Goods sorting mechanical arm for three-dimensional goods shelf

Abstract

According to the technical scheme, the three-dimensional goods shelf goods sorting mechanical arm is characterized in that the three-dimensional goods shelf goods sorting mechanical arm comprises a movable base, an industrial machine arm is fixed to the movable base, a connecting base is fixed to the working end of the industrial machine arm, a C-shaped plate is fixed to the connecting base, two guide sliding rods are fixed to the C-shaped plate, and the two guide sliding rods are fixed to the movable base. Two sliding blocks are connected to the two guide sliding rods in a sliding mode, fixed arms are fixed to the sliding blocks, and fixed insertion blocks are arranged on the two sides of the fixed arms correspondingly; the two sides of each sliding block are each provided with two racks, and when the fluted disc assemblies are meshed with the two racks, the other sliding block can be driven to synchronously move in the same direction or in the opposite direction, so that the clamping force and the clamping size between the two sorting clamping plates are adjusted, and the sorting efficiency is improved. Therefore, the goods with large size and heavy weight are clamped and sorted, and the sorting efficiency of the goods on the three-dimensional goods shelf is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of warehouse goods sorting, and particularly relates to a goods sorting manipulator for a three-dimensional shelf. Background Technique

[0002] Since the storage method of the warehouse has developed from plane storage to high-rise three-dimensional storage, the shelf has become the main body of the three-dimensional warehouse. A variety of automated and mechanized warehouses composed of various forms of shelves that meet different functional requirements have become an important link in the warehousing system and even the entire logistics system or production process flow. A manipulator is required when taking, storing, and sorting goods.

[0003] For example, a Chinese patent with the authorization announcement number CN219854661U discloses a sorting manipulator, which belongs to the technical field of manipulators. It includes a fixing plate. A support plate is installed at the lower end of the fixing plate, and a clamping jaw component is installed at the upper end of the fixing plate. A connecting plate is installed on the side of the lower end of the clamping jaw component, and the other end of the connecting plate is installed with a mounting plate. A camera is installed at the upper end of the mounting plate. The mounting plate is fixedly connected to the connecting plate through a camera fixing mechanism. A manipulator connecting component is installed at the upper end of the clamping jaw component. The manipulator is fixedly connected to a U-shaped seat through a manipulator angle adjusting mechanism. A U-shaped seat is installed at the upper end of the manipulator connecting component, and a manipulator is installed inside the U-shaped seat.

[0004] The above-mentioned sorting manipulator has the advantage of facilitating the installation and fixation of the camera; however, the above-mentioned sorting manipulator and common sorting manipulators still have some disadvantages. For example, the moving stroke distance of the sorting manipulator is short. Since the height of the three-dimensional shelf is generally more than 5 meters, the sorting manipulator with a short moving stroke distance cannot sort the goods at the high positions of the three-dimensional shelf; the clamping force of the clamping structure adopted by the sorting manipulator is small, and the clamping range is small, resulting in the inability to clamp and sort goods with large volume and heavy weight, affecting the taking and placing of goods and greatly affecting the sorting efficiency. Content of the Utility Model

[0005] Aiming at the problems mentioned in the background technique, the purpose of the utility model is to provide a goods sorting manipulator for a three-dimensional shelf to solve the problems mentioned in the background technique.

[0006] The above technical purpose of the utility model is achieved through the following technical solutions:

[0007] A three-dimensional shelf goods sorting robotic arm, comprising a mobile base, an industrial robotic arm is fixed on the mobile base, a connecting seat is fixed on the working end of the industrial robotic arm, a U-shaped plate is fixed on the connecting seat, two guiding slide bars are fixed on the U-shaped plate, two sliding blocks are slidably connected to each of the two guiding slide bars, a fixed arm is fixed on the sliding block, and fixed insertion blocks are respectively arranged on both sides of the fixed arm;

[0008] Two racks are respectively arranged on both sides of the two sliding blocks, one side of the rack is fixed on one of the fixed insertion blocks, and the other side is slidably connected to the other fixed insertion block, a gear disc assembly is rotatably connected to the U-shaped plate through a bearing, the gear disc assembly meshes with the two racks, a push rod assembly is fixed on the U-shaped plate, one side of the push rod assembly is fixed on one of the sliding blocks, and a sorting clamping plate is arranged on the fixed arm.

