Gripping mechanism for the material frame of the multi-stage door frame of an aerial logistics robot
The gripping mechanism for aerial logistics robots stabilizes material frames by engaging with symmetric forks and adjustable hooks, addressing instability and misalignment issues for precise stacking.
Patent Information
- Application Number
- JP2025001611U
- Authority / Receiving Office
- JP · JP
- Patent Type
- Utility models
- Current Assignee / Owner
- Priority Date
- 2024-05-31
- Filing Date
- 2025-05-21
- Publication Date
- 2025-07-22
- Estimated Expiration
- 2035-05-21
AI Technical Summary
Existing gripping mechanisms for material frames in aerial logistics robots suffer from instability and misalignment during transport and stacking, leading to potential slipping and inaccurate positioning.
A gripping mechanism with symmetric lifting arms and horizontally arranged forks that engage with the material frame's legs via hook portions, driven by a motor and link system, allowing for stable engagement and adjustable fork positions to accommodate different frame sizes, enhanced by linear guides and L-shaped concave platforms for improved stability and alignment.
Ensures stable transport and accurate stacking of material frames by maintaining relative position stability and preventing slipping, enabling precise engagement and alignment with the material frame.
Smart Images
Figure 0003252097000001_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of aerial logistics robots, and specifically to a gripping mechanism for the material frame of the multi-stage door frame of an aerial logistics robot.
Background Art
[0002] When an aerial logistics robot transports a material frame, generally, a rotating pallet is provided at the bottom. When the pallet descends to below the material frame, the pallet rotates and extends. After supporting the material frame, the material frame rises following the pallet, moves to the target position, and performs stacking from bottom to top.
[0003] As disclosed in Chinese Patent CN216577876U, a new stacking truss robot is disclosed, which includes two sets of forks arranged symmetrically. When the forks extend inward, they lift and transport the material frame.
[0004] Since the forks only contact the bottom of the material frame at their upper end surfaces, the relative position between the forks and the material frame becomes unstable, the material frame is prone to slipping, it is difficult for the material frame to accurately reach the target position, and misalignment occurs during stacking, making it prone to falling.
Summary of the Invention
[0005] To solve the above problems, this utility model discloses a gripping mechanism for the material frame of the multi-stage door frame of an aerial logistics robot.
[0006] This utility model provides a gripping mechanism for the material frame of the multi-stage door frame of an aerial logistics robot. The gripping mechanism for the material frame of the multi-stage door frame of the aerial logistics robot includes two lifting arms arranged symmetrically. At the lower ends of the lifting arms, two forks arranged symmetrically are provided. The forks are arranged horizontally, one end of which is hinged to the lifting arm, and the other end pulls out a hook portion vertically in the horizontal direction for engaging with the feet of the material frame, and the lower end of the fork is higher than the feet.
[0007] A drive motor is further attached to the lifting arm, and a vertically arranged link is fastened to the drive end thereof,
[0008] The lower end of the link is fastened to one end of the fork so that the drive motor drives the fork to rotate in the facing or back direction.
[0009] When the fork rotates 90° in the facing direction, the fork extends below the bottom of the material frame, and the hook portion is engaged with the side of the leg
[0010] When the fork rotates 90° in the back direction, the fork disengages from the material frame.
[0011] When the lifting arm descends until the fork is positioned below the bottom plate of the material frame, the drive motor drives the fork to rotate 90° in the facing direction, the fork extends below the bottom plate of the material frame, and the hook portion is engaged with the side of the leg. By realizing the engagement and position regulation between the fork and the material frame, and all four horizontal sides of the material frame are regulated by the hook portion, the relative position stability between the fork and the material frame is improved, and when the fork lifts the material frame, the material frame does not slip, and accurate stacking can be performed.
[0012] The orientation of the hook portion directly affects the stability of the engagement of the hook portion with the leg. Based on this, a further improvement is that when the fork is engaged with the leg, the hook portion is arranged in the back direction. In this way, by expanding the fork from the inside to the outside, the volume of the lifting arm can also be reduced.
