Multi-contact logistics transfer robot

Abstract

The utility model relates to the field of logistics transfer technology, and concretely relates to a multi-contact logistics transfer manipulator. Including mechanical arm, be equipped with clamping mechanism on the mechanical arm, the clamping mechanism includes the mounting plate fixedly connected on the mechanical arm, the mounting plate is away from the mechanical arm side symmetry sliding connection has two moving plates, be equipped with several positioning assemblies on the moving plate, two the moving plate far from each other's side all are provided with fixed component. The utility model, through electric telescopic link drive moving plate and positioning assembly move to the direction close to the article, when several positioning assemblies carry out the preliminary positioning to the article, moving plate stop moving, at this moment, servo motor drive clamping plate movement through the speed reducer and threaded rod and carry out the clamping fixed to the positioning rod, subsequently, electric telescopic link drive moving plate and positioning assembly carry out the final clamping to the article, improve the clamping effect of clamping mechanism to the article.

Description

Technical Field

[0001] This utility model relates to the field of logistics transfer technology, specifically to a multi-contact logistics transfer robot. Background Technology

[0002] Logistics transfer refers to the act of transporting goods to their destination by transshipment, changing transport vehicles, or switching transport modes during the transportation process. In logistics transfer, robotic arms are mostly used to grip, fix, and transfer goods. However, in the existing robotic arms, the multi-contact grippers have several fingers on both sides moving differently during the gripping process, and multiple fingers are located on the same plane. This means that the multi-contact grippers can only grip and fix items with flat surfaces, resulting in a single gripping method and a lack of flexibility. In particular, some items have uneven surfaces, such as sculptures and handicrafts, with protrusions, depressions, or curved surfaces. Traditional multi-contact grippers cannot make each gripper independently adhere to the surface of the item, resulting in a small gripping contact area and strong local pressure. This not only easily leads to the item slipping or being damaged, but also poses a risk of shaking during the transfer due to uneven gripping force. In addition, the surfaces of such items are mostly relatively rough, and gaps are likely to exist when the suction cup contacts the surface of the item, resulting in a decrease in the suction cup's adsorption effect on the item. In view of this, we propose a multi-contact logistics transfer robotic arm. Utility Model Content

[0003] The purpose of this utility model is to provide a multi-contact logistics transfer robot to solve the problem mentioned in the background art that the multi-contact grippers of existing robots are difficult to grip items with rough and uneven surfaces.

[0004] To address the aforementioned problems, the present invention aims to provide a multi-contact logistics transfer robot, comprising a robotic arm with a clamping mechanism for clamping items. The robotic arm drives the clamping mechanism to move. The clamping mechanism includes a mounting plate fixedly connected to the robotic arm. Two movable plates are symmetrically slidably connected to the mounting plate on the side away from the robotic arm. Several positioning components are provided on the movable plates. During movement, the movable plates drive the positioning components to move towards the items. When the positioning components come into contact with the items, they clamp them. Fixed components are provided on the sides of the two movable plates that are far from each other. After the positioning components clamp the items, the two fixed components clamp and fix the positioning components respectively.

[0005] As a further improvement to this technical solution, the positioning component includes a positioning rod that is slidably inserted into the inside of the moving plate. One end of the positioning rod passes through the moving plate and is fixedly connected to a mounting block. A second return spring is fixedly connected between the mounting block and the moving plate. The second return spring is in a compressed state. When the second return spring extends, it causes the mounting block to move away from the moving plate.

[0006] As a further improvement to this technical solution, a universal joint is fixedly connected to the side of the mounting block away from the moving plate, and a positioning block is fixedly connected to the side of the universal joint away from the mounting block, and the positioning block rotates around the universal joint.

[0007] As a further improvement to this technical solution, a first return spring is fixedly connected to each of the four corners between the positioning block and the mounting block. The first return spring is in a compressed state, and several first return springs extend together to push the positioning block, so that the side of the positioning block away from the mounting block is in a vertical state.

[0008] As a further improvement to this technical solution, the other end of the positioning rod passes through the moving plate and is fixedly connected to a stop block. A limit groove is formed on the positioning rod along its axial direction. Several limit blocks are fixedly connected to the side of the moving plate away from the mounting block. The number and position of the limit blocks correspond to those of the positioning rod. One side of the limit block is slidably connected inside the limit groove.

