Intelligent movable lifting mechanical arm device

Abstract

The utility model discloses an intelligent movable lifting mechanical arm device which comprises a latticed cabinet body used for storing different goods, a track, a moving platform and a plurality of mechanical arm assemblies, the moving platform moves on the track, the track is located on one side of a containing cavity of the cabinet body, and the mechanical arm assemblies are arranged on the track. The mechanical arm assemblies are connected one by one and can rotate relatively, the mechanical arm assembly located on the lowermost portion is connected with the moving platform, and the top of the mechanical arm assembly located on the uppermost portion is provided with a supporting and placing piece fixedly connected with the mechanical arm assembly. The mechanical arm assembly located on the uppermost portion controls the supporting and placing piece to be in the horizontal state all the time when goods are taken, the control mechanism is in signal connection with the moving platform and the mechanical arm assemblies, and the moving platform and the mechanical arm assemblies are electrically connected with an external power source. According to the device, the cost can be low, unloading work of goods at different heights can be achieved at the same time, and meanwhile the working efficiency is high.

Description

Technical Field

[0001] The utility model relates to the field of intelligent logistics, in particular to an intelligent movable lifting mechanical arm device. Background Art

[0002] The logistics transport vehicles used by existing express logistics sites for picking up goods are generally complex in structure. In addition, during normal use, they also need to have the ability of visual recognition and route planning to unload goods at different locations. At the same time, they place extremely high demands on the data processing capabilities of the control unit, resulting in excessive increases in production costs and high repair costs after damage. In addition, when unloading, the height of the picking robot needs to be adjusted according to the height of the goods to reduce the risk of damage to internal goods due to falls. Utility Model Content

[0003] In response to the above-mentioned existing problems, the technical problem to be solved by the present invention is to provide an intelligent movable lifting robotic arm device with low cost, capable of picking up and unloading goods at different heights, and high working efficiency.

[0004] The utility model provides an intelligent movable lifting robot arm device, including a grid-shaped cabinet for storing different goods, including a track and a mobile platform, the mobile platform moves on the track, the track is located on one side of the accommodating cavity of the cabinet, and also includes a plurality of robot components, the robot components are connected one by one and can rotate relative to each other, the robot component located at the bottom is connected to the mobile platform, the top of the robot component located at the top is provided with a supporting member fixedly connected to it, the robot component located at the top controls the supporting member to always be in a horizontal state when picking up goods, and also includes a control mechanism, the control mechanism is respectively connected to the mobile platform and the robot component signal, and the mobile platform and the robot component are both electrically connected to an external power supply.

[0005] Furthermore, the mobile platform includes a bottom frame, a driving axle connected to the bottom frame, the driving axle inputs power through a motor, a driving wheel connected to the power output end of the driving axle, a first annular groove provided on the surface of the driving wheel, a driven wheel rotating relative to the bottom frame, a second annular groove provided on the surface of the driven wheel, the track is located in the first annular groove and the second annular groove, the track is respectively in contact with the driving wheel and the driven wheel, the motor is electrically connected to an external power supply, and the motor is signal-connected to the control mechanism.

[0006] Furthermore, the bottom frame is provided with a plurality of clamps, and the clamps are used to clamp the drive axle.

[0007] Furthermore, a U-shaped seat is provided on the bottom frame, a rotating shaft is provided on the driven wheel, the rotating shaft passes through the U-shaped seat and rotates relative to it, and a first limiting member is also provided on the rotating shaft for limiting the separation of the rotating shaft and the U-shaped seat.

[0008] Furthermore, the supporting member is a tray.

[0009] Furthermore, the manipulator assembly includes a servo, an L-shaped plate, a U-shaped plate and several connecting rods, and a base plate is provided between different manipulator assemblies, the connecting rod is fixedly connected to the base plate, the L-shaped plate is fixedly connected to the base plate, the servo is fixed to the L-shaped plate, the output end of the servo passes through the L-shaped plate and is fixedly connected to one of the connecting rods, the U-shaped plate is fixedly connected to the base plate, a fixed shaft is passed through the other connecting rod, the fixed shaft passes through the U-shaped plate, and a second limit member is provided on the fixed shaft for limiting the separation of the fixed shaft and the U-shaped plate, the L-shaped plate and the U-shaped plate at the bottom are fixedly connected to the bottom frame, the L-shaped plate and the U-shaped plate at the top are fixedly connected to the tray, and the control mechanism is connected to the servo signal.

