Carrying manipulator for carrying robot

Abstract

The utility model discloses a carrying manipulator for a carrying robot, which relates to the technical field of carrying manipulators and particularly comprises two telescopic arms. The telescopic arm comprises a strip-shaped plate, strip-shaped supporting rods and a second telescopic mechanism are arranged on one side of the strip-shaped plate, the strip-shaped supporting rods are connected through at least one sliding rail, and the free end of the second telescopic mechanism is connected with the strip-shaped supporting rods through a connecting frame, so that the strip-shaped supporting rods can stretch out and draw back along with the free end of the second telescopic mechanism; and each strip-shaped supporting rod is provided with a clamping part. During use, the mechanical arm stays on the side face of the goods shelf under driving of a material taking robot, at the moment, the second telescopic mechanism extends to drive the strip-shaped supporting rod to advance forwards, the two clamping plates extend to the two sides of goods, then the goods are driven by the second telescopic mechanism to retract, and the goods can be pulled to the position above the mounting plate; the strip-shaped supporting rod is supported by the sliding rail and the second telescopic mechanism at the same time, so that the loading capacity is large.

Description

Technical Field

[0001] The utility model relates to the technical field of handling manipulators, in particular to a handling manipulator for a handling robot. Background Technique

[0002] The shelf picking robot is an important part of the intelligent storage shelf. It mainly consists of two parts: a robot and a shelf. The robot is positioned through a navigation system and can accurately pick up goods from the warehouse and place them on the shelf, or pick up goods from the shelf for classification. The robots can cooperate through a communication network to effectively complete the storage tasks. In addition, the shelf picking robot can transport multiple material boxes at one time, improving the operation efficiency. Compared with the manual picking operation mode, the picking cost of a single material box is much lower than that of manual picking. Therefore, it can replace manual labor, realize unmanned picking in 3C manufacturing factories and e-commerce warehouses, and reduce the operation cost.

[0003] During use, the robot controls the manipulator to grab the corresponding goods, and then transports the goods to the robot, so that the goods can be taken off the shelf. After the existing manipulator extends, its arm will also increase. When clamping the goods, the weight of the goods is all borne by the manipulator. The traditional manipulator has poor load-bearing capacity and is easy to deform when handling goods with a large weight. For this reason, we propose a handling manipulator for a handling robot. Content of the Utility Model

[0004] Aiming at the deficiency of the existing handling manipulator with small support strength, the utility model provides a handling manipulator for a handling robot, which has the advantages that the strip-shaped support rods are supported by the slide rails and the second telescopic mechanism at the same time, so that the manipulator has a large load-bearing capacity and can also move back and forth stably, and solves the problems put forward in the above background technique.

[0005] To achieve the above purpose, the utility model is realized through the following technical solutions: design a handling manipulator for a handling robot, including two telescopic arms;

[0006] The telescopic arm includes a strip-shaped plate. One side of the strip-shaped plate is provided with strip-shaped support rods and a second telescopic mechanism. The strip-shaped support rods are connected by at least one slide rail, and the free end of the second telescopic mechanism is connected to the strip-shaped support rod through a connecting frame, so that the strip-shaped support rod can expand and contract following the free end of the second telescopic mechanism;

[0007] Each strip-shaped support rod is provided with a clamping part; and,

[0008] It also includes a mounting plate. Two guide rails are symmetrically mounted on the mounting plate. Connecting rods are respectively arranged between the two ends of the two guide rails. The two ends of the connecting rod are respectively connected to the sliders. The sliders slide on the guide rails. A bidirectional driving mechanism is also arranged in the middle between the two guide rails. The bidirectional driving mechanism is respectively connected to the connecting rod;

[0009] The two telescopic arms are respectively located above the connecting rod and their bottoms are mounted on the sliders. Driven by the bidirectional driving mechanism, the two telescopic arms approach or move away from each other.

[0010] Preferably, each clamping part includes two parallel clamping plates, and a plurality of support plates are connected to the sides of the two clamping plates away from each other;

[0011] The two clamping plates are located between the two strip-shaped plates and are respectively placed on the side surfaces of the strip-shaped plates;

[0012] A plurality of L-shaped frames corresponding to the support plates are respectively provided on the side surfaces of the strip-shaped support rods. The tops of the L-shaped frames are located above the strip-shaped plates and are respectively connected to the tops of the support plates.

[0013] Preferably, two mounting seats are symmetrically provided at the bottoms of the two strip-shaped plates away from each other, and the mounting seats are respectively mounted on the tops of the sliders; a first support is respectively provided on the top of each mounting seat, and the second telescopic mechanism is mounted in the first support.