[0009] As a further improvement to this technical solution, the fixing component includes several fixing blocks fixedly connected to the side of the moving plate away from the mounting block, and a threaded rod is rotatably connected between every two fixing blocks, with threads of opposite helical directions provided near the two ends of the threaded rod.

[0010] As a further improvement to this technical solution, clamping plates are threadedly connected to both ends of the threaded rod. The clamping plates are located between the moving plate and the stop block. During the rotation of the threaded rod, the two clamping plates move towards or away from each other.

[0011] As a further improvement to this technical solution, the two clamping plates are located on both sides of the positioning rod, and an anti-slip pad is fixedly connected to the clamping plate near the positioning rod. The middle of the contact surface of the anti-slip pad is recessed in the direction away from the positioning rod.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. This multi-contact logistics transfer robot uses an electric telescopic rod to move a moving plate and positioning blocks toward the object. When the positioning block contacts the object's surface, the moving mounting block presses the positioning block to rotate and tilt, making the positioning block fit against the object's surface. Once all positioning blocks are in contact with the object's surface, the moving plate stops moving. At this point, the servo motor drives the threaded rod to rotate via a reducer. The rotating threaded rod drives the clamping plate to move toward the positioning rod and clamp and fix it. Subsequently, the electric telescopic rod drives the moving plate and positioning components to perform the final clamping and fixing of the object, thereby improving the clamping effect of the clamping mechanism on objects with rough and uneven surfaces, ensuring that the robot can transfer objects normally. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention; Figure 2 This is one of the structural schematic diagrams of the clamping mechanism in Embodiment 1 of this utility model; Figure 3 This is a second schematic diagram of the clamping mechanism in Embodiment 1 of this utility model; Figure 4 This is the third schematic diagram of the clamping mechanism in Embodiment 1 of this utility model; Figure 5 This is the fourth schematic diagram of the clamping mechanism in Embodiment 1 of this utility model; Figure 6 This is one of the structural schematic diagrams of the positioning component in Embodiment 1 of this utility model; Figure 7 This is a second schematic diagram of the positioning component in Embodiment 1 of this utility model; Figure 8 This is one of the assembly diagrams of the movable plate and the fixing component in Embodiment 1 of this utility model; Figure 9 This is one of the assembly diagrams of the movable plate and the fixing component in Embodiment 1 of this utility model; Figure 10 This is an assembly diagram of the fixing block, threaded rod, clamping plate and anti-slip pad in Embodiment 1 of this utility model.

[0014] The meanings of the labels in the diagram are as follows: 1. Robotic arm; 2. Clamping mechanism; 21. Mounting plate; 211. Moving plate; 212. Limiting block; 213. Electric telescopic rod; 22. Positioning rod; 221. Mounting block; 222. Universal joint; 223. Positioning block; 224. First return spring; 225. Second return spring; 226. Limiting groove; 227. Stop block; 23. Fixing block; 231. Threaded rod; 232. Clamping plate; 233. Anti-slip pad; 234. Servo motor; 235. Transmission rod. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] Example 1 Please see Figure 1 - Figure 5 As shown, the purpose of this embodiment is to provide a multi-contact logistics transfer robot, including a robotic arm 1, a clamping mechanism 2 on the robotic arm 1, the clamping mechanism 2 for clamping items, the robotic arm 1 drives the clamping mechanism 2 to move, the clamping mechanism 2 includes a mounting plate 21 fixedly connected to the robotic arm 1, two movable plates 211 symmetrically slidably connected to the side of the mounting plate 21 away from the robotic arm 1, two electric telescopic rods 213 fixedly connected to the side of the mounting plate 21 away from the movable plates 211, a plurality of through grooves are opened on the mounting plate 21, one side of the movable plates 211 passes through the grooves and extends outward, the piston rod of the electric telescopic rod 213 is fixedly connected to one side of the movable plates 211, the piston rod of the two electric telescopic rods 213 drives the two movable plates 211 to move toward or away from each other during the extension and retraction process; During the clamping process of the clamping mechanism 2, the piston rod of the electric telescopic rod 213 retracts, driving the moving plate 211 to move closer to the item. The moving plate 211 is equipped with several positioning components. During the movement, the moving plate 211 drives the positioning components to move closer to the item. When the positioning components come into contact with the item, they clamp it, ensuring that all positioning components are in contact with the surface of the item. At this point, the piston rod of the electric telescopic rod 213 stops retracting. Subsequently, fixed components are provided on the sides of the two moving plates 211 that are far apart from each other. After the positioning components clamp the item, the two fixed components clamp and fix the positioning components to prevent them from moving. After the fixed components fix the positioning components, the piston rod of the electric telescopic rod 213 retracts, driving the positioning components to move closer to the item through the moving plate 211. This increases the squeezing force of the positioning components on the item, further improving the stability of the positioning components clamping the item, thus preventing the item from detaching from the clamping mechanism 2 during the transfer process and ensuring the normal transfer of the item.