[0010] Furthermore, the control mechanism includes a server and a main control board, the main control board is arranged on the bottom frame, the server is signal-connected to the main control board, the main control board is signal-connected to the servo and the motor respectively, and the server and the main control board are both electrically connected to an external power supply.

[0011] Furthermore, the bottom frame is provided with a plurality of infrared sensors, which are respectively arranged on the tray and the front end, rear end and side surfaces of the bottom frame, and the infrared sensors are connected to the main control board by signal.

[0012] Furthermore, a gyroscope is provided on the tray, and the gyroscope is connected to the server signal.

[0013] The beneficial effects of the present invention are:

[0014] The utility model relates to an intelligent movable lifting robot arm device. When it is necessary to take out the goods in any one of the storage chambers of the cabinet, the control mechanism controls the back and forth movement of the mobile platform on the track. When it moves to the position of different storage chambers of the cabinet, the control mechanism controls the mobile platform to stop moving, and controls the robot arm assembly to extend to the required height through the control mechanism. At the same time, the control mechanism controls the uppermost robot arm assembly so that the supporting part on the uppermost robot arm assembly always remains horizontal. Therefore, after the robot arm assembly rises to the highest point or a predetermined height, there is no need to adjust the horizontality of the supporting part separately, and it can be immediately adjusted to a position suitable for accommodating the goods transported to the supporting part, saving adjustment time and improving the efficiency of picking up goods. When the picking up work is completed, the robot arm assembly is moved to the uppermost position. The control mechanism controls the retraction of the manipulator assembly until it retracts to its original position, and always controls the top manipulator assembly through the control mechanism to maintain the horizontality of the supporting member, so as to prevent the goods in the supporting member from falling, thereby making the shipment safer. Then, the control mechanism can be used to control the mobile platform to return to the starting point. When the mobile platform returns to the starting point, the control mechanism can be used to control the top manipulator assembly, so that the supporting member on the top manipulator assembly is tilted to a certain angle, and the goods in the supporting member are dumped out, thereby completing the shipment. Through the use of this device, the unloading of goods at different heights can be achieved at the same time, and the work efficiency is significantly improved. In addition, the processing capacity of the control mechanism is not high, and the production cost and maintenance cost can be low. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only preferred embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 This is a three-dimensional diagram of the local structure of an intelligent movable lifting mechanical arm device of the utility model from a first perspective;

[0017] Figure 2 This is a rear view of the overall structure of an intelligent movable lifting mechanical arm device of the utility model;

[0018] Figure 3 This is a stereoscopic diagram of the local structure of an intelligent movable lifting mechanical arm device of the utility model from a second perspective.

[0019] In the figure, 1 is a cabinet, 2 is a track, 3 is a bottom frame, 4 is a accommodating chamber, 5 is a servo, 6 is a server, 7 is a second limiter, 8 is a drive axle, 9 is a motor, 10 is a driving wheel, 11 is a first annular groove, 12 is a driven wheel, 13 is a second annular groove, 14 is a clamp, 15 is a U-shaped seat, 16 is a rotating shaft, 17 is a first limiter, 18 is a tray, 19 is an L-shaped plate, 20 is a U-shaped plate, 21 is a bottom plate, 22 is a connecting rod, 23 is a fixed shaft, 24 is a main control board, and 25 is an infrared sensor. DETAILED DESCRIPTION

[0020] In order to better understand the technical content of the present invention, specific embodiments are provided below, and the present invention is further described in conjunction with the accompanying drawings.