[0014] Preferably, the bidirectional driving mechanism includes a transmission gear arranged at the center of the mounting plate. The transmission gear is rotatably mounted on the mounting shaft, and the mounting shaft is fixed on the mounting plate;

[0015] Racks extending towards the transmission gear are connected to both of the two connecting rods. The racks are symmetrically distributed on both sides of the transmission gear, and the transmission gear meshes with the racks;

[0016] A first telescopic mechanism is provided on the side surface of one of the racks. The first telescopic mechanism is mounted on the mounting plate through a second support, and the free end of the first telescopic mechanism is connected to the end of the rack through a connecting seat.

[0017] Preferably, the end of each rack away from the connecting rod is movably placed in a guide seat, and the guide seat is mounted on the mounting plate.

[0018] Preferably, a baffle is provided above the transmission gear, and the baffle is connected to the guide seat.

[0019] Preferably, anti-slip layers are provided on the surfaces of the two clamping plates.

[0020] Preferably, a support platform is provided below the mounting plate. A rotating motor is provided at the bottom of the support platform, and the mounting plate is mounted on the rotating shaft of the rotating motor.

[0021] Compared with the prior art, when the utility model is in use, driven by the material taking robot, the manipulator stays at the side of the shelf. At this time, the second telescopic mechanism extends to drive the strip-shaped support rod to advance forward, so that the two clamping plates extend to both sides of the goods. Then, driven by the first telescopic mechanism, the two clamping plates clamp the goods. Then, the second telescopic mechanism drives the goods to retract, and the goods can be pulled above the mounting plate. Since the strip-shaped support rod is supported by the slide rail and the second telescopic mechanism at the same time, it not only has a large load-bearing capacity, but also can move back and forth stably, so that the clamping plates can always remain stable when clamping heavier goods. Brief Description of the Drawings

[0022] Figure 1 It is a schematic structural view of the retracted telescopic arm of the utility model.

[0023] Figure 2 It is a schematic structural view of the extended telescopic arm of the utility model.

[0024] Figure 3 It is a specific structural schematic of the mounting plate of the utility model Figure 1 。

[0025] Figure 4 It is a specific structural schematic of the mounting plate of the utility model Figure 2 。

[0026] Figure 5 It is a schematic structural view of the telescopic arm of the utility model.

[0027] Figure 6 It is an exploded schematic view of the telescopic arm of the utility model.

[0028] Figure 7 It is a schematic view of the installation of the utility model and the shelf material taking robot.

[0029] In the figure: 1, mounting plate; 2, mounting seat; 3, first telescopic mechanism; 4, guiding seat; 5, transmission gear; 6, strip-shaped plate; 7, slider; 8, guide rail; 9, clamping plate; 10, L-shaped frame; 11, strip-shaped support rod; 12, slide rail; 13, second telescopic mechanism; 14, connecting rod; 15, rack; 16, mounting shaft; 17, connecting seat; 18, support plate; 19, baffle; 20, connecting frame; 21, first support; 22, second support; 23, support platform; 24, rotating motor. Detailed Description of the Preferred Embodiments

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] Please refer to Figures 1 to 7 , the present invention provides a technical solution: a handling manipulator for a handling robot. As Figure 7 shown, this manipulator is installed on a shelf material taking robot, that is, a support platform 23 is horizontally installed on the lifting frame of the shelf material taking robot. A rotating motor 24 is provided below the support platform 23, and the handling manipulator is installed on the rotating shaft of the rotating motor 24, enabling the manipulator to lift and lower with the material taking robot, and at the same time, it can rotate driven by the rotating motor 24.

[0032] The handling manipulator for a handling robot proposed in this application includes a mounting plate 1. As Figure 7 shown, the mounting plate 1 is installed on the rotating shaft. Two guide rails 8 are symmetrically installed on the mounting plate 1. As Figure 3 shown, the guide rails 8 are respectively installed at the edges of the mounting plate 1, and the two guide rails 8 are parallel. Connecting rods 14 are respectively provided between the two ends of the two guide rails 8. The two ends of the connecting rod 14 are respectively connected to the sliders 7. The sliders 7 are matched with the guide rails 8. During use, the sliders 7 can be slidably arranged on the guide rails 8. At this time, moving any one of the connecting rods 14 can drive the two sliders 7 to move simultaneously;

[0033] As Figure 1 and Figure 3 shown, a transmission gear 5 is provided at the center of the mounting plate 1. The transmission gear 5 is rotatably installed on the mounting shaft 16, and the two are connected by a bearing. The mounting shaft 16 is fixed on the mounting plate 1, enabling the transmission gear 5 to freely rotate around the mounting shaft 16. Rack bars 15 extending towards the transmission gear 5 are connected to both of the two connecting rods 14. The rack bars 15 are symmetrically distributed on both sides of the transmission gear 5. The transmission gear 5 meshes with the rack bars 15. In order to make the rack bars 15 more stable, one end of each rack bar 15 away from the connecting rod 14 is movably placed in the guide seat 4, and the guide seat 4 is installed on the mounting plate 1;