[0017] refer to Figure 2 - Figure 7The positioning assembly includes a positioning rod 22 slidably inserted into the moving plate 211. One end of the positioning rod 22 passes through the moving plate 211 and is fixedly connected to a mounting block 221. A second return spring 225 is fixedly connected between the mounting block 221 and the moving plate 211. The second return spring 225 is in a compressed state. When the second return spring 225 extends, it causes the mounting block 221 to move away from the moving plate 211. The other end of the positioning rod 22 passes through the moving plate 211 and is fixedly connected to a stop block 227. A limit groove 226 is formed on the positioning rod 22 along its axial direction. The moving plate 211 is far away from the moving plate 211. Several limiting blocks 212 are fixedly connected to one side of the mounting block 221. The limiting blocks 212 block the stop block 227 to restrict the movement path of the positioning rod 22 and prevent the positioning rod 22 from detaching from the moving plate 211 during movement. The number and position of the limiting blocks 212 and the positioning rod 22 are corresponding. One side of the limiting block 212 is slidably connected to the inside of the limiting groove 226. The limiting blocks 212 restrict the position and movement path of the positioning rod 22 to prevent the positioning rod 22 from rotating during movement and ensure that the positioning rod 22 moves normally along the axial direction of the limiting groove 226. A universal joint 222 is fixedly connected to the side of the mounting block 221 away from the moving plate 211. A positioning block 223 is fixedly connected to the side of the universal joint 222 away from the mounting block 221. The positioning block 223 rotates around the universal joint 222. A first return spring 224 is fixedly connected to each of the four corners between the positioning block 223 and the mounting block 221. The first return springs 224 are in a compressed state. Several first return springs 224 extend and push the positioning block 223 together, so that the side of the positioning block 223 away from the mounting block 221 is in a vertical state. During the clamping process of the clamping mechanism 2 clamping the item, the positioning block 223 contacts the surface of the item. If the surface of the item is inclined, the moving mounting block 221 squeezes the positioning block 223 around the universal joint 222. 222 rotates, causing the positioning block 223 to tilt and fit against the surface of the object, thereby increasing the contact area and clamping stability between the positioning block 223 and the object. A pressure sensor is provided on the side of the positioning block 223 near the object. When the positioning block 223 contacts the object, the pressure sensor is squeezed and detects the squeezing force between the positioning block 223 and the object, ensuring that the positioning block 223 contacts the object. Several protrusions are fixedly connected to the side of the mounting block 221 near the positioning block 223. When the positioning block 223 contacts the protrusions during rotation, it stops rotating, so that the protrusions limit the maximum rotation angle of the positioning block 223, preventing the rotating positioning block 223 from compressing the first return spring 224 to the limit and causing permanent deformation, thus ensuring the normal use of the first return spring 224.