[0009] By adopting the above technical solutions, the industrial robotic arm fixed on the mobile base facilitates the flexible movement of the industrial robotic arm. The moving stroke distance of the industrial robotic arm is long, and it can pick up and place high and thick goods on the three-dimensional shelf, facilitating sorting. When the connecting seat is fixed on the working end of the industrial robotic arm, the working angle of the U-shaped plate fixed on the connecting seat can be adjusted, improving the flexible performance of goods sorting and clamping. The two guiding slide bars fixed on the U-shaped plate facilitate the sliding connection of the two sliding blocks. The fixed arm facilitates the fixation of the sorting clamping plate. By cooperating the two racks with the fixed insertion blocks fixed on both sides of the sliding block, when the push rod assembly pushes one of the sliding blocks to move horizontally, when the gear disc assembly meshes with the two racks, it can drive the other sliding block to move synchronously in the same or opposite directions, thereby adjusting the clamping force and clamping size between the two sorting clamping plates, so as to clamp and sort large and heavy goods, greatly improving the sorting efficiency of three-dimensional shelf goods.

[0010] Preferably, four moving wheels are arranged at the bottom of the mobile base.

[0011] By adopting the above technical solutions, the four moving wheels facilitate the flexible movement of the mobile base and control the position of the sorting robotic arm moving in the warehouse.

[0012] Preferably, the gear disc assembly comprises a rotating shaft and a gear disc. The upper end of the rotating shaft is rotatably connected to the U-shaped plate through a bearing, and the lower end is fixedly connected to the gear disc. Both sides of the gear disc respectively mesh with the two racks.

[0013] By adopting the above technical solutions, the position of the gear disc can be limited by the gear disc fixed at the bottom of the rotating shaft. When the two racks mesh with the gear disc, it can make the two racks move towards or away from each other, thereby adjusting the clamping distance between the two sorting clamping plates.

[0014] Preferably, a limiting ring is fixed on the lower surface of the toothed disc, and the upper surface of the limiting ring abuts against the lower surface of the rack.

[0015] By adopting the above technical solution, the limiting ring can ensure the smooth performance of the horizontal movement of the toothed disc and the rack.

[0016] Preferably, the push rod assembly includes an electric push rod and a hinged arm. The electric push rod is fixed on the surface of the C-shaped plate. The hinged arm is fixedly connected to one of the sliding blocks, and the output end of the electric push rod is hinged to the hinged arm.

[0017] By adopting the above technical solution, when the output end of the electric push rod is connected to the hinged arm, it can drive one of the sliding blocks to rotate horizontally and smoothly on the two guiding slide rods, thereby adjusting the working position of the sorting clamping plate.

[0018] Preferably, the connecting seat is clamped on the electric push rod, and a plurality of mounting holes are provided on both sides.

[0019] By adopting the above technical solution, through the mounting holes provided on the connecting seat, it is convenient to fixedly connect with the C-shaped plate by using screws.

[0020] Preferably, a rubber pad is fixed on the sorting clamping plate, and a plurality of anti-slip grooves are provided on the rubber pad.

[0021] By adopting the above technical solution, through the plurality of anti-slip grooves provided on the rubber pad, the friction force and anti-slip performance can be increased.

[0022] Preferably, a mounting block is fixed on the back surface of the sorting clamping plate, and a triangular reinforcing block is fixed between the mounting block and the sorting clamping plate.

[0023] By adopting the above technical solution, the sorting clamping plate can be conveniently fixed on the fixed arm through the mounting block, and the connection strength between the mounting block and the sorting clamping plate can be improved by the triangular reinforcing block.

[0024] In summary, the present utility model mainly has the following beneficial effects:

[0025] First, in the three-dimensional shelf goods sorting robotic arm, the industrial robotic arm fixed on the moving base facilitates the flexible movement of the industrial robotic arm. The moving stroke distance of the industrial robotic arm is long, and it can pick up and place high and thick goods on the three-dimensional shelf, which is convenient for sorting. When the connecting seat is fixed on the working end of the industrial robotic arm, the working angle of the C-shaped plate fixed on the connecting seat can be adjusted, improving the flexible performance of goods sorting and clamping. The two guiding slide rods fixed on the C-shaped plate facilitate the sliding connection of the two sliding blocks, and the fixed arm facilitates the fixing of the sorting clamping plate;

[0026] Second, in the three-dimensional shelf goods sorting robotic arm, through the cooperation of two racks and the fixed insertion blocks fixed on both sides of the sliding block, when the push rod assembly pushes one of the sliding blocks to move horizontally, when the gear disc assembly meshes with the two racks, it can drive the other sliding block to move synchronously towards or away from each other, thereby adjusting the clamping force and clamping size between the two sorting clamping plates, so as to clamp and sort large and heavy goods, greatly improving the sorting efficiency of the three-dimensional shelf goods. Description of the Drawings

[0027] Figure 1 is one of the structural schematic diagrams of the present utility model;

[0028] Figure 2 is the second structural schematic diagram of the present utility model;

[0029] Figure 3 is a partial structural schematic diagram of the present utility model.