[0013] The material frame has multiple model numbers and their dimensions do not match. Therefore, for applying this utility model to different material frames, a further improvement is that on the lifting arm, a driving member is further attached to drive the fork to move horizontally and make the distance between the forks on the same lifting arm adjustable. The specific configuration is as follows. The driving member includes a lead screw arranged horizontally, one end of which is fastened to the driving end of the moving motor, and the other end is rotatably connected to the lifting arm. A lead screw nut is screwed onto the lead screw. The link is attached to the bracket, and both ends thereof are rotatably connected to the bracket via bearings. The driving motor is attached to the upper end of the bracket, and the bracket is fastened to the lead screw nut.
[0014] If the forks are independent of each other, the moving distances of the two forks on the same lifting arm may not match, and it may be difficult for the hook part to accurately engage the foot. Based on this, a further improvement is that a bidirectional speed reducer is attached to the lifting arm, and two lead screws are provided symmetrically, and the opposite ends thereof are respectively fastened to one power output end of the bidirectional speed reducer.
[0015] To improve the moving stability of the fork, a further improvement is that linear guides are provided on both sides of the bidirectional speed reducer, and the bracket is fastened to the slider of the linear guide.
[0016] The foot is generally in the shape of a quadrangular frustum with inclined side surfaces. Therefore, when the hook part is engaged with the side surface of the foot, slippage is likely to occur and the engagement becomes unstable. Based on this, a further improvement is that at the four corners of the bottom plate of the material frame, connection parts extend downward. The connection parts are square tubes, the upper end of the foot is fastened to the lower end of the connection part, and the hook part is engaged with the connection part.
[0017] When the fork rotates, it is blocked by the side of the foot, making it difficult for the hook part to be fastened at the correct position. Based on this, for further improvement, an L-shaped concave platform is provided inside the connection part between the fork and the hook part. The concave platform penetrates the inside of the connection part between the fork and the hook part, and the concave platform consists of a horizontal part extending in the extending direction of the hook part and a vertical part extending to the hinge part of the fork.
Brief Description of the Drawings
[0018] Hereinafter, the present utility model will be further described with reference to the drawings and embodiments.
Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Modes for Carrying Out the Invention
[0019] Hereinafter, the present utility model will be described in more detail with reference to the drawings. These drawings are all simplified schematic diagrams, and only the basic structure of the present utility model is schematically described, so only the components related to the present utility model are shown.
[0020] Example 1
[0021] As shown in FIGS. 1, 4, and 5, the present utility model discloses a material frame gripping mechanism for a multi-stage door frame of an aerial logistics robot, which includes two lifting arms 1 arranged symmetrically. On the outer side of the lower end of the lifting arm 1, a mounting plate 14 is provided. Inside the mounting plate 14, two rows of horizontally arranged linear guides 13 are mounted, and in each row, two sets of left and right symmetrically arranged linear guides 13 are provided. The sliders of the left linear guide 13 commonly fasten a bracket 10, and the sliders of the right linear guide 13 also commonly fasten the bracket 10, and both are fixed by bolt fastening.
[0022] The bracket 10 is in the shape of a rectangular parallelepiped, its longitudinal direction is arranged vertically, and a vertically arranged through hole is opened inside the bracket 10. A drive motor 5 is provided at the upper end of the bracket 10, and its drive shaft is fastened to the power input end of a planetary reducer. The planetary reducer is fixed to the upper end of the bracket 10, and its drive shaft faces downward.
[0023] As shown in FIG. 6, bearings 11 are mounted at both the upper and lower ends of the inner wall of the bracket 10. The link 6 is inserted into the bearing 11 to achieve a rotational connection. The upper end of the link 6 is fastened to the drive shaft of the planetary reducer, and a horizontally arranged fork 2 is connected to the lower end. A screw is provided at the lower end of the link 6, and the screw is inserted into one end of the fork 2 and fixed by a nut connected by a screw. A groove 22 is provided at one end of the fork 2, and the nut is hidden inside the groove 22. The screw and the fork 2 are connected by a flat key so that the drive motor 5 can drive the fork 2 to rotate.