[0018] refer to Figure 8 - Figure 10The fixing assembly includes several fixing blocks 23 fixedly connected to the side of the moving plate 211 away from the mounting block 221. A threaded rod 231 is rotatably connected between every two fixing blocks 23. The threaded rod 231 has threads with opposite directions near its ends. Clamping plates 232 are threadedly connected to both ends of the threaded rod 231. The clamping plates 232 are located between the moving plate 211 and the stop block 227. During rotation, the threaded rod 231 drives the two clamping plates 232 to move closer to or further away from each other. Located on both sides of the positioning rod 22, the clamping plate 232 is fixedly connected to the anti-slip pad 233 near the positioning rod 22. The middle of the contact surface of the anti-slip pad 233 is concave in the direction away from the positioning rod 22. During the clamping process of the fixing component clamping the positioning component, the threaded rod 231 rotates and drives the clamping plate 232 and the anti-slip pad 233 to move towards the positioning rod 22 through the thread. When the concave surface of the anti-slip pad 233 contacts the positioning rod 22, the clamping plate 232 and the anti-slip pad 233 clamp and fix the positioning rod 22 to prevent it from moving. A transmission rod 235 is provided between two adjacent threaded rods 231. The two ends of the transmission rod 235 are coaxially connected to the two adjacent threaded rods 231 through couplings. A servo motor 234 and a reducer are fixedly connected to the top of the moving plate 211. The output shaft of the servo motor 234 can rotate in both directions. The output shaft of the servo motor 234 drives one of the threaded rods 231 to rotate through the reducer. During the rotation, the threaded rod 231 drives the other threaded rods 231 to rotate through the coupling and the transmission rod 235. Two guide rails are fixedly connected to the two ends of the moving plate 211 near the side wall of the clamping plate 232. The two ends of the clamping plate 232 are slidably connected to the outside of the guide rails. The guide rails restrict the movement path of the clamping plate 232, so that the clamping plate 232 moves along the axial direction of the guide rails.

[0019] Example 2 In Embodiment 1, when the positioning component clamps an item, the unrestricted movement distance of the positioning rod 22 and the mounting block 221 causes the mounting block 221 to compress the second return spring 225 to its limit during movement, resulting in permanent deformation and a change in its elasticity. Furthermore, during item transfer, gravity causes the item to exert a downward force on several positioning rods 22. Relying solely on the moving plate 211 to support and install the positioning rods 22 easily causes them to tilt around their contact point with the moving plate 211, leading to a change in the position of the mounting block 221 and the positioning block 223. This reduces the clamping effect of the clamping mechanism 2 on the item. To avoid this problem, based on Embodiment 1, this embodiment... The embodiment further optimizes the content of embodiment 1. Several sliding sleeves are fixedly connected to the side of the moving plate 211 near the mounting block 221. The positioning rod 22 is slidably connected inside the sliding sleeve, and the circumferential surface of the positioning rod 22 contacts the inner wall of the sliding sleeve. The sliding sleeve supports the positioning rod 22, thereby reducing the probability of the positioning rod 22 tilting under the action of the weight of the object and improving the clamping effect of the clamping mechanism 2 on the object. At the same time, the sliding sleeve restricts the movement path of the mounting block 221, so that there is a large distance between the mounting block 221 and the moving plate 211. This prevents the moving mounting block 221 from compressing the second return spring 225 to the limit and causing it to undergo permanent deformation, thus ensuring the normal use of the second return spring 225.

[0020] When using this device: In the initial state, the two movable plates 211 are located far apart from each other, and the mounting block 221 is located far away from the movable plates 211. During the transfer of the item, the mechanical arm 1 drives the clamping mechanism 2 to move towards the item, so that the item is located between the two movable plates 211. Subsequently, the piston rod of the electric telescopic rod 213 retracts, causing the moving plate 211 to move towards the object. During the movement, the moving plate 211 causes the positioning block 223 to move and contact the surface of the object. The contact of several objects is in an inclined state. The moving mounting block 221 presses the positioning block 223 to rotate and tilt around the universal joint 222, so that the positioning block 223 fits against the surface of the object. At this time, the movement of the object restricts the positioning block 223 and the mounting block 221. As the moving plate 211 continues to move closer to the mounting block 221 and compresses the second return spring 225, the second return spring 225 is further compressed as the moving plate 211 continues to approach the object. Its accumulated elastic force continues to act on the mounting block 221 and the positioning block 223, ensuring that the positioning block 223 maintains a tight adaptive contact with the surface of the object. When all the positioning blocks 223 are in contact with the surface of the object, the piston rod of the electric telescopic rod 213 stops retracting. The output shaft of the servo motor 234 rotates and drives the threaded rod 231 to rotate through the reducer and the transmission rod 235. During the rotation, the threaded rod 231 drives the two clamping plates 232 to move towards the positioning rod 22. The moving clamping plates 232 clamp and fix the positioning rod 22 to prevent the positioning rod 22 from moving. After the clamping plate 232 clamps the positioning rod 22, the piston rod of the electric telescopic rod 213 retracts and drives the positioning component to continue to squeeze the item through the moving plate 211, further increasing the squeezing force of the positioning component on the item, thereby completing the initial positioning, locking and final clamping and fixing of the item by the clamping mechanism 2, improving the clamping effect and stability of the clamping mechanism 2 on the item, preventing the item from falling off the clamping mechanism 2 during the transfer process, and ensuring the normal transfer of the item.