[0021] See also Figures 1 to 3The utility model provides an intelligent movable lifting robot arm device, including a grid-shaped cabinet 1 for storing different goods. The cabinet 1 can adopt, for example, the cabinet 1 with automatic shipping function disclosed in CN202011200937.5. The specific structure of the cabinet 1 is not repeated in this embodiment, including a track 2 and a mobile platform. The mobile platform moves on the track 2. The track 2 is located on one side of the accommodating cavity 4 of the cabinet 1, and also includes a plurality of manipulator assemblies. The manipulator assemblies are connected one by one and can rotate relative to each other. The manipulator assembly at the bottom is connected to the mobile platform, and the manipulator assembly at the top is connected to the mobile platform. A supporting part fixedly connected to the top is provided, and the manipulator assembly located at the top controls the supporting part to always be in a horizontal state when picking up goods. It also includes a control mechanism, which is respectively connected to the mobile platform and the manipulator assembly by signal, and the mobile platform and the manipulator assembly are both electrically connected to an external power supply. When it is necessary to take out the goods in any one of the accommodating cavities 4 of the cabinet 1, the mobile platform is controlled by the control mechanism to move back and forth on the track 2. When it moves to the position of different accommodating cavities 4 of the cabinet 1, the control mechanism controls the mobile platform to stop moving, and controls the manipulator assembly to extend and retract through the control mechanism. The control mechanism controls the uppermost manipulator assembly to keep the support member on the uppermost manipulator assembly horizontal at all times, so that after the manipulator assembly rises to the highest point or a predetermined height, there is no need to adjust the level of the support member separately, and the support member can be immediately adjusted to a position suitable for accommodating the goods transported to the support member, saving adjustment time and improving the efficiency of picking up goods. When the picking up work is completed, the control mechanism controls the retraction of the manipulator assembly until it retracts to its original position, and the control mechanism always controls the uppermost manipulator assembly to maintain the level of the support member, avoiding The goods in the supporting parts are prevented from falling, so that the shipment is safer, and then the mobile platform can be controlled to return to the starting point by the control mechanism. After the mobile platform returns to the starting point, the uppermost manipulator assembly can be controlled by the control mechanism, so that the supporting parts on the uppermost manipulator assembly are tilted at a certain angle, and the goods in the supporting parts are dumped out, thereby completing the shipment. Through the use of this device, the unloading of goods at different heights can be achieved at the same time, and the work efficiency is significantly improved. In addition, the processing capacity of the control mechanism is not high, and the production cost and maintenance cost can be low.

[0022] Specifically, the mobile platform includes a bottom frame 3, a drive bridge 8 connected thereto is provided on the bottom frame 3, the drive bridge 8 is powered by a motor 9, the assembly composed of the drive bridge 8 and the motor 9 can adopt the RP-W-101 model or other existing models, and the specific model is not repeated in this embodiment. The power output end of the drive bridge 8 is provided with a driving wheel 10 connected thereto, and the surface of the driving wheel 10 is provided with a first annular groove 11, and the bottom frame 3 is provided with a driven wheel 12 that rotates relative to the bottom frame 3, and the surface of the driven wheel 12 is provided with a second annular groove 13, and the track 2 is located in the first annular groove 11 and the second annular groove 13, and the track 2 is respectively connected to the main The driving wheel 10 and the driven wheel 12 are in contact with each other, the motor 9 is electrically connected to an external power supply, and the motor 9 is signal-connected to the control mechanism. The motor 9 can be a model with forward and reverse rotation functions. The forward and reverse rotation of the motor 9 is controlled by the control mechanism, so that the movement of the bottom frame 3 can be realized, and the goods can be unloaded from the cabinet 1 and transported to the starting point, which is convenient for users to pick up the corresponding goods. Through the action of the first annular groove 11 on the driving wheel 10 and the second annular groove 13 on the driven wheel 12, it can be ensured that the driving wheel 10 and the driven wheel 12 can move on the track 2, ensuring that the device is not prone to derailment during movement.

[0023] Specifically, a plurality of clamps 14 are provided on the bottom frame 3 , and the clamps 14 are used to clamp the drive axle 8 . Through the action of the clamps 14 , the drive axle 8 can be effectively fixed, ensuring that the drive axle 8 can work stably.

[0024] Specifically, a U-shaped seat 15 is provided on the bottom frame 3, and a rotating shaft 16 is provided on the driven wheel 12. The rotating shaft 16 passes through the U-shaped seat 15 and rotates relative to it. The rotating shaft 16 is also provided with a first limiting member 17 for limiting the separation of the rotating shaft 16 and the U-shaped seat 15. Through the cooperation of the U-shaped seat 15, the rotating shaft 16, the driven wheel 12 and the first limiting member 17, the normal movement of the driven wheel 12 can be ensured and it can be prevented from falling during use.

