Goods taking mechanical arm

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a goods taking mechanical arm which comprises a base, an adjusting assembly, a goods taking assembly and an auxiliary assembly. The adjusting assembly is installed on the base and comprises a left-right moving part and an up-down moving part. The goods taking end is adjusted left and right through the left-right moving piece, and the goods taking end is adjusted up and down through the up-down moving piece. The goods taking assembly is installed on the adjusting assembly. The auxiliary assembly is installed on the goods taking assembly. The auxiliary assembly comprises an auxiliary rod, a limiting block, a mounting sleeve, a supporting rod, a mounting block and a buffering piece. The auxiliary rod is installed on the goods taking assembly, and a limiting block is arranged at one end of the auxiliary rod. A mounting sleeve is arranged on the periphery of the auxiliary rod and provided with a supporting rod, and mounting blocks are mounted on the two sides of the supporting rod and connected to the lower portion of the goods taking end. The buffering piece is installed between the adjusting assembly and the goods taking assembly. According to the goods taking mechanical arm structure, goods taking stability is improved conveniently, goods falling is avoided, and the working and using efficiency of the goods taking mechanical arm structure is improved conveniently.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a cargo picking mechanical arm. Background Art

[0002] In recent years, with the development of robotics technology, robot structures with high speed, high precision, and high load-to-weight ratio have attracted attention in the industrial and aerospace fields. Due to the increase in the flexibility of joints and connecting rods during movement, the structure deforms, which reduces the accuracy of task execution. Therefore, the flexibility characteristics of the robot manipulator structure must be considered, and the system dynamics characteristics must also be considered to achieve high-precision and effective control of the flexible manipulator.

[0003] Chinese patent announcement number CN217915312U discloses a cargo picking robot arm, including a base and a connected weighing plate, a first motor is provided on one side of the base, a first screw rod is fixedly connected to the output end of the first motor, a second optical axis is provided on one side of the first screw rod, a third motor is fixedly provided inside the base, a second screw rod is fixedly connected to the output end of the third motor, a first optical axis is provided on one side of the second screw rod, a connected weighing plate is threadedly connected on the second screw rod, a slide rail is fixedly connected to the upper surface of the connected weighing plate, a slider is slidably connected on the slide rail, in the utility model, the first motor, the second motor and the third motor are provided, the cargo picking is realized by the left and right movement of the base, the up and down movement of the connected weighing plate and the movement of the telescopic rod, the automation degree is high, and the movement can be multi-directional, the movement is more flexible, and it is convenient to use.

[0004] When the existing cargo picking robot is in use, the weighing plate moves left and right, up and down, and a telescopic rod is installed on the top. At the same time, the goods need to be weighed and transferred. Furthermore, there is no guiding auxiliary structure for the movement of the weighing plate, which leads to an unbalanced situation when moving and transferring the goods. The goods may fall from the weighing plate, and the weight of the goods carried by the weighing plate is reduced, thereby reducing the working efficiency of the cargo picking robot. Utility Model Content

[0005] In view of the problems existing in the background technology, a picking robot arm is proposed.

[0006] The utility model provides a cargo picking mechanical arm, comprising: a base, an adjustment component, a cargo picking component and an auxiliary component;

[0007] The adjustment component is installed on the base, and the adjustment component includes a left-right moving part and an up-down moving part; the left-right moving part is used to adjust the pickup end left-right, and the up-down moving part is used to adjust the pickup end up-down;

[0008] The pickup assembly is mounted on the adjustment assembly;

[0009] The auxiliary component is installed on the picking component; the auxiliary component includes an auxiliary rod, a limit block, a mounting sleeve, a support rod, a mounting block and a buffer; the auxiliary rod is installed on the picking component, and a limit block is arranged at one end of the auxiliary rod; a mounting sleeve is arranged on the periphery of the auxiliary rod, and a support rod is arranged on the mounting sleeve, and mounting blocks are installed on both sides of the support rod, and the mounting blocks are connected under the picking end; the buffer is installed between the adjustment component and the picking component.

[0010] Preferably, the left and right moving parts include a moving seat, a screw rod a and a motor a;

[0011] The moving seat is installed on the base; the screw rod a runs through both sides of the moving seat; the driving end of the motor a rotates and connects the screw rod a; and a motor seat is installed below the motor a.

[0012] Preferably, the base is provided with two guide grooves, and moving wheels are movably connected inside the guide grooves, and the moving wheels are installed below the moving seat; the moving wheels move left and right synchronously with the moving seat and move along the inner wall of the guide groove.