[0030] Reference numerals: 1, moving base; 2, industrial robotic arm; 3, connecting seat; 4, C-shaped plate; 5, guiding slide rod; 6, sliding block; 7, fixed arm; 8, fixed insertion block; 9, rack; 10, gear disc assembly; 101, rotating shaft; 102, gear disc; 11, push rod assembly; 111, electric push rod; 112, articulated arm; 12, sorting clamping plate; 13, moving wheel; 14, limiting ring; 15, mounting hole; 16, rubber pad; 17, anti-slip groove; 18, mounting block; 19, triangular reinforcing block. Detailed Embodiment

[0031] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0032] Refer to Figures 1 - 3 , a three-dimensional shelf goods sorting robotic arm, including a moving base 1, an industrial robotic arm 2 is fixed on the moving base 1, a connecting seat 3 is fixed on the working end of the industrial robotic arm 2, a C-shaped plate 4 is fixed on the connecting seat 3, two guiding slide rods 5 are fixed on the C-shaped plate 4, two sliding blocks 6 are slidably connected to both of the two guiding slide rods 5, a fixed arm 7 is fixed on the sliding block 6, and fixed insertion blocks 8 are respectively arranged on both sides of the fixed arm 7;

[0033] On both sides of the two sliding blocks 6, two racks 9 are respectively arranged. One side of the rack 9 is fixed on one of the fixed inserts 8, and the other side is slidably connected to the other fixed insert 8. A gear disc assembly 10 is rotatably connected to the U-shaped plate 4 through a bearing. The gear disc assembly 10 meshes with the two racks 9. The gear disc assembly 10 includes a rotating shaft 101 and a gear disc 102. The upper end of the rotating shaft 101 is rotatably connected to the U-shaped plate 4 through a bearing, and the lower end is fixedly connected to the gear disc 102. The two sides of the gear disc 102 respectively mesh with the two racks 9. Through the gear disc 102 fixed to the bottom of the rotating shaft 101, the position of the gear disc 102 can be limited. When the two racks 9 mesh with the gear disc 102, the two racks 9 can move towards or away from each other, so as to adjust the clamping distance between the two sorting clamping plates 12. A push rod assembly 11 is fixed on the U-shaped plate 4. One side of the push rod assembly 11 is fixed on one of the sliding blocks 6. A sorting clamping plate 12 is arranged on the fixed arm 7. The push rod assembly 11 includes an electric push rod 111 and a hinged arm 112. The electric push rod 111 is fixed on the surface of the U-shaped plate 4. The hinged arm 112 is fixedly connected to one of the sliding blocks 6. The output end of the electric push rod 111 is hinged to the hinged arm 112. When the output end of the electric push rod 111 is connected to the hinged arm 112, one of the sliding blocks 6 can be driven to rotate horizontally and smoothly on the two guide sliding rods 5, so as to adjust the working position of the sorting clamping plate 12.

[0034] During use, the industrial robot arm 2 fixed on the moving base 1 facilitates the flexible movement of the industrial robot arm 2. The moving stroke distance of the industrial robot arm 2 is long, and it can pick up and place the high and thick goods on the stereoscopic shelf, which is convenient for sorting. When the connecting seat 3 is fixed on the working end of the industrial robot arm 2, the working angle of the U-shaped plate 4 fixed on the connecting seat 3 can be adjusted, improving the flexible performance of the goods sorting and clamping. Through the two guide sliding rods 5 fixed on the U-shaped plate 4, the two sliding blocks 6 can be conveniently slidably connected. Through the fixed arm 7, the sorting clamping plate 12 can be conveniently fixed. Through the cooperation of the two racks 9 and the fixed inserts 8 fixed on both sides of the sliding block 6, when the push rod assembly 11 pushes one of the sliding blocks 6 to move horizontally, when the gear disc assembly 10 meshes with the two racks 9, the other sliding block 6 can be driven to move synchronously towards or in the opposite direction, so as to adjust the clamping force and clamping size between the two sorting clamping plates 12, so as to clamp and sort the goods with large volume and heavy weight, greatly improving the sorting efficiency of the goods on the stereoscopic shelf.