[0024] As shown in FIGS. 3 and 7, the other end of the fork 2 horizontally and vertically pulls out the hook portion 3 to engage with the leg 41 of the material frame 4. When the hook portion 3 is engaged with the leg 41, the fork 2 is located below the bottom plate of the material frame 4, and the lower end of the fork 2 is higher than the leg 41. When the fork 2 is engaged with the leg 41, the hook portion 3 is arranged in the back direction, and among the two adjacent legs 41 and the other two adjacent legs 41, by receiving the pressure in the back direction, the stability of the engagement of the hook portion 3 with the leg 41 is improved. Also, by expanding the fork 2 from the inside to the outside, the volume of the lifting arm 1 can be reduced.
[0025] A two-way reducer 12 is further attached to the mounting plate 14, and a moving motor 8 is connected to its power input end. On both sides of the two-way reducer 12, lead screws 7 arranged symmetrically are provided. One power output end of the two-way reducer 12 is respectively connected to the opposite ends of the lead screws 7, and the mounting plate 14 is rotatably connected to the back ends of the lead screws 7 through bearings 11 with brackets. A lead screw nut 8 is screwed onto the lead screw 7, and the lead screw nut 8 is fastened to the bracket 10. When the moving motor 8 is started, by moving and driving the bracket 10 in the opposite or back direction, the pitch of the fork 2 on the same lifting arm 1 can be changed, and the present utility model can grip material frames 4 of different sizes. Also, by providing the two-way reducer 12, the two brackets 10 can be moved synchronously, and the hook portion 3 can be accurately engaged with the leg 41.
[0026] A cover plate 15 is further provided inside the lifting arm 1, so that the drive motor 5, the moving motor 8, the planetary reducer, the two-way reducer 12, the linear guide 13, and the lead screw 7 are respectively hidden between the cover plate 15 and the mounting plate 14, thereby preventing the above-mentioned members from colliding accidentally and also playing a role in dust prevention.
[0027] Inside the cover plate 15, a vertically arranged rubber plate 16 is provided. Since the rubber plate 16 is in contact with the material frame 4, it is possible to avoid the material frame 4 and the cover plate 15 from colliding, deforming, and wearing.
[0028] In this utility model, before gripping the material frame 4, the fork 2 is parallel to the mounting plate 14 and is in a position close to the mounting plate 14. When the lifting arm 1 descends until the fork 2 is positioned below the bottom plate of the material frame 4, the drive motor 5 drives the fork 2 to rotate 90° in the opposite direction, so that the fork 2 extends below the bottom plate of the material frame 4, and the hook portion 3 is engaged with the side portion of the leg 41. By this, the engagement and position regulation between the fork 2 and the material frame 4 are realized. Since all four sides in the horizontal direction of the material frame 4 are regulated by the hook portion 3, the relative position stability between the fork 2 and the material frame 4 is improved, and when the fork 2 lifts the material frame 4, the material frame 4 does not slip, and accurate stacking can be performed. In this utility model, when the material frame 4 is loosened, the drive motor 5 drives the fork 2 to rotate 90° in the reverse direction to return, and the fork 2 disengages from the material frame 4.
[0029] Embodiment 2
[0030] Compared with Embodiment 1, the difference is as follows. Since the leg 41 is generally in the shape of a frustum of a square pyramid and the side surface is an inclined slope, when the hook portion 3 is engaged with the side surface of the leg 41, slipping is likely to occur and the engagement is unstable. Therefore, it is designed as follows. As shown in FIG. 2, at the four corners of the bottom plate of the material frame 4, connection portions 42 extend downward. The connection portions 42 are square tubes, the upper end of the leg 41 is fastened to the lower end of the connection portion 42, and the hook portion 3 is engaged with the connection portion 42.
[0031] As shown in Fig. 7, an L-shaped concave platform 21 is provided inside the connection portion between the fork 2 and the hook portion 3. The concave platform 21 penetrates the inside of the connection portion between the fork 2 and the hook portion 3, and the concave platform 21 is composed of a horizontal portion extending in the extending direction of the hook portion 3 and a vertical portion extending to the hinge portion of the fork 2. Thereby, it is possible to avoid being blocked by the side surface of the leg 41 when the fork 2 rotates.