[0013] Preferably, the up and down moving member includes a motor b and a screw rod b;

[0014] The motor b is installed inside the moving seat; one end of the screw rod b passes through the inside of the moving seat and is rotatably connected to the driving end of the motor b, and the other end is connected below the pickup component.

[0015] Preferably, the picking assembly includes a weighing plate, a motor c, a gear, teeth, a telescopic rod, a slider and a guide rail;

[0016] The weighing plate is installed on the screw rod b, and a motor c is installed below the weighing plate. The driving end of the motor c penetrates the weighing plate and is rotatably connected with the gear, and the gear is meshed with the teeth; the telescopic rod is installed on the weighing plate, and the slider is arranged on the telescopic rod; the guide rail is arranged on the weighing plate;

[0017] A slide rail is slidably connected to the lower part of the slide block, and the weighing plate and the telescopic rod are moved by adjusting the components so that the goods can be taken.

[0018] Preferably, the buffer member comprises a mounting post, a lower base plate, a spring and an upper base plate;

[0019] The lower end of the mounting column penetrates the interior of the moving seat, and the upper end is connected to the bottom of the weighing plate;

[0020] A spring is arranged above the lower bottom plate, and an upper bottom plate is arranged above the spring; the upper bottom plate and the lower bottom plate have the same structure, and a through hole is arranged in the center to penetrate the mounting column.

[0021] Compared with the prior art, the utility model has the following beneficial technical effects:

[0022] The utility model sets a guide rail on the weighing plate, and the guide rail is open and connected to the outside, so that the auxiliary rod can be installed therein. The auxiliary rod adopts a telescopic mechanism, and the outer periphery of the auxiliary rod is connected to the mounting sleeve. The mounting sleeve carries a support rod, and the upper ends of the support rod are connected to the mounting blocks on both sides. The mounting block is installed on the slider with bolts, and the slider cooperates with the weighing plate and the telescopic rod to pick up goods. Then, during the picking operation, the telescopic end of the auxiliary rod is synchronously telescoped and adjusted, which is convenient for improving the stability of picking up goods and avoiding the situation of goods falling. By setting a mounting column under the weighing plate, and the mounting column and the auxiliary rod both adopt a telescopic structure, the mounting column is synchronously adjusted up and down with the weighing plate, thereby increasing the weighing weight of the goods on the weighing plate, and then a spring is set on the outer periphery of the mounting column. The spring plays a buffering role to avoid the weighing plate from moving downward and colliding with the upper part of the moving seat, which is convenient for improving the coordination between the structures of the picking mechanical arm and improving the working efficiency of the picking mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0024] Figure 2 This is a schematic diagram of the structure of the buffer in the utility model;

[0025] Figure 3 This is a schematic diagram of the structure of the pickup component in the utility model;

[0026] Figure 4 This is a schematic diagram of the guide rail structure of the utility model;

[0027] Figure 5 It is a schematic diagram of the auxiliary component structure in the utility model.

[0028] Figure numerals: 1, base; 2, moving seat; 201, screw a; 202, motor a; 3, motor b; 301, screw b; 4, weighing plate; 401, motor c; 402, gear; 403, teeth; 404, telescopic rod; 405, slider; 406, guide rail; 5, auxiliary rod; 501, limit block; 502, mounting sleeve; 503, support rod; 504, mounting block; 6, mounting column; 601, lower base plate; 602, spring; 603, upper base plate. DETAILED DESCRIPTION

[0029] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0030] Embodiment 1

[0031] like Figure 1 - Figure 5As shown, a cargo picking robot arm proposed by the utility model comprises: a base 1, an adjustment component, a cargo picking component and an auxiliary component; the adjustment component is installed on the base 1, and the adjustment component comprises a left and right moving part and an up and down moving part; the cargo picking end is adjusted left and right by the left and right moving part, and the cargo picking end is adjusted up and down by the up and down moving part; the cargo picking component is installed on the adjustment component; the auxiliary component is installed on the cargo picking component; the auxiliary component comprises an auxiliary rod 5, a limit block 501, a mounting sleeve 502, a support rod 503, a mounting block 504 and a buffer; the auxiliary rod 5 is installed on the cargo picking component, and a limit block 501 is arranged at one end of the auxiliary rod 5; a mounting sleeve 502 is arranged on the periphery of the auxiliary rod 5, a support rod 503 is arranged on the mounting sleeve 502, mounting blocks 504 are arranged on both sides of the support rod 503, and the mounting blocks 504 are connected below the cargo picking end; the buffer is installed between the adjustment component and the cargo picking component. The auxiliary rod 5 adopts a telescopic mechanism, one end of the auxiliary rod 5 is installed on the weighing plate 4, the auxiliary rod 5 has a mounting sleeve 502, one end of the mounting sleeve 502 is connected to one side of the weighing plate 4 by movement, so that it has a limit block 501, and the limit block 501 is used to limit the auxiliary rod 5, preventing the auxiliary rod 5 from telescoping into the guide rail 406, thereby facilitating auxiliary use.