[0034] As Figure 3As shown in the figure, a first telescopic mechanism 3 is provided on the side of one of the racks 15. The first telescopic mechanism 3 is installed on the mounting plate 1 through the second support 22. The free end of the first telescopic mechanism 3 is connected to the end of the rack 15 through the connecting seat 17. The rack 15, the transmission gear 5 and the first telescopic mechanism 3 constitute a bidirectional driving mechanism. Driven by this mechanism, when the first telescopic mechanism 3 expands and contracts, it can drive the rack 15 connected to it to expand and contract. This rack 15 will drive another rack 15 to move synchronously and in the opposite direction through the transmission gear 5, so that the two connecting rods 14 can be driven to approach or move away from each other simultaneously by the first telescopic mechanism 3.

[0035] A telescopic arm is provided above each connecting rod 14. Therefore, driven by the bidirectional driving mechanism, the two telescopic arms also approach or move away from each other.

[0036] In this application, the specific structure of the telescopic arm includes a strip plate 6. One side of the strip plate 6 is provided with strip-shaped support rods 11 and a second telescopic mechanism 13. The strip-shaped support rods 11 are connected by at least one slide rail 12. And the free end of the second telescopic mechanism 13 is connected to the strip-shaped support rod 11 through the connecting frame 20, so that the strip-shaped support rod 11 can expand and contract following the free end of the second telescopic mechanism 13. Two first supports 21 are installed on each second telescopic mechanism 13;

[0037] Two mounting seats 2 are symmetrically provided at the bottom of the two mutually remote sides of the strip plates 6 respectively. The positions of the mounting seats 2 correspond to the positions of the sliders 7. Then the mounting seats 2 are respectively installed on the tops of the sliders 7. When the first support 21 is installed on the mounting seat 2, the second telescopic mechanism 13 is fixed.

[0038] Furthermore, a clamping portion is provided on each strip-shaped support rod 11. The clamping portion is used to better contact the article. Each clamping portion includes two parallel clamping plates 9. The two clamping plates 9 are located between the two strip plates 6 and are respectively placed on the side surfaces of the strip plates 6. A plurality of support plates 18 are connected to the mutually remote sides of the two clamping plates 9;

[0039] A plurality of L-shaped frames 10 corresponding to the support plates 18 are respectively provided on the side surfaces of the strip-shaped support rods 11. The tops of the L-shaped frames 10 are located above the strip plates 6 and are respectively connected to the tops of the support plates 18; As Figure 1 and Figure 2 shown, there is a gap between the clamping plate 9 and the strip plate 6, and when the clamping plate reciprocates, it will not contact the strip plate 6. The specific operation process is:

[0040] 1. In the initial state, the first telescopic mechanism 3 drives the two telescopic arms to stay at both ends of the guide rail 8, or the telescopic arms stay at the preset positions. The distance between the two telescopic arms is matched with the article to be clamped;

[0041] 2. Driven by the material handling robot, the manipulator stays on the side of the shelf. At this time, the second telescopic mechanism 13 extends to drive the strip-shaped support rod 11 to advance forward. As Figure 2 shown, the clamping plates 9 extend outside the mounting plate 1 as the strip-shaped support rod 11 extends. It is sufficient that the two clamping plates 9 extend to both sides of the goods. Since the strip-shaped support rod 11 is supported by the slide rail 12 and the second telescopic mechanism 13 at the same time, it not only has a large load-bearing capacity but also can move reciprocally stably, enabling the clamping plates 9 to clamp heavier goods;

[0042] 3. Then, driven by the first telescopic mechanism 3, the two clamping plates 9 clamp the goods, and then the second telescopic mechanism 13 drives the goods to retract, so that the goods can be pulled above the mounting plate 1;

[0043] It should be noted that when the goods are clamped by the clamping plates, the material handling robot can drive the manipulator to lift up a certain distance. After the goods are separated from the shelf, the first telescopic mechanism retracts. At this time, the goods can be placed on the guide rail 8 or can be continuously held by the clamping plates 9.

[0044] Based on the above embodiments, it can be further optimized. A baffle 19 is provided above the transmission gear 5. The baffle 19 is connected to the guide seat 4. During use, the baffle 19 can be connected to the guide rail 8. The baffle 19 can not only prevent objects from contacting the transmission gear but also support the goods. There is a certain distance between both sides of the baffle 19 and the two ends of the guide rail, and this distance should be sufficient to satisfy the movement of the slider 7.

