A lightweight logistics gripping robot
By replacing the traditional Z-axis movement mechanism with a lightweight structure and a pulley-and-rope drive mechanism, and combining it with a conductive slip ring, the problems of large inertia and wire entanglement in logistics robots are solved, achieving efficient and reliable logistics grasping operations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- NANJING INST OF TECH
- Filing Date
- 2025-07-31
- Publication Date
- 2026-06-02
AI Technical Summary
Traditional logistics robots suffer from high inertia due to their metal frames, resulting in slow start-up and acceleration. The Z-axis lead screw drive is prone to jamming, and the wires are easily tangled, leading to high maintenance costs and frequent downtime.
It adopts a lightweight structure, uses ultra-light magnetic tracks and pure carbon fiber materials, and combines a pulley rope drive mechanism to replace the Z-axis movement mechanism. Conductive slip rings are installed on the planetary gear train rotation mechanism to avoid screw drive jamming and wire tangling.
This achieves lightweighting of logistics robots, reduces inertia and positioning errors, avoids jamming and wire tangling problems, ensures continuous operation, and reduces maintenance costs.
Smart Images
Figure CN224312728U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of intelligent logistics equipment technology, specifically to a lightweight logistics grasping robot. Background Technology
[0002] Logistics robots are intelligent industrial equipment used in warehousing, sorting centers, and transportation to perform operations such as cargo transfer, handling, loading and unloading, and palletizing. They can work around the clock and significantly improve the throughput of warehousing.
[0003] However, traditional logistics robots use metal frames, resulting in high inertia. This requires greater external force to change their motion, leading to start-up delays and slow acceleration. It can also cause synchronous belt tension failure, resulting in Y-axis positioning drift. In addition, the Z-axis lead screw drive of traditional logistics robots is prone to jamming, resulting in high maintenance costs. Furthermore, during operation, the rotating axis wires are easily tangled, requiring periodic shutdowns for cleaning. Utility Model Content
[0004] To address the problems existing in the prior art, this utility model provides a lightweight logistics grasping robot. Through a lightweight structure, the inertia and positioning error of the logistics robot are reduced. A pulley and rope drive mechanism replaces the Z-axis movement mechanism of the traditional logistics robot, avoiding the jamming problem caused by the screw drive. Furthermore, by setting a conductive slip ring on the planetary gear train rotation mechanism, the wire entanglement is prevented.
[0005] To achieve the above technical objectives, the present invention adopts the following technical solution: a lightweight logistics gripping robot, comprising: an X-axis moving mechanism, a Y-axis moving mechanism, a pulley rope drive mechanism, a planetary gear train rotation mechanism, and a gripping mechanism, wherein the Y-axis moving mechanism is mounted on the X-axis moving mechanism, the planetary gear train rotation mechanism is mounted on the Y-axis moving mechanism, the pulley rope drive mechanism is mounted on the planetary gear train rotation mechanism, and the gripping mechanism is mounted on the pulley rope drive mechanism;
[0006] Depending on the location of the goods, the height of the gripping mechanism is adjusted by the pulley and rope drive mechanism, the position of the gripping mechanism in the Y-axis direction is adjusted by the Y-axis moving mechanism, the position of the gripping mechanism in the X-axis direction is adjusted by the X-axis moving mechanism, and the rotation angle of the gripping mechanism is adjusted by the planetary gear rotation mechanism.
[0007] Furthermore, the X-axis moving mechanism includes two parallel X-axis slide rails, each X-axis slide rail is equipped with two X-axis moving wheels, the axis of each X-axis moving wheel is drivenly connected to the output shaft of an X-axis high-power coded DC motor, each X-axis high-power coded DC motor is fixedly connected to an X-axis moving frame, and each X-axis moving frame is fixed on the Y-axis slide rail of the Y-axis moving mechanism.
[0008] Furthermore, the X-axis slide rail adopts an ultra-light magnetic track.
[0009] Furthermore, the Y-axis moving mechanism includes two parallel Y-axis slide rails, each with a slidably connected slide block. The slide block is fixedly connected to the Y-axis moving frame, and a stepper motor is fixedly mounted on the top of the Y-axis moving frame. A synchronous belt is provided on the opposite surfaces of the two Y-axis slide rails, and both ends of the Y-axis slide rails are fixedly connected to a synchronous belt limiting seat. The synchronous belt limiting seat is used to limit the pulleys on the synchronous belt. The output shaft of the stepper motor is connected to the pulleys of the synchronous belt for transmission.