[0032] Further explanation, the base 1 is provided with two guide grooves, and the guide grooves are movably connected with moving wheels, which are installed below the moving seat 2; the moving wheels move left and right synchronously with the moving seat 2 and move along the inner wall of the guide groove. The four moving wheels are installed in four directions below the moving seat 2, and two of them are connected to the guide grooves front and back on one side, which is convenient for synchronous movement of the moving seat 2 and increases the stability of the left and right adjustment of the moving seat 2.

[0033] Further explanation, the buffer comprises a mounting column 6, a lower bottom plate 601, a spring 602 and an upper bottom plate 603; the lower end of the mounting column 6 passes through the interior of the moving seat 2, and the upper end is connected to the bottom of the weighing plate 4; a spring 602 is arranged above the lower bottom plate 601, and an upper bottom plate 603 is arranged above the spring 602; the upper bottom plate 603 has the same structure as the lower bottom plate 601, and a through hole is arranged in the center to pass through the mounting column 6. The mounting column 6 and the auxiliary rod 5 are both used with a telescopic mechanism, the lower bottom plate 601 and the upper bottom plate 603 are installed on the periphery of the mounting column 6 through the through hole, and are connected by the spring 602, so that the upper bottom plate 603 is connected to the bottom of the weighing plate 4, and when the weighing plate 4 moves downward, the upper bottom plate 603 is limited and subjected to force, so that the spring 602 contracts, so that the weighing plate 4 moves downward smoothly, avoids collision with the moving seat 2, and is convenient for improving the coordination between the structures of the picking robot arm.

[0034] Embodiment 2

[0035] like Figure 1 - Figure 4As shown, a cargo picking robot arm proposed by the utility model, based on the above embodiment, this embodiment also records in detail the specific components of the adjustment component and the cargo picking component, as well as the matching method.

[0036] Further explanation, the left and right moving parts include a moving seat 2, a screw a201 and a motor a202; the moving seat 2 is installed on the base 1; the screw a201 runs through both sides of the moving seat 2; the driving end of the motor a202 rotates and connects to the screw a201. A motor seat is installed below the motor a202. By starting the motor a202 to rotate, the motor a202 rotates with the screw a, and the screw a rotates with the moving seat 2 to move left and right. A pickup assembly and an up-and-down moving part are arranged above the moving seat 2, so that the picking assembly and the up-and-down moving part can be used to move left and right.

[0037] Further explanation, the up and down moving parts include motor b3 and screw rod b301; motor b3 is installed inside the moving seat 2; one end of screw rod b301 passes through the inside of the moving seat 2 and is rotatably connected to the driving end of motor b3, and the other end is connected to the bottom of the pickup assembly. By starting the motor b3 to rotate, the motor b3 rotates the screw rod b301, and the screw rod b301 rotates to move the weighing plate 4 up and down for use.

[0038] To further explain, the picking component includes a weighing plate 4, a motor c401, a gear 402, teeth 403, a telescopic rod 404, a slider 405 and a guide rail 406; the weighing plate 4 is installed on the screw rod b301, and a motor c401 is installed below the weighing plate 4, the driving end of the motor c401 passes through the weighing plate 4 and the gear 402 for rotational connection, and the gear 402 and the teeth 403 are meshingly connected; the telescopic rod 404 is installed on the weighing plate 4, and the slider 405 is arranged on the telescopic rod 404; the guide rail 406 is arranged on the weighing plate 4; a slide rail is slidably connected below the slider 405, and the weighing plate 4 and the telescopic rod 404 are moved by adjusting the component to allow the goods to be picked up. By starting the motor c401 to rotate, the motor c401 rotates with the gear 402, the gear 402 drives the teeth 403, the teeth 403 drives the telescopic rod 404 to move, and the slider 405 moves along the slide rail to reduce the sliding friction of the telescopic rod 404. By moving the mobile seat 2 left and right, connecting the weighing plate 4 to move up and down and the telescopic rod 404 to move, the cargo can be taken.

