Independent modular pallet fork manipulator

Abstract

The utility model discloses an independent modular pallet fork manipulator which comprises a rack, a mechanical arm A, a mechanical arm B, a manipulator A, a manipulator B, a clamping driving motor, a reversing gear box, a screw A and a screw B, the mechanical arm A and the mechanical arm B are horizontally and slidably connected to the side face of the rack, the lower ends of the mechanical arm A and the mechanical arm B are connected with the mechanical arm A and the mechanical arm B correspondingly, the reversing gear box is fixed to the upper edge of the rack, the clamping driving motor is installed above the reversing gear box, and a rotating shaft of the clamping driving motor is in transmission connection with an input shaft of the reversing gear box. The two output shafts of the reversing gear box extend towards the two ends in the horizontal direction and are provided with a screw A and a screw B correspondingly, the free ends of the screw A and the screw B are in threaded transmission connection with the upper ends of the mechanical arm A and the mechanical arm B correspondingly, and the thread rotating directions of the screw A and the screw B are opposite. According to the technical scheme, the structure is simple, the machining cost is remarkably reduced, the carrying efficiency is improved, and modular production of the pallet fork manipulator is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of forklift manipulators, and particularly relates to an independent modular forklift manipulator. Background Art

[0002] In the existing warehousing and logistics field, it is often necessary to handle materials. The existing material handling methods often include the following several types. One is manual handling, and the other is handling by multiple handling mechanical trolleys. The first handling method consumes a large amount of manpower and material resources. The second handling method has a low handling efficiency because different handling trolleys are required for transfer; there is a lack of an independent modular forklift manipulator. Summary of the Utility Model

[0003] Therefore, the utility model provides an independent modular forklift manipulator to solve the above problems in the prior art. To achieve the above object, the utility model provides the following technical solutions: According to the first aspect of the utility model, an independent modular forklift manipulator includes a frame, a robotic arm A, a robotic arm B, a manipulator A, a manipulator B, a clamping drive motor, a reversing gearbox, a screw A, and a screw B; both the robotic arm A and the robotic arm B are horizontally slidably connected to the side of the frame. The lower ends of the robotic arm A and the robotic arm B are respectively connected to the manipulator A and the manipulator B. The reversing gearbox is fixed to the upper edge of the frame. The clamping drive motor is installed above the reversing gearbox and its rotating shaft is drivingly connected to the input shaft of the reversing gearbox. The two output shafts of the reversing gearbox both extend horizontally towards both ends and are respectively provided with the screw A and the screw B. The free ends of the screw A and the screw B are respectively in threaded transmission connection with the upper ends of the robotic arm A and the robotic arm B. The thread directions of the screw A and the screw B are opposite.

[0004] Further, the frame at least includes an upper cross beam, and the upper ends of both the robotic arm A and the robotic arm B are slidably connected to the upper edge of the upper cross beam.

[0005] Further, the frame at least further includes a lower cross beam, and the lower ends of both the robotic arm A and the robotic arm B are slidably connected to the lower edge of the lower cross beam.

[0006] Further, an upper slide rail is fixed to the upper edge of the upper cross beam, and upper sliders are installed at the upper ends of both the robotic arm A and the robotic arm B. The two upper sliders are slidably connected to the upper slide rail.

[0007] Further, a lower slide rail is fixed to the lower edge of the lower cross beam, and lower sliders are installed at the lower ends of both the robotic arm A and the robotic arm B. The two lower sliders are slidably connected to the lower slide rail.

[0008] Further, a steering drive motor A is installed at the upper end of the robotic arm A, and the rotating shaft of the steering drive motor A passes through the upper end of the robotic arm A and is connected to the manipulator A through a transmission rod.

[0009] Furthermore, a steering drive motor B is installed at the upper end of the robotic arm B. The rotating shaft of the steering drive motor B passes through the upper end of the robotic arm B and is connected to the robotic hand B through a transmission rod.

[0010] Furthermore, the rotating shaft of the steering drive motor A is connected to the transmission rod at its lower end through a coupling.

[0011] Furthermore, the rotating shaft of the steering drive motor B is connected to the transmission rod at its lower end through a coupling.

[0012] Furthermore, the robotic hand A and the robotic hand B are symmetrically arranged with respect to the central symmetry plane of the clamping drive motor.

[0013] Furthermore, the transmission rod at the robotic hand A is rotatably connected to the lower end of the robotic arm A through a bearing, and the transmission rod at the robotic hand B is rotatably connected to the lower end of the robotic arm B through a bearing.

[0014] The present utility model has the following advantages: Through an independent modular fork robotic hand of the present utility model, the structure is simple, the processing cost is significantly reduced, the handling efficiency is improved, and the modular production of the fork robotic hand is realized. Description of the Drawings

[0015] Figure 1 It is a first perspective three-dimensional structure diagram of an independent modular fork robotic hand provided by some embodiments of the present utility model.

[0016] Figure 2 It is a second perspective three-dimensional structure diagram of an independent modular fork robotic hand provided by some embodiments of the present utility model.

[0017] Figure 3 It is a front view of an independent modular fork robotic hand provided by some embodiments of the present utility model.