[0032] Based on the above ideal embodiments of the present utility model, according to the above description, those skilled in the art can make various changes and modifications within the scope not departing from the technical idea of the present utility model. The technical scope of the present utility model is not limited to the content of the specification, and should be determined based on the scope of the claims.
Description of Reference Numerals
[0033] 1, lifting arm; 2, fork; 3, hook portion; 4, material frame; 5, drive motor; 6, link; 7, lead screw; 8, moving motor; 9, lead screw nut; 10, bracket; 11, bearing; 12, two-way speed reducer; 13, linear guide; 14, mounting plate; 15, cover plate; 16, rubber plate; 21, concave platform; 22, groove; 41, leg; 42, connection portion.
Claims
1. A gripping mechanism for a material frame of a multi-stage door frame of an aerial logistics robot, comprising two lifting arms (1) arranged symmetrically, and two forks (2) arranged symmetrically are provided at the lower ends of the lifting arms (1). The fork (2) is arranged horizontally, one end thereof is hinged to the lifting arm (1), and the other end draws out a hook portion (3) perpendicular to the horizontal direction in order to engage with the leg (41) of the material frame (4), and the lower end of the fork (2) is higher than the leg (41). A drive motor (5) is further attached to the lifting arm (1), and a link (6) arranged vertically is fastened to the drive end thereof. The lower end of the link (6) is fastened to one end of the fork (2) in order for the drive motor (5) to drive the fork (2) to rotate oppositely or away from each other. When the fork (2) rotates 90° oppositely, the fork (2) extends below the frame bottom of the material frame (4), and the hook portion (3) engages with the side portion of the leg (41). When the fork (2) rotates 90° away from each other, the fork (2) disengages from the material frame (4). A gripping mechanism for a material frame of a multi-stage door frame of an aerial logistics robot, characterized by the above.
2. When the fork (2) is engaged with the leg (41), the hook portion (3) is arranged in the back direction. A gripping mechanism for a material frame of a multi-stage door frame of an aerial logistics robot according to Claim 1, characterized by the above.
3. A drive member for driving the fork (2) to move horizontally and making the distance between the forks (2) on the same lifting arm (1) adjustable is further attached to the lifting arm (1). A gripping mechanism for a material frame of a multi-stage door frame of an aerial logistics robot according to Claim 1, characterized by the above.
4. The drive member includes a lead screw (7) arranged horizontally, one end thereof is fastened to the drive end of a movement motor (8), and the other end is rotatably connected to the lifting arm (1). A lead screw nut (9) is screwed onto the lead screw (7). The link (6) is attached to a bracket (10), and both ends thereof are rotatably connected to the bracket (10) via bearings (11). The drive motor (5) is attached to the upper end of the bracket (10). The bracket (10) is fastened to the lead screw nut (9). The gripping mechanism for the material frame of the multi-stage door frame of the aerial logistics robot according to claim 3, characterized by the above.
5. A two-way speed reducer (12) is attached to the lifting arm (1), Two lead screws (7) are provided symmetrically, and the opposite ends thereof are respectively fastened to one power output end of the two-way speed reducer (12). The gripping mechanism for the material frame of the multi-stage door frame of the aerial logistics robot according to claim 4, characterized by the above.
6. Linear guides (13) are provided on both sides of the two-way speed reducer (12), The bracket (10) is fastened to the slider of the linear guide (13). The gripping mechanism for the material frame of the multi-stage door frame of the aerial logistics robot according to claim 5, characterized by the above.
7. At the four corners of the bottom plate of the material frame (4). The connecting part (42) extends downward, The connecting part (42) is a square tube, and the upper end of the foot (41) is fastened to the lower end of the connecting part (42). The hook part (3) is attached to the connecting part (42). The gripping mechanism for the material frame of the multi-stage door frame of the aerial logistics robot according to claim 1, characterized by the above.
8. An L-shaped concave platform (21) is provided inside the connection location between the fork (2) and the hook part (3). The concave platform (21) penetrates the inside of the connection location between the fork (2) and the hook part (3). The concave platform (21) consists of a horizontal part extending in the extending direction of the hook part (3) and a vertical part extending to the hinge location of the fork (2). The gripping mechanism for the material frame of the multi-stage door frame of the aerial logistics robot according to claim 7, characterized by the above.