[0039] The working principle of the utility model is as follows: the picking component is moved and the goods are picked up through the adjusting parts, and the lower end of the mounting column 6 is passed through the interior of the moving seat 2, and the upper end is connected to the bottom of the weighing plate 4. When the weighing plate 4 moves up and down, the mounting column 6 is synchronously telescopically adjusted. After the weighing plate 4 moves downward to the upper bottom plate 603, the spring 602 is squeezed and contracted by the upper weighing plate 4, so that the weighing plate 4 slows down the downward movement, and the weighing plate 4 is carried by the guide rail 406, and the auxiliary rod 5 is installed in the guide rail 406. The auxiliary rod 5 carries the outer mounting sleeve 502, and the mounting sleeve 502 carries the support rod 503, and the support rod 503 carries the mounting block 504. The mounting block 504 is installed under the slider 405 by bolts, so that the auxiliary rod 5 is synchronously telescopically adjusted with the slider 405, so that the guide picking can be used.

[0040] The implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge scope of technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A picking robot arm, characterized in that: include: Base (1); An adjustment component is installed on the base (1), and the adjustment component includes a left-right moving part and an up-down moving part; the left-right moving part is used to adjust the pickup end left-right, and the up-down moving part is used to adjust the pickup end up-down; A pickup assembly, mounted on the adjustment assembly; and an auxiliary component, which is installed on the cargo picking component; the auxiliary component comprises an auxiliary rod (5), a limit block (501), a mounting sleeve (502), a support rod (503), a mounting block (504) and a buffer; the auxiliary rod (55) is installed on the cargo picking component, and a limit block (501) is arranged at one end of the auxiliary rod (5); a mounting sleeve (502) is arranged on the outer periphery of the auxiliary rod (5), the mounting sleeve (502) is arranged on the support rod (503), mounting blocks (504) are installed on both sides of the support rod (503), and the mounting blocks (504) are connected below the cargo picking end; the buffer is installed between the adjustment component and the cargo picking component.

2. A picking robot arm according to claim 1, characterized in that: The left and right moving parts include a moving seat (2), a screw rod a (201) and a motor a (202); The movable seat (2) is mounted on the base (1); the screw rod a (201) passes through both sides of the movable seat (2); the driving end of the motor a (202) is rotatably connected to the screw rod a (201); and a motor seat is mounted below the motor a (202).

3. A cargo picking robot arm according to claim 2, characterized in that: The base (1) is provided with two guide grooves, and moving wheels are movably connected inside the guide grooves. The moving wheels are installed below the moving seat (2); the moving wheels move left and right synchronously with the moving seat (2) and move along the inner wall of the guide groove.

4. A picking robot arm according to claim 3, characterized in that: The up-and-down moving parts include a motor b (3) and a screw rod b (301); The motor b (3) is installed inside the moving seat (2); one end of the screw rod b (301) passes through the inside of the moving seat (2) and is rotatably connected to the driving end of the motor b (3), and the other end is connected below the pickup assembly.

5. A picking robot arm according to claim 4, characterized in that: The picking assembly includes a weighing plate (4), a motor c (401), a gear (402), teeth (403), a telescopic rod (404), a slider (405) and a guide rail (406); The weighing plate (4) is mounted on the screw rod b (301), a motor c (401) is mounted below the weighing plate (4), a driving end of the motor c (401) passes through the weighing plate (4) and is rotatably connected to the gear (402), and the gear (402) is meshedly connected to the teeth (403); a telescopic rod (404) is mounted on the weighing plate (4), a slider (405) is arranged on the telescopic rod (404); and a guide rail (406) is arranged on the weighing plate (4); A slide rail is slidably connected to the bottom of the slider (405), and the weighing plate (4) and the telescopic rod (404) are moved by adjusting the assembly so that the goods can be taken.

6. A cargo picking robot arm according to claim 4 or 5, characterized in that: The buffer member comprises a mounting column (6), a lower base plate (601), a spring (602) and an upper base plate (603); The lower end of the mounting column (6) passes through the interior of the moving seat (2), and the upper end is connected to the bottom of the weighing plate (4); A spring (602) is arranged above the lower base plate (601), and an upper base plate (603) is arranged above the spring (602); the upper base plate (603) and the lower base plate (601) have the same structure, and a through hole is arranged at the center to penetrate the mounting column (6).

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