[0025] Specifically, the supporting member is a pallet 18 , and the cargo can be accommodated by the pallet 18 .

[0026] Specifically, the manipulator assembly includes a steering gear 5, an L-shaped plate 19, a U-shaped plate 20 and a plurality of connecting rods 22. A bottom plate 21 is further provided between different manipulator assemblies. The connecting rod 22 is fixedly connected to the bottom plate 21, and the L-shaped plate 19 is fixedly connected to the bottom plate 21. The steering gear 5 is fixed on the L-shaped plate 19. The output end of the steering gear 5 passes through the L-shaped plate 19 and is fixedly connected to one of the connecting rods 22. The U-shaped plate 20 is fixedly connected to the bottom plate 21. A fixed shaft 23 is passed through the other connecting rod 22. The fixed shaft 23 passes through the U-shaped plate 20. A second limiting member 7 for limiting the separation of the fixed shaft 23 and the U-shaped plate 20 is further provided on the fixed shaft 23. The L-shaped plate 19 and the U-shaped plate 20 at the bottom are fixedly connected to the bottom frame 3, and the L-shaped plate 19 and the U-shaped plate 20 at the top are fixedly connected to the tray 18. The control mechanism is connected to the steering gear 5 signal. The L-shaped plate 19 and the U-shaped plate 20 on the right are fixedly connected to the bottom frame 3, and the L-shaped plate 19 and the U-shaped plate 20 at the top are fixedly connected to the pallet 18. Through the cooperation of the L-shaped plate 19, the U-shaped plate 20, the bottom plate 21, the fixed shaft 23, the servo 5, the second limit member 7 and the several connecting rods 22, the different manipulator components can be rotated relative to each other, and the bottom manipulator component can be rotated relative to the bottom frame 3, and the top manipulator component can be rotated relative to the pallet 18. Through the cooperation between the different manipulator components, the height adjustment ability of the device can be adapted to actual needs, and can also be adapted to the needs of unloading. It can also control the top manipulator component to achieve the horizontality of the pallet 18 during the picking and transportation process, which not only improves efficiency, but also prevents the goods in the pallet 18 from falling, and has a better use effect.

[0027] Specifically, the control mechanism includes a server 6 and a main control board 24. The main control board 24 is arranged on the bottom frame 3. The server 6 is signal-connected to the main control board 24. The main control board 24 is signal-connected to the servo 5 and the motor 9 respectively. The server 6 and the main control board 24 are both electrically connected to an external power supply. Through the coordination of the server 6 and the main control board 24, different servos 5 can be controlled according to actual needs, so that different servos 5 can drive the connecting rod 22 to rotate, and the top servo 5 can maintain the level and rotation of the tray 18.

[0028] Specifically, the bottom frame 3 is provided with a plurality of infrared sensors 25, which are respectively arranged on the tray 18 and the front end, rear end and side of the bottom frame 3. The infrared sensors 25 are connected to the main control board 24 by signal. The infrared sensors 25 on the side of the bottom frame 3 can feed back the signal of the mobile platform moving to the corresponding different positions of the cabinet 1 to the main control board 24, and transmit it to the server 6 through the main control board 24. When the predetermined value set by the server 6 is reached, it is fed back to the main control board 24 through the server 6, so that after reaching the specified position, the main control board 24 controls the motor 9 to stop working, which is convenient for the subsequent picking up work; through the function of the infrared sensor 25 at the front end of the bottom frame 3, when the mobile platform moves forward, the infrared sensor 25 on the side of the bottom frame 3 can be used to detect the measurement error of the infrared sensor 25 at the front end of the bottom frame 3. A signal is sent to the main control board 24, and the motor 9 is controlled to stop working by the main control board 24, thereby reducing the possibility of movement position errors in the device; when the bottom frame 3 is returning to the starting point, the infrared sensor 25 at the rear end of the bottom frame 3 is used for real-time sensing. When the starting position is reached, the infrared sensor 25 transmits a signal to the main control board 24, and the motor 9 is controlled to stop working by the main control board 24, and then subsequent unloading work can be carried out; when it is necessary to control the pallet 18 to rise, the infrared sensor 25 on the pallet 18 can be used to feed back the signal of the pallet 18 moving to different heights to the main control board 24. When the predetermined value of the height set by the server 6 is reached, the server 6 transmits a signal to the main control board 24, and controls all the servos 5 to stop working through the main control board 24, and then the goods in the cabinet 1 can be transported to the pallet 18.