[0010] Furthermore, the two parallel Y-axis slide rails adopt ultra-light magnetic tracks.
[0011] Furthermore, the planetary gear train rotation mechanism includes: a disc, a motor base, a rope pulley, a gimbal sun gear, a rotary motor, and a disc base. The disc base is fixed on the Y-axis moving frame of the Y-axis moving mechanism. The axis of the gimbal sun gear is fixedly connected to the disc base. The gimbal sun gear is provided with a disc. The top of the disc is fixedly mounted with a motor base and a rotary motor. The output end of the rotary motor meshes with the transmission gear of the gimbal sun gear.
[0012] Furthermore, a conductive slip ring is installed on the disk base and is fixedly connected to the disk base through a conductive slip ring fixing bracket. The upper wire of the conductive slip ring is connected to the controller, and the controller is fixed to the disk through a controller fixing plate. The lower wire of the conductive slip ring is connected to the synchronous belt stepper motor and the X-axis high-power coded DC motor in the X-axis moving mechanism, respectively.
[0013] Furthermore, the pulley rope drive mechanism includes: a fixed base, a support rod, a crossbar, a linear bearing connector, an end sleeve, a rope wheel, a top sleeve, a crossbeam, a rope, and a rope drive motor. Two support rods are provided, fixed to the wheel disc of the planetary gear train rotation mechanism via the fixed base. A linear bearing connector is slidably connected to the support rod, and the linear bearing connector is fixedly connected via the crossbar. A top sleeve is provided at the top of the support rod, and a crossbeam is provided between the top sleeves. One end of the rope is fixedly connected to the linear bearing connector, and the other end of the rope is laid along the top sleeve and the crossbeam and wound around the rope wheel. The rope wheel is drive-connected to the output end of the rope drive motor, and the rope drive motor is fixed to the top of the motor base of the planetary gear train rotation mechanism.
[0014] Furthermore, the gripping mechanism includes a gripping motor and a gripping seat. The gripping seat is fixedly connected to the end of the crossbar of the pulley rope drive mechanism via a connecting rod, and the gripping motor is mounted on the gripping seat.
[0015] Furthermore, the pulley rope drive mechanism 3, the planetary gear system rotation mechanism, and the gripping mechanism are all made of pure carbon fiber material.
[0016] Compared with the prior art, the present invention has the following beneficial effects:
[0017] (1) In the lightweight logistics grasping robot of this utility model, the X-axis slide rail of the X-axis moving mechanism and the Y-axis slide rail of the Y-axis moving mechanism are both made of ultra-light magnetic track. At the same time, the pulley rope drive mechanism, the planetary gear rotation mechanism and the grasping mechanism are all made of pure carbon fiber material, which greatly reduces the mass of the logistics grasping robot. Through the lightweight structure, the inertia and positioning error of the logistics robot can be reduced.
[0018] (2) The lightweight logistics gripping robot of this utility model replaces the Z-axis movement mechanism of the traditional logistics robot with a pulley rope drive mechanism. The rope drive motor in the pulley rope drive mechanism drives the rope wheel to rotate, so that the rope wound on the rope wheel continues to wind or unwind, driving the crossbar to rise or fall, thereby adjusting the gripping mechanism's height on the Z-axis with the movement of the crossbar, avoiding the jamming problem caused by the screw drive.
[0019] (3) The lightweight logistics grasping robot of this utility model has a conductive slip ring installed on the disk seat of the planetary gear train rotation mechanism, and a controller fixing plate installed on the disk. When the upper wire of the conductive slip ring is connected to the controller, and the lower wire of the conductive slip ring is connected to the synchronous belt stepper motor and the X-axis high-power coded DC motor in the X-axis moving mechanism respectively, the wires are prevented from getting tangled, so that the logistics grasping robot can work continuously and avoid downtime. Attached Figure Description
[0020] Figure 1 This is a three-dimensional view of the lightweight logistics grasping robot of this utility model from one perspective.