[0018] Figure 4 It is a side view of an independent modular fork robotic hand provided by some embodiments of the present utility model.

[0019] Figure 5 It is a top view of an independent modular fork robotic hand provided by some embodiments of the present utility model.

[0020] In the figure, 1. upper crossbeam, 2. lower crossbeam, 3. robotic arm A, 4. robotic arm B, 5. robotic hand A, 6. robotic hand B, 7. steering drive motor A, 8. steering drive motor B, 9. clamping drive motor, 10. reversing gearbox, 11. screw A, 12. screw B, 13. upper slide rail, 14. upper slider, 15. lower slide rail, 16. lower slider. Detailed Embodiments

[0021] The following specific embodiments illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of them. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0022] Embodiment 1

[0023] As Figures 1 to 5 shown, an independent modular forklift manipulator in the first aspect embodiment of the present utility model includes a frame, a robotic arm A3, a robotic arm B4, a manipulator A5, a manipulator B6, a clamping drive motor 9, a reversing gearbox 10, a screw A11, and a screw B12; both the robotic arm A3 and the robotic arm B4 are horizontally slidably connected to the side of the frame. The lower ends of the robotic arm A3 and the robotic arm B4 are respectively connected to the manipulator A5 and the manipulator B6. The reversing gearbox 10 is fixed to the upper edge of the frame. The clamping drive motor 9 is installed above the reversing gearbox 10 and its rotating shaft is drivingly connected to the input shaft of the reversing gearbox 10. The two output shafts of the reversing gearbox 10 both extend horizontally towards both ends and are respectively installed with the screw A11 and the screw B12. The free ends of the screw A11 and the screw B12 are respectively in threaded driving connection with the upper ends of the robotic arm A3 and the robotic arm B4, and the thread directions of the screw A11 and the screw B12 are opposite.

[0024] In the above embodiment, it should be noted that this device can be used for single-sided picking of goods according to usage requirements, or can be used with symmetric clamping.

[0025] During use, the forward and reverse rotation of the clamping drive motor 9 realizes the mutual approach and separation of the manipulator A5 and the manipulator B6.

[0026] The technical effects achieved by the above embodiment are as follows: Through the independent modular forklift manipulator of this embodiment, the structure is simple, the processing cost is significantly reduced, the handling efficiency is improved, and the modular production of the forklift manipulator is realized.

[0027] Embodiment 2

[0028] As Figures 1 to 5 shown, an independent modular forklift manipulator includes all the contents of Embodiment 1. In addition, the frame at least includes an upper crossbeam 1, and the upper ends of both the robotic arm A3 and the robotic arm B4 are slidably connected to the upper edge of the upper crossbeam 1.

[0029] Optionally, the frame at least further includes a lower crossbeam 2, and the lower ends of both the robotic arm A3 and the robotic arm B4 are slidably connected to the lower edge of the lower crossbeam 2.

[0030] It should be noted that a single crossbeam can also achieve the effect of fixed up-and-down sliding, and the result depends on the measurement of the load of the goods. If two crossbeams are not required, a single crossbeam can be used, and the up-and-down of the crossbeam can also be fixed.

[0031] Optionally, an upper slide rail 13 is fixed to the upper edge of the upper crossbeam 1, and upper sliders 14 are installed at the upper ends of the robotic arm A3 and the robotic arm B4. The two upper sliders 14 are slidably connected to the upper slide rail 13.

[0032] Optionally, a lower slide rail 15 is fixed to the lower edge of the lower crossbeam 2, and lower sliders 16 are installed at the lower ends of the robotic arm A3 and the robotic arm B4. The two lower sliders 16 are slidably connected to the lower slide rail 15.

[0033] The technical effect achieved by the above embodiment is that by setting an upper slide rail 13 fixed to the upper edge of the upper crossbeam 1 and a lower slide rail 15 fixed to the lower edge of the lower crossbeam 2, the smoothness of the sliding of the robotic arm A3 and the robotic arm B4 is improved.

[0034] Embodiment 3

[0035] As Figures 1 to 5 shown, an independent modular forklift manipulator includes all the contents of Embodiment 2. In addition, a steering drive motor A7 is installed at the upper end of the robotic arm A3, and the rotating shaft of the steering drive motor A7 passes through the upper end of the robotic arm A3 and is connected to the manipulator A5 through a transmission rod.

[0036] Optionally, a steering drive motor B8 is installed at the upper end of the robotic arm B4, and the rotating shaft of the steering drive motor B8 passes through the upper end of the robotic arm B4 and is connected to the manipulator B6 through a transmission rod.

[0037] Optionally, the rotating shaft of the steering drive motor A7 is connected to the transmission rod at its lower end through a coupling.

[0038] Optionally, the rotating shaft of the steering drive motor B8 is connected to the transmission rod at its lower end through a coupling.

[0039] The technical effect achieved by the above embodiment is that by setting the steering drive motor A7, the steering adjustment of the manipulator A5 is realized; by setting the steering drive motor B8, the steering adjustment of the manipulator B6 is realized; by using a coupling to connect the rotating shaft of the steering drive motor A7 with the transmission rod at its lower end and the rotating shaft of the steering drive motor B8 with the transmission rod at its lower end, the occurrence of device jamming caused by non-alignment is avoided.

