a lifting plate is fixedly connected to the outer side of the guide angle steel, a slide rail plate is fixed to the inner side of the sleeve frame, and waist-shaped guide holes arranged at upper and lower intervals are obliquely opened on the slide rail plate, and a guide column slidingly matched with the waist-shaped guide hole is installed on the lifting plate.

[0007] Specifically, the lifting plate has two side plates arranged at intervals, the guide column is connected between the two side plates, the upper end surfaces of the side plates are fixedly connected with connecting plates, and the connecting plates are provided with notches corresponding to the gaps between the side plates.

[0008] Furthermore, a cylinder is installed on the upper end surface of the angle end of the sleeve frame, and the cylinder piston rod extends downward between the two side plates and is connected to the upper end of the side plates through a pin shaft.

[0009] Furthermore, a cylinder seat is installed on the upper end surface of the angle end of the sleeve frame, and the cylinder seat is connected to the rear end of the cylinder through a pin shaft.

[0010] Preferably, three waist-shaped guide holes are arranged on the slide rail plate at intervals, and the angle between the center line of the waist-shaped guide hole and the vertical direction is 20-30°

[0011] The beneficial effect of the utility model is that when the guide angle steel and the synchronous lifting plate perform lifting movement, the guide column moves along the oblique waist-shaped guide hole, so that the guide angle steels at the four corners of the sleeve frame can be synchronously contracted inward or expanded outward, and the right-angle surface of the inner side of the guide angle steel can correct the position of the material frame. The guide angle steel can also synchronously contract inward or expand outward, which can also meet the position adjustment of material frames of various specifications, thereby ensuring that the robot gripper accurately clamps the material frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.

[0013] Figure 1 It is a structural schematic diagram of the utility model.

[0014] Figure 2 It is a structural schematic diagram of the regulating unit of the utility model.

[0015] Figure 3 It is a schematic diagram of the structure of the adjustment unit after removing a lifting plate side plate.

[0016] In the figure: 1. sleeve frame, 2. material frame, 3. guide angle steel, 4. lifting plate, 4-1. side plate, 4-2. connecting plate, 5. slide plate, 6. waist-shaped guide hole, 7. guide column, 8. cylinder, 9. cylinder seat, 10. right-angle mounting plate, 11. frame bottom plate, 12. servo reduction motor, 13. belt drive. DETAILED DESCRIPTION

[0017] 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.

[0018] like Figure 1 to Figure 3 The shown aerial logistics robot has an adaptive multi-material frame adjustment telescopic sleeve mechanism, which includes a sleeve skeleton 1 slidably mounted on the front side of the robot skeleton base plate 10, and a servo reduction motor 11 is mounted on the back side of the skeleton base plate 10. The servo reduction motor 11 drives the sleeve skeleton 1 to move up and down through a belt drive 12, and the material frame 2 to be sorted is located at the bottom of the sleeve skeleton 1.

[0019] Adjustment units for adjusting the center position of the material frame 2 are respectively provided at the four inner corners of the sleeve frame 1 .

[0020] The adjustment unit comprises a vertically placed guide angle steel 3, the inner right-angle surface of the guide angle steel 3 corresponds to the corner end of the material frame 2, a vertical right-angle mounting plate 10 is fixed to the inner side of the sleeve frame 1, a slide plate 5 is fixed to the right-angle outer side surface of the right-angle mounting plate 10, and three waist-shaped guide holes 6 arranged at an upper and lower interval are obliquely opened on the slide plate 5, and the angle between the center line of the waist-shaped guide hole 6 and the vertical direction is 25°.

[0021] A lifting plate 4 is provided on the outer side surface of the guide angle steel 3, and the lifting plate 4 has two side plates 4-1 arranged at intervals. The inner sides of the two side plates 4-1 are fixed to the outer side surfaces of the guide angle steel 3 respectively, and a connecting plate 4-2 is fixed to the upper end surface of the side plate 4-1. A notch corresponding to the gap between the side plates 4-1 is opened on the connecting plate 4-2.

[0022] The slide rail plate 5 is inserted between the two side plates 4 - 1 , and two guide posts 7 are connected between the two side plates 4 - 1 . The two guide posts 7 are slidably matched with the uppermost waist-shaped guide hole 6 and the lowermost waist-shaped guide hole 6 , respectively.

[0023] A cylinder seat 9 is installed on the upper end surface of the corner end of the sleeve frame 1. The cylinder seat 9 is movably connected to the rear end of the cylinder 8 through a pin shaft. The piston rod of the cylinder 8 extends downward between the two side plates 4-1 through the notch on the connecting plate 4-2 and is connected to the upper ends of the two side plates 4-1 through a pin shaft.

[0024] When the cylinder 9 drives the lifting plate 4 to move up and down, the guide angle steel 3 moves synchronously with the lifting plate 4. At the same time, due to the movement of the guide column 7 along the oblique waist-shaped guide hole 6, the guide angle steels 3 at the four corners of the sleeve frame 1 can be synchronously contracted inward or expanded outward, and the position of the material frame 2 can be corrected by using the right-angled surface of the inner side surface of the guide angle steel 3. The guide angle steel 3 shrinks inward or expands outward synchronously, which also meets the position adjustment of material frames 2 of multiple specifications, thereby ensuring that the robot gripper accurately clamps the material frame 2.

[0025] 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. An aerial logistics robot adaptive multi-material frame adjustment telescopic sleeve mechanism, comprising a sleeve frame (1) capable of lifting and lowering movement, a material frame (2) to be sorted is located at the bottom of the sleeve frame (1), and is characterized by: The four inner corners of the sleeve frame (1) are respectively provided with adjustment units; The adjustment unit comprises a guide angle steel (3) whose inner right-angle surface corresponds to the corner end of the material frame (2); a lifting plate (4) is fixedly connected to the outer side surface of the guide angle steel (3); a slide rail plate (5) is fixed to the inner side of the sleeve frame (1); waist-shaped guide holes (6) arranged at an upper and lower interval are obliquely opened on the slide rail plate (5); and a guide column (7) that slidably cooperates with the waist-shaped guide hole (6) is installed on the lifting plate (4).

2. The adaptive multi-material frame adjusting telescopic sleeve mechanism according to claim 1, characterized in that: The lifting plate (4) comprises two side plates (4-1) arranged at an interval, the guide column (7) is connected between the two side plates (4-1), the upper end surface of the side plate (4-1) is fixedly connected with a connecting plate (4-2), and a notch corresponding to the gap between the side plates (4-1) is formed on the connecting plate (4-2).

3. The self-adaptive multi-material frame adjusting telescopic sleeve mechanism according to claim 2, characterized in that: A cylinder (8) is installed on the upper end surface of the corner end of the sleeve frame (1), and the piston rod of the cylinder (8) extends downward between the two side plates (4-1) and is connected to the upper end of the side plate (4-1) through a pin shaft.

4. The self-adaptive multi-material frame adjusting telescopic sleeve mechanism according to claim 3, characterized in that: A cylinder seat (9) is installed on the upper end surface of the corner end of the sleeve frame (1), and the cylinder seat (9) is connected to the rear end of the cylinder (8) through a pin shaft.

5. The self-adaptive multi-material frame adjusting telescopic sleeve mechanism according to claim 1, characterized in that: Three waist-shaped guide holes (6) are arranged at intervals on the slide rail plate (5), and the angle between the center line of the waist-shaped guide hole (6) and the vertical direction is 20-30 degrees.

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