[0021] Figure 2 This is a three-dimensional view of the lightweight logistics grasping robot of this utility model from another perspective;
[0022] Figure 3 This is a schematic diagram of the pulley rope drive mechanism in this utility model;
[0023] Figure 4 This is a schematic diagram of the planetary gear train rotation mechanism in this utility model;
[0024] Figure 5 This is a schematic diagram of the conductive slip ring in this utility model. Detailed Implementation
[0025] The technical solution of this utility model will be further explained below with reference to the accompanying drawings.
[0026] like Figure 1-2This utility model provides a lightweight logistics gripping robot, comprising: an X-axis moving mechanism 1, a Y-axis moving mechanism 2, a pulley and rope drive mechanism 3, a planetary gear train rotation mechanism 4, and a gripping mechanism 5. The Y-axis moving mechanism 2 is mounted on the X-axis moving mechanism 1, the planetary gear train rotation mechanism 4 is mounted on the Y-axis moving mechanism 2, the pulley and rope drive mechanism 3 is mounted on the planetary gear train rotation mechanism 4, and the gripping mechanism 5 is mounted on the pulley and rope drive mechanism 3. Based on the location of the goods, the height of the gripping mechanism 5 is adjusted via the pulley and rope drive mechanism 3, the position of the gripping mechanism 5 in the Y-axis direction is adjusted via the Y-axis moving mechanism 2, the position of the gripping mechanism 5 in the X-axis direction is adjusted via the X-axis moving mechanism 1, and the rotation angle of the gripping mechanism 5 is adjusted via the planetary gear train rotation mechanism 4. This logistics gripping robot can achieve omnidirectional goods gripping.
[0027] In this invention, the X-axis moving mechanism 1 includes two parallel X-axis slide rails 10. Each X-axis slide rail 10 is equipped with two X-axis moving wheels 11. The axis of each X-axis moving wheel 11 is connected to the output shaft of an X-axis high-power coded DC motor 14. Each X-axis high-power coded DC motor 14 is fixedly connected to an X-axis moving frame 15. Each X-axis moving frame 15 is fixed on the Y-axis slide rail 24 of the Y-axis moving mechanism 2. In this invention, the X-axis moving wheels 11 are driven to move on the X-axis slide rails 10 by the X-axis high-power coded DC motor 14, thereby driving the X-axis moving frame 15 to move in the X-axis direction.
[0028] In this utility model, the Y-axis moving mechanism 2 includes two parallel Y-axis slide rails 24. A sliding block 23 is provided on each Y-axis slide rail 24, and the sliding block 23 is fixedly connected to the Y-axis moving frame 21. A stepper motor 22 is fixedly installed on the top of the Y-axis moving frame 21. A synchronous belt 25 is provided on the opposite surfaces of the two Y-axis slide rails 24. Both ends of the Y-axis slide rails 24 are fixedly connected to a synchronous belt limiting seat 13, which is used to limit the pulley 26 on the synchronous belt 25. The output shaft of the stepper motor 22 is connected to the pulley 26 of the synchronous belt 25, and the stepper motor 22 drives the Y-axis moving frame 21 to move in the Y-axis direction.
[0029] In this utility model, the X-axis slide rail 10 and Y-axis slide rail 24 are both made of ultra-light magnetic tracks, and the pulley rope drive mechanism 3, planetary gear rotation mechanism 4 and gripping mechanism 5 are all made of pure carbon fiber materials, which greatly reduces the weight of the logistics gripping robot. Through the lightweight structure, the inertia and positioning error of the logistics robot can be reduced.
[0030] like Figure 4The planetary gear system rotation mechanism 4 of this utility model includes: a wheel 40, a motor base 41, a rope wheel 42, a gimbal sun gear 43, a rotary motor 44, and a disc base 46. The disc base 46 is fixed on the Y-axis moving frame 21 of the Y-axis moving mechanism 2. The axis of the gimbal sun gear 43 is fixedly connected to the disc base 46. The gimbal sun gear 43 is provided with a wheel 40. The top of the wheel 40 is fixedly installed with a motor base 41 and a rotary motor 44. The output end of the rotary motor 44 meshes with the transmission gear 45 of the gimbal sun gear 43, transmitting rotational power to the gimbal sun gear 43, thereby driving the wheel 40 to perform circular motion.