[0040] Embodiment 4

[0041] As Figures 1 to 5As shown in the figure, an independent modular forklift manipulator includes all the content of Embodiment 3. In addition, the manipulator A5 and the manipulator B6 are symmetrically arranged with respect to the central symmetry plane of the clamping drive motor 9.

[0042] The technical effect achieved by the above embodiment is that by symmetrically arranging the manipulator A5 and the manipulator B6 with respect to the central symmetry plane of the clamping drive motor 9, a good clamping effect is ensured.

[0043] Embodiment 5

[0044] As Figures 1 to 5 shown in the figure, an independent modular forklift manipulator includes all the content of Embodiment 4. In addition, the transmission rod at the manipulator A5 is rotatably connected to the lower end of the robotic arm A3 through a bearing, and the transmission rod at the manipulator B6 is rotatably connected to the lower end of the robotic arm B4 through a bearing.

[0045] The technical effect achieved by the above embodiment is that by using bearings for the connection of the rotating parts, the flexibility of the rotation of the manipulator A5 and the manipulator B6 is improved.

[0046] In the description of the present invention, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0047] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0048] In the present utility model, unless otherwise clearly specified and defined, terms such as "installation", "connection", "attachment", "fixation", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral one; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the internal communication between two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0049] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0050] Although the embodiments of the present utility model have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present utility model. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present utility model.

[0051] In the description of this specification, the description with reference to terms such as "Embodiment 1", "Embodiment 2", "example", "specific example", or "some examples", etc. means that the specific methods, devices, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, methods, devices, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0052] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. An independent modular forklift manipulator, characterized in that, It includes a frame, robotic arm A (3), robotic arm B (4), manipulator A (5), manipulator B (6), a clamping drive motor (9), a reversing gearbox (10), screw A (11), and screw B (12); both robotic arm A (3) and robotic arm B (4) are horizontally slidably connected to the side of the frame. The lower ends of robotic arm A (3) and robotic arm B (4) are respectively connected to manipulator A (5) and manipulator B (6). The reversing gearbox (10) is fixed to the upper edge of the frame. The clamping drive motor (9) is installed above the reversing gearbox (10) and its rotating shaft is in transmission connection with the input shaft of the reversing gearbox (10). The two output shafts of the reversing gearbox (10) both extend horizontally towards both ends and are respectively equipped with screw A (11) and screw B (12). The free ends of screw A (11) and screw B (12) are respectively in threaded transmission connection with the upper ends of robotic arm A (3) and robotic arm B (4), and the thread directions of screw A (11) and screw B (12) are opposite.

2. The freestanding modular forklift manipulator according to claim 1, wherein The frame at least includes an upper crossbeam (1), and the upper ends of both robotic arm A (3) and robotic arm B (4) are slidably connected to the upper edge of the upper crossbeam (1).

3. The freestanding modular forklift manipulator according to claim 2, wherein The frame at least further includes a lower crossbeam (2), and the lower ends of both robotic arm A (3) and robotic arm B (4) are slidably connected to the lower edge of the lower crossbeam (2).

4. The freestanding modular forklift manipulator according to claim 3, characterized in that, An upper slide rail (13) is fixed to the upper edge of the upper crossbeam (1), and upper sliders (14) are installed at the upper ends of both robotic arm A (3) and robotic arm B (4). The two upper sliders (14) are slidably connected to the upper slide rail (13).

5. The freestanding modular forklift manipulator according to claim 4, characterized in that, A lower slide rail (15) is fixed to the lower edge of the lower crossbeam (2), and lower sliders (16) are installed at the lower ends of both robotic arm A (3) and robotic arm B (4). The two lower sliders (16) are slidably connected to the lower slide rail (15).

6. The freestanding modular forklift manipulator according to claim 1, characterized in that, A steering drive motor A (7) is installed at the upper end of robotic arm A (3), and its rotating shaft passes through the upper end of robotic arm A (3) and is connected to manipulator A (5) through a transmission rod.

7. The freestanding modular forklift manipulator according to claim 6, wherein A steering drive motor B (8) is installed at the upper end of robotic arm B (4), and its rotating shaft passes through the upper end of robotic arm B (4) and is connected to manipulator B (6) through a transmission rod.

8. The freestanding modular forklift manipulator according to claim 7, wherein The rotating shaft of the steering drive motor A (7) is connected to the transmission rod at its lower end through a coupling, and the rotating shaft of the steering drive motor B (8) is connected to the transmission rod at its lower end through a coupling.

9. The freestanding modular forklift manipulator according to claim 1, characterized in that, Manipulator A (5) and manipulator B (6) are symmetrically arranged with respect to the central symmetry plane of the clamping drive motor (9).

10. The freestanding modular forklift manipulator according to claim 6, characterized in that, The transmission rod at manipulator A (5) is rotatably connected to the lower end of robotic arm A (3) through a bearing, and the transmission rod at manipulator B (6) is rotatably connected to the lower end of robotic arm B (4) through a bearing.

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