[0035] Reference Figures 1 - 3 Four moving wheels 13 are arranged at the bottom of the moving base 1. Through the four moving wheels 13, the moving base 1 can be conveniently moved flexibly, and the position of the sorting robot arm moving in the warehouse can be controlled.

[0036] Reference Figures 1 - 3, a limiting ring 14 is fixed on the lower surface of the gear disk 102, the upper surface of the limiting ring 14 abuts against the lower surface of the rack 9, and the limiting ring 14 can ensure the smooth performance of the horizontal movement of the gear disk 102 and the rack 9.

[0037] Reference Figures 1 - 3 , the connecting seat 3 is clamped on the electric push rod 111, and a plurality of mounting holes 15 are formed on both sides. Through the mounting holes 15 formed on the connecting seat 3, it is convenient to fixedly connect with the C-shaped plate 4 by screws.

[0038] Reference Figures 1 - 3 , a rubber pad 16 is fixed on the sorting clamping plate 12, and a plurality of anti-slip grooves 17 are formed on the rubber pad 16. Through the plurality of anti-slip grooves 17 formed on the rubber pad 16, the friction force and anti-slip performance can be increased.

[0039] Reference Figures 1 - 3 , a mounting block 18 is fixed on the back surface of the sorting clamping plate 12, and a triangular reinforcing block 19 is fixed between the mounting block 18 and the sorting clamping plate 12. Through the mounting block 18, it is convenient to fix the sorting clamping plate 12 on the fixed arm 7, and through the triangular reinforcing block 19, it is beneficial to improve the connection strength between the mounting block 18 and the sorting clamping plate 12.

[0040] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional shelf cargo sorting robot arm, comprising a mobile base (1), characterized in that: An industrial robotic arm (2) is fixed on the moving base (1). A connecting seat (3) is fixed on the working end of the industrial robotic arm (2). A U-shaped plate (4) is fixed on the connecting seat (3). Two guiding slide rods (5) are fixed on the U-shaped plate (4). Two sliding blocks (6) are slidably connected to each of the two guiding slide rods (5). A fixed arm (7) is fixed on the sliding block (6). Fixed insertion blocks (8) are respectively arranged on both sides of the fixed arm (7). Two racks (9) are respectively arranged on both sides of each of the two sliding blocks (6). One side of the rack (9) is fixed on one of the fixed insertion blocks (8), and the other side is slidably connected to the other fixed insertion block (8). A tooth disc assembly (10) is rotatably connected to the U-shaped plate (4) through a bearing. The tooth disc assembly (10) meshes with the two racks (9). A push rod assembly (11) is fixed on the U-shaped plate (4). One side of the push rod assembly (11) is fixed on one of the sliding blocks (6). A sorting clamping plate (12) is arranged on the fixed arm (7).

2. The three-dimensional shelf cargo sorting robot arm according to claim 1, characterized in that: Four moving wheels (13) are arranged at the bottom of the moving base (1).

3. The three-dimensional shelf cargo sorting robot arm according to claim 1, characterized in that: The tooth disc assembly (10) includes a rotating shaft (101) and a tooth disc (102). The upper end of the rotating shaft (101) is rotatably connected to the U-shaped plate (4) through a bearing, and the lower end is fixedly connected to the tooth disc (102). The two sides of the tooth disc (102) respectively mesh with the two racks (9).

4. The three-dimensional shelf cargo sorting robot arm according to claim 3, characterized in that: A limiting ring (14) is fixed on the lower surface of the tooth disc (102). The upper surface of the limiting ring (14) abuts against the lower surface of the rack (9).

5. The three-dimensional shelf cargo sorting robot arm according to claim 1, characterized in that: The push rod assembly (11) includes an electric push rod (111) and a hinged arm (112). The electric push rod (111) is fixed on the surface of the U-shaped plate (4). The hinged arm (112) is fixedly connected to one of the sliding blocks (6). The output end of the electric push rod (111) is hinged to the hinged arm (112).

6. The three-dimensional shelf cargo sorting robot arm according to claim 5, characterized in that: The connecting seat (3) is clamped on the electric push rod (111), and a plurality of mounting holes (15) are formed on both sides.

7. The three-dimensional shelf cargo sorting robot arm according to claim 1, characterized in that: A rubber pad (16) is fixed on the sorting clamping plate (12). A plurality of anti-slip grooves (17) are formed on the rubber pad (16).

8. The three-dimensional shelf cargo sorting robot arm according to claim 1, characterized in that: An installation block (18) is fixed on the back surface of the sorting clamping plate (12). A triangular reinforcing block (19) is fixed between the installation block (18) and the sorting clamping plate (12).

Images