[0021] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A multi-contact logistics transfer robot, comprising a robotic arm (1), characterized in that: The robotic arm (1) is provided with a clamping mechanism (2), which is used to clamp an item. The robotic arm (1) drives the clamping mechanism (2) to move. The clamping mechanism (2) includes a mounting plate (21) fixedly connected to the robotic arm (1). Two moving plates (211) are symmetrically slidably connected on the side away from the robotic arm (1) of the mounting plate (21). Several positioning components are provided on the moving plate (211). During the movement, the moving plate (211) drives the positioning components to move towards the item. When several positioning components come into contact with the item, they clamp it. Fixed components are provided on the side of the two moving plates (211) that are far away from each other. When several positioning components clamp the item, the two fixed components clamp and fix the several positioning components respectively.

2. The multi-contact logistics transfer robot according to claim 1, characterized in that: The positioning component includes a positioning rod (22) that is slidably inserted into the moving plate (211). One end of the positioning rod (22) passes through the moving plate (211) and is fixedly connected to a mounting block (221). A second return spring (225) is fixedly connected between the mounting block (221) and the moving plate (211). The second return spring (225) is in a compressed state. When the second return spring (225) extends, it drives the mounting block (221) to move away from the moving plate (211).

3. The multi-contact logistics transfer robot according to claim 2, characterized in that: A universal joint (222) is fixedly connected to the side of the mounting block (221) away from the moving plate (211), and a positioning block (223) is fixedly connected to the side of the universal joint (222) away from the mounting block (221). The positioning block (223) rotates around the universal joint (222).

4. The multi-contact logistics transfer robot according to claim 3, characterized in that: A first reset spring (224) is fixedly connected at each of the four corners between the positioning block (223) and the mounting block (221). The first reset spring (224) is in a compressed state. Several first reset springs (224) extend together to push the positioning block (223) so that the side of the positioning block (223) away from the mounting block (221) is in a vertical state.

5. The multi-contact logistics transfer robot according to claim 4, characterized in that: The other end of the positioning rod (22) passes through the moving plate (211) and is fixedly connected to a stop block (227). A limiting groove (226) is opened on the positioning rod (22) along its axial direction. Several limiting blocks (212) are fixedly connected to the side of the moving plate (211) away from the mounting block (221). The number and position of the limiting blocks (212) correspond to the positioning rod (22). One side of the limiting block (212) is slidably connected inside the limiting groove (226).

6. The multi-contact logistics transfer robot according to claim 5, characterized in that: The fixing assembly includes several fixing blocks (23) fixedly connected to the side of the moving plate (211) away from the mounting block (221). A threaded rod (231) is rotatably connected between every two fixing blocks (23). The threaded rod (231) has threads with opposite helical directions near its two ends.

7. The multi-contact logistics transfer robot according to claim 6, characterized in that: The threaded rod (231) is threaded with clamping plates (232) near both ends. The clamping plates (232) are located between the moving plate (211) and the stop block (227). During the rotation of the threaded rod (231), the two clamping plates (232) move towards each other or away from each other.

8. The multi-contact logistics transfer robot according to claim 7, characterized in that: The two clamping plates (232) are located on both sides of the positioning rod (22). The clamping plates (232) are fixedly connected with anti-slip pads (233) near the positioning rod (22). The middle part of the contact surface of the anti-slip pads (233) is recessed in the direction away from the positioning rod (22).

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