[0029] Specifically, a gyroscope (not shown) is provided on the pallet 18, and the gyroscope (not shown) is connected to the server 6 by signal. Through the action of the gyroscope (not shown), the rotation angle of the pallet 18 can be detected and the detection data can be sent to the server 6 in real time, so that the uppermost servo 5 can be controlled in real time to maintain the level of the pallet 18, thereby ensuring stable and reliable cargo transportation.

[0030] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent movable lifting robot arm device, comprising a grid-shaped cabinet for storing different goods, characterized in that: The invention also includes a track and a mobile platform, the mobile platform moves on the track, the track is located on one side of the accommodating cavity of the cabinet, and also includes a plurality of manipulator components, the manipulator components are connected one by one and can rotate relative to each other, the manipulator component located at the bottom is connected to the mobile platform, and the top of the manipulator component located at the top is provided with a supporting member fixedly connected to it, and the manipulator component located at the top controls the supporting member to always be in a horizontal state when picking up goods, and also includes a control mechanism, the control mechanism is respectively connected to the mobile platform and the manipulator component by signal, and the mobile platform and the manipulator component are both electrically connected to an external power supply.

2. The intelligent movable lifting robot arm device according to claim 1, characterized in that: The mobile platform includes a bottom frame, a driving axle connected to the bottom frame is provided on the bottom frame, the driving axle inputs power through a motor, a driving wheel connected to the power output end of the driving axle is provided, a first annular groove is provided on the surface of the driving wheel, a driven wheel that rotates relative to the bottom frame is provided, a second annular groove is provided on the surface of the driven wheel, the track is located in the first annular groove and the second annular groove, the track is respectively in contact with the driving wheel and the driven wheel, the motor is electrically connected to an external power supply, and the motor is signal-connected to the control mechanism.

3. The intelligent movable lifting robot arm device according to claim 2, characterized in that: A plurality of clamps are provided on the bottom frame, and the clamps are used to clamp the drive axle.

4. The intelligent movable lifting robot arm device according to claim 2, characterized in that: The bottom frame is provided with a U-shaped seat, the driven wheel is provided with a rotating shaft, the rotating shaft passes through the U-shaped seat and rotates relative to it, and the rotating shaft is also provided with a first limiting member for limiting the separation of the rotating shaft and the U-shaped seat.

5. The intelligent movable lifting robot arm device according to claim 4, characterized in that: The supporting member is a tray.

6. The intelligent movable lifting robot arm device according to claim 5, characterized in that: The manipulator assembly includes a servo, an L-shaped plate, a U-shaped plate and several connecting rods. A base plate is also provided between different manipulator assemblies. The connecting rod is fixedly connected to the base plate, the L-shaped plate is fixedly connected to the base plate, the servo is fixed on the L-shaped plate, the output end of the servo is fixedly connected to one of the connecting rods after passing through the L-shaped plate, the U-shaped plate is fixedly connected to the base plate, a fixed shaft is passed through the other connecting rod, and the fixed shaft passes through the U-shaped plate. A second limit member is also provided on the fixed shaft for limiting the separation of the fixed shaft and the U-shaped plate. The L-shaped plate and the U-shaped plate at the bottom are fixedly connected to the bottom frame, and the L-shaped plate and the U-shaped plate at the top are fixedly connected to the tray, and the control mechanism is connected to the servo signal.

7. The intelligent movable lifting robot arm device according to claim 6, characterized in that: The control mechanism includes a server and a main control board. The main control board is arranged on the bottom frame. The server is connected to the main control board by signal. The main control board is respectively connected to the servo and the motor by signal. The server and the main control board are both electrically connected to an external power supply.

8. The intelligent movable lifting robot arm device according to claim 7, characterized in that: The bottom frame is provided with a plurality of infrared sensors, which are respectively arranged on the tray and the front end, the rear end and the side of the bottom frame. The infrared sensors are connected to the main control board by signal.

9. The intelligent movable lifting robot arm device according to claim 7, characterized in that: The tray is provided with a gyroscope, and the gyroscope is connected to the server signal.

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