[0045] Based on the above embodiments, it can be further optimized. Anti-slip layers are provided on the surfaces of the two clamping plates 9. The anti-slip layers are anti-slip rubber layers. Pressure sensors are provided on the surfaces of the two clamping plates 9 (such as the position indicated by the arrow A in Figure 2 ). The provided pressure sensors are used to sense the force for clamping the goods. The pressure sensors, the first telescopic mechanism, the second telescopic mechanism, and the rotation motor are respectively connected to the control system of the robot.

[0046] Based on the above embodiments, it can be further optimized. The first telescopic mechanism 3 and the second telescopic mechanism 13 can be cylinders, electric push rods, or hydraulic cylinders. However, in this application, an electric push rod is preferably used. Compared with the other two types of telescopic cylinders, its structure is simple and it can also meet the working requirements; and the second telescopic mechanism 13 is a multi-stage electric push rod, and the slide rail 12 is a multi-stage slide rail.

[0047] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model 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. Therefore, it should not be construed as a limitation to the present utility model; the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. 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. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device.

[0048] Although the embodiments of the present utility model 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 principles and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A handling manipulator for a handling robot, characterized in that, It includes two telescopic arms; The telescopic arm includes a strip plate (6). On one side of the strip plate (6), there are strip support rods (11) and a second telescopic mechanism (13). The strip support rods (11) are connected by at least one slide rail (12) between them. And the free end of the second telescopic mechanism (13) is connected to the strip support rod (11) through a connecting frame (20), so that the strip support rod (11) can follow the free end of the second telescopic mechanism (13) to expand and contract; Each strip support rod (11) is provided with a clamping part; and, It further includes a mounting plate (1). Two guide rails (8) are symmetrically mounted on the mounting plate (1). Link rods (14) are respectively arranged between the two ends of the two guide rails (8). The two ends of the link rod (14) are respectively connected to sliders (7). The sliders (7) are slidably arranged on the guide rails (8). In the middle between the two guide rails (8), there is also a bidirectional driving mechanism, and the bidirectional driving mechanism is respectively connected to the link rod (14); The two telescopic arms are respectively located above the link rod (14) and their bottoms are mounted on the sliders (7). Driven by the bidirectional driving mechanism, the two telescopic arms approach or move away from each other.

2. The handling manipulator for a handling robot according to claim 1, characterized in that, Each clamping part includes two parallel clamping plates (9). On the sides of the two clamping plates (9) away from each other, a plurality of support plates (18) are connected; The two clamping plates (9) are located between the two strip plates (6) and are respectively placed on the sides of the strip plates (6); On the sides of the strip support rods (11), a plurality of L-shaped frames (10) corresponding to the support plates (18) are respectively provided. The tops of the L-shaped frames (10) are located above the strip plates (6) and are respectively connected to the tops of the support plates (18).

3. The handling manipulator for a handling robot according to claim 1, characterized in that, On the bottom sides of the two strip plates (6) away from each other, two mounting seats (2) are symmetrically provided respectively. The mounting seats (2) are respectively mounted on the tops of the sliders (7); on the top of each mounting seat (2), a first support (21) is respectively provided, and the second telescopic mechanism (13) is mounted in the first support (21).

4. The handling manipulator for a handling robot according to claim 2, wherein, The bidirectional driving mechanism includes a transmission gear (5) arranged at the center of the mounting plate (1). The transmission gear (5) is rotatably mounted on a mounting shaft (16), and the mounting shaft (16) is fixed on the mounting plate (1); Two racks (15) extending towards the transmission gear (5) are connected to the two link rods (14). The racks (15) are symmetrically distributed on both sides of the transmission gear (5), and the transmission gear (5) meshes with the racks (15); On the side of one of the racks (15), a first telescopic mechanism (3) is provided. The first telescopic mechanism (3) is mounted on the mounting plate (1) through a second support (22), and the free end of the first telescopic mechanism (3) is connected to the end of the rack (15) through a connecting seat (17).

5. The handling manipulator for a handling robot according to claim 4, characterized in that One end of each rack (15) away from the link rod (14) is movably placed in a guide seat (4), and the guide seat (4) is mounted on the mounting plate (1).

6. The handling manipulator for a handling robot according to claim 5, characterized in that, Above the transmission gear (5), there is a baffle (19), and the baffle (19) is connected to the guide seat (4).

7. The handling manipulator for a handling robot according to claim 2, characterized in that, Anti-slip layers are provided on the surfaces of the two clamping plates (9), and pressure sensors are provided on the surfaces of the two clamping plates (9).

8. The handling manipulator for a handling robot according to claim 6, wherein, A support platform (23) is provided below the mounting plate (1), a rotating motor (24) is provided at the bottom of the support platform (23), and the mounting plate (1) is mounted on the rotating shaft of the rotating motor (24).

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