[0031] like Figure 5 A conductive slip ring 61 is installed on the disk base 46 and is fixedly connected to the disk base 46 via a conductive slip ring fixing bracket 62. The upper wire of the conductive slip ring 61 is connected to the controller, which is fixed to the wheel disk 40 via a controller fixing plate 63. The lower wire of the conductive slip ring 61 is connected to the synchronous belt stepper motor 22 and the X-axis high-power coded DC motor 14 in the X-axis moving mechanism 1, respectively. By setting the conductive slip ring 61, the wires do not tangle when the wheel disk 40 rotates, ensuring a safe and reliable power supply to the synchronous belt stepper motor 22, enabling the logistics grasping robot to operate continuously and avoiding downtime.
[0032] like Figure 3 The pulley rope drive mechanism 3 includes: a fixed base 30, a support rod 31, a crossbar 32, a linear bearing connector 33, an end sleeve 34, a rope wheel 35, a top sleeve 36, a crossbeam 37, a rope 38, and a rope drive motor 39. Two support rods 31 are provided and fixed to the wheel 40 of the planetary gear system rotation mechanism 4 via the fixed base 30. The rotation of the wheel 40 drives the pulley rope drive mechanism 3 to rotate synchronously, preventing the rope 38 in the pulley rope drive mechanism 3 from getting tangled in the rotary motor 44, etc.; the support rod 31 slides... A linear bearing connector 24 is connected, and the linear bearing connector 24 is fixedly connected via a crossbar 32. A top sleeve 36 is provided at the top of the support rod 31, and a crossbeam 37 is provided between the top sleeves 36. One end of a rope 38 is fixedly connected to a linear bearing connector 33, and the other end of the rope 38 is laid along the top sleeve 36 and the crossbeam 37 and wound around a rope pulley 35. The rope pulley 35 is connected to the output end of a rope drive motor 39, which is fixed to the top of the motor base 41 of the planetary gear train rotation mechanism 4. The rope drive motor 39 in the pulley rope drive mechanism 3 drives the rope pulley 35 to rotate, causing the rope 38 wound on the rope pulley 35 to continue winding or unwinding, driving the crossbar 32 to rise or fall. This allows the gripping mechanism 5 to adjust its height on the Z-axis as the crossbar 32 moves, avoiding the jamming problem caused by the screw drive.
[0033] The gripping mechanism 5 of this utility model includes a gripping motor 50 and a gripping seat 51. The gripping seat 51 is fixedly connected to the end of the crossbar 32 of the pulley rope drive mechanism 3 through a connecting rod 52, and the gripping motor 50 is provided on the gripping seat 51.
[0034] This lightweight logistics robot utilizes the coordinated action of an X-axis moving mechanism 1, a Y-axis moving mechanism 2, a pulley and rope drive mechanism 3, and a planetary gear train rotation mechanism 4 to move the gripping mechanism 5 to the goods for gripping. By continuously adjusting the X-axis moving mechanism 1, Y-axis moving mechanism 2, pulley and rope drive mechanism 3, and planetary gear train rotation mechanism 4, the gripping mechanism 5 delivers the goods to the target location. This lightweight logistics robot replaces the traditional Z-axis moving mechanism of logistics robots with a pulley and rope drive mechanism, avoiding the jamming problem caused by lead screw drives. Furthermore, by installing conductive slip rings on the base, it prevents wire tangling. Simultaneously, the lightweight design reduces the inertia and positioning error of the logistics robot.
[0035] The above are merely preferred embodiments of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are within its protection scope. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should be considered within its protection scope.
Claims
1. A lightweight logistics grasping robot, characterized in that, include: The system comprises an X-axis moving mechanism, a Y-axis moving mechanism, a pulley and rope drive mechanism, a planetary gear train rotation mechanism, and a gripping mechanism. The Y-axis moving mechanism is mounted on the X-axis moving mechanism, the planetary gear train rotation mechanism is mounted on the Y-axis moving mechanism, the pulley and rope drive mechanism is mounted on the planetary gear train rotation mechanism, and the gripping mechanism is mounted on the pulley and rope drive mechanism. Depending on the location of the goods, the height of the gripping mechanism is adjusted by the pulley and rope drive mechanism, the position of the gripping mechanism in the Y-axis direction is adjusted by the Y-axis moving mechanism, the position of the gripping mechanism in the X-axis direction is adjusted by the X-axis moving mechanism, and the rotation angle of the gripping mechanism is adjusted by the planetary gear rotation mechanism.
2. The lightweight logistics grasping robot according to claim 1, characterized in that, The X-axis moving mechanism includes two parallel X-axis slide rails, each X-axis slide rail is equipped with two X-axis moving wheels, the axis of each X-axis moving wheel is driven and connected to the output shaft of an X-axis high-power coded DC motor, each X-axis high-power coded DC motor is fixedly connected to an X-axis moving frame, and each X-axis moving frame is fixed on the Y-axis slide rail of the Y-axis moving mechanism.
3. A lightweight logistics grasping robot according to claim 2, characterized in that, The X-axis slide rail uses an ultra-light magnetic track.
4. The lightweight logistics gripping robot according to claim 1, characterized in that, The Y-axis moving mechanism includes two parallel Y-axis slide rails, each with a slidingly connected slide block. The slide block is fixedly connected to the Y-axis moving frame, and a stepper motor is fixedly mounted on the top of the Y-axis moving frame. A synchronous belt is provided on the opposite surfaces of the two Y-axis slide rails, and both ends of the Y-axis slide rails are fixedly connected to synchronous belt limit seats. The synchronous belt limit seats are used to limit the pulleys on the synchronous belt. The output shaft of the stepper motor is connected to the pulleys of the synchronous belt for transmission.
5. A lightweight logistics grasping robot according to claim 4, characterized in that, The two parallel Y-axis slide rails use ultra-light magnetic tracks.
6. A lightweight logistics grasping robot according to claim 1, characterized in that, The planetary gear train rotation mechanism includes: a disc, a motor base, a rope pulley, a gimbal sun gear, a rotary motor, and a disc base. The disc base is fixed on the Y-axis moving frame of the Y-axis moving mechanism. The axis of the gimbal sun gear is fixedly connected to the disc base. The gimbal sun gear is provided with a disc. The top of the disc is fixedly mounted with a motor base and a rotary motor. The output end of the rotary motor meshes with the transmission gear of the gimbal sun gear.
7. A lightweight logistics gripping robot according to claim 6, characterized in that, A conductive slip ring is installed on the disk base and is fixedly connected to the disk base through a conductive slip ring fixing bracket. The upper wire of the conductive slip ring is connected to the controller. The controller is fixed to the disk through a controller fixing plate. The lower wire of the conductive slip ring is connected to the synchronous belt stepper motor and the X-axis high-power coded DC motor in the X-axis moving mechanism, respectively.
8. A lightweight logistics grasping robot according to claim 1, characterized in that, The pulley and rope drive mechanism includes: a fixed base, a support rod, a crossbar, a linear bearing connector, an end sleeve, a rope wheel, a top sleeve, a crossbeam, a rope, and a rope drive motor. Two support rods are provided, fixed to the wheel disc of the planetary gear train rotation mechanism via the fixed base. A linear bearing connector is slidably connected to the support rod, and the linear bearing connector is fixedly connected via the crossbar. A top sleeve is provided at the top of the support rod, and a crossbeam is provided between the top sleeves. One end of the rope is fixedly connected to the linear bearing connector, and the other end of the rope is laid along the top sleeve and the crossbeam and wound around the rope wheel. The rope wheel is connected to the output end of the rope drive motor, and the rope drive motor is fixed to the top of the motor base of the planetary gear train rotation mechanism.
9. A lightweight logistics gripping robot according to claim 1, characterized in that, The gripping mechanism includes a gripping motor and a gripping seat. The gripping seat is fixedly connected to the end of the crossbar of the pulley rope drive mechanism via a connecting rod, and the gripping motor is mounted on the gripping seat.
10. A lightweight logistics grasping robot according to claim 1, characterized in that, The pulley rope drive mechanism, planetary gear rotation mechanism, and gripping mechanism are all made of pure carbon fiber.