CN207275776U - A kind of long arm robot - Google Patents

Abstract

The utility model provides a kind of long arm robot, it includes：Pedestal, and the fixed frame being arranged on pedestal, pedestal are equipped with swing mechanism；Transmitting device, transmitting device include mechanical arm and set conveyer belt on the robotic arm, the adjusting mechanism for adjusting mechanical arm pitch angle；Mechanical arm is located on fixed frame, and adjusting mechanism is arranged on pedestal；For the fixture of stacking cargo, it is set on the robotic arm, and fixture, which is equipped with, is used for test cell of the measured material relative to car position.Long arm robot is fixedly mounted in the utility model, and when work is contactless with compartment；The long direct alignment code stack position of arm robot is put, and impulse stroke is small, efficient；It is compatible strong, it is adapted to various types of compartments；Entrucking mode is changeable, realizes the combination entrucking of cargo；Long arm robot vacantly enters compartment, it is not necessary to which extra hoistable platform, compact-sized, practicality is high.

Description

A kind of long arm robot

Technical field

It the utility model is related to a kind of long arm robot.

Background technology

With the development of the society, the development of enterprise, high efficiency, stability to existing logistic storage propose new want Ask.Logistics goods rely on forklift transport from warehouse to compartment at present, and manually carry out loading/unloading vehicles, and worker is out of warehouse by cargo Remove into compartment, porter's physical work intensity is big, is inconvenient to walk about in compartment, and environment temperature is higher, and working environment is severe. During current loading-unloading vehicle, worker be engaged in carry labor intensity is big, be engaged in carry industry personnel it is fewer and fewer, logistics effect Rate can not be lifted further.With the reinforcement of national labor laws and regulations, the requirement to labor safety and occupational protection is more next It is higher, cause logistics cost higher and higher.Therefore, the problem of how efficiently managing warehousing system, becoming urgent need to resolve in the industry.

During current entrucking, mostly using manipulator is placed in interior, pile is carried out to article, can be less The labor intensity of existing worker.But requirement of this structure to compartment is larger, it is necessary to compartment has larger space, could be to machine Tool hand is accurately positioned.Current storage loading-unloading vehicle platform can not realize being accurately positioned for compartment, cause manipulator loading and unloading Easily occur deviation in journey, cause loading-unloading vehicle process to break down, influence overall efficiency.

Conventional mechanical entrucking means rely primarily on negative-pressure adsorption-type fixture or clipping fixture, wherein, clipping folder Tool is in entrucking process, and there are larger gap between adjacent cargo, cargo is put insecure, often occurs due to gap mistake Phenomena such as tilting, toppling over caused by big, is also easy to that cargo surfaces are caused to damage, influences the sale of product；Suction grips pair Fixture it is more demanding, the required energy is larger, and in use, high failure rate, the requirement to cargo is stringenter, In whole palletization, speed is slower, is unfavorable for the development of automation.

Utility model content

For above-mentioned technological deficiency, the utility model provides a kind of long arm robot, its is compact-sized, and equipment is few, real Now facilitate；It is fixedly mounted, in the course of work and compartment is contactless, improves reliability；Direct alignment code stack position is put, impulse stroke Small, work efficiency is high；Compatible performance is good, is adapted to various types of compartments；Manual labor is significantly reduced, reduces the comprehensive of enterprise Synthesis originally, improves the automation level of enterprises.

To achieve these goals, the utility model provides a kind of long arm robot, it includes：

Pedestal, and the fixed frame being arranged on pedestal, pedestal are equipped with swing mechanism；

Transmitting device, transmitting device include mechanical arm and set conveyer belt on the robotic arm, for adjusting mechanical arm pitching The adjusting mechanism of angle；Mechanical arm is located on fixed frame, and adjusting mechanism is arranged on pedestal；

For the fixture of stacking cargo, it is set on the robotic arm, and fixture, which is equipped with, is used for measured material relative to compartment The test cell of position.

In the utility model, conveyer belt is directly attached on long arm robot, whole equipment is more succinct, transmitting procedure It is more firm, it is suitable for entrucking technique well；Car parameter is acquired by test cell, obtains accurate compartment ginseng Number data, improve the accuracy of entrucking position.

Another kind embodiment according to the present utility model, mechanical arm include basis arm, telescopic arm, and basis arm is set On fixed frame, telescopic arm is telescopically located in basis arm.In the present solution, basis arm is rotatably located on fixed frame, its In, telescopic arm can be more piece.During automatic loading, the elongation of telescopic arm changes and becomes according to entrucking chucking position Change, realize the automation of whole entrucking process.

In the present solution, telescopic arm is nested into inside basis arm, it multiple can support and fix in basis arm, conveying bandwidth surpasses The width of telescopic arm is crossed, the position that telescopic arm is corresponded on conveyer belt is equipped with liner plate, follows telescopic arm to stretch.

Another kind embodiment according to the present utility model, conveyer belt is telescopic conveyer belt, telescopic conveyer belt It is equipped with the adjusting part for being used for adjusting conveying strip length.In the present solution, adjusting part includes counterweight adjusting part or flexible Bar adjusting part；Wherein, counterweight adjusting part is the counterweight by setting the counterweight of constant weight on telescopic conveyer belt Multiple conveyer belt buffer areas are equipped with, during conveyer belt stretches, the height of counterweight can change to change machinery The length of arm upper conveyor belt.Telescopic rod adjusting part includes fixed link and mobile bar, is equipped between mobile bar and fixed link more Conveyer belt buffer area is saved, during conveyer belt stretches, the position of motion bar can change, and be conveyed to change on mechanical arm The length of band；Correspondingly, motion bar is equipped with the resetting-mechanism for being used for adjusting motion bar position, such as flexible restoring organ etc.. During telescopic arm extends, also and then stretching for conveyer belt, on the one hand provides telescopic conveyer belt by adjusting part Surplus, on the other hand, ensures the rate of tension of conveyer belt, realizes automatic telescopic process.

Another kind embodiment according to the present utility model, fixture include linking arm, supporting rack, are arranged on supporting rack On feeding conveyer belt, supporting plate；Linking arm one end connects mechanical arm, other end connection supporting rack；Supporting plate is set by transmission component Put on supporting rack.

In the present solution, one end of linking arm is rotatably coupled mechanical arm, realizing whole fixture can be with pitch rotation one Fixed angle, which is provided with the motor for adjusting angle, ensures in palletization, and the supporting plate of fixture is horizontal； The other end hinged support frame of mechanical arm, the telescopic component for being used for adjusting connection arm lengths is equipped with linking arm, passes through the company of adjusting The length of arm is connect, adjusts the direction of cargo stacking at fixture pallet, realizes when compartment is in the presence of tilting, can voluntarily carry out school Just, the total quality of stacking is improved, ensures closely to connect between adjacent cargo.

It is according to the present utility model another kind embodiment, supporting plate be equipped be used for transmission cargo driving roller-way, For increasing the movable telescopic plate of supporting plate stacking area, driving roller-way corresponds to the setting of movable telescopic plate.Roller-way is driven to set At the middle part of supporting plate, movable telescopic plate number is two, it is symmetrical arranged the both sides of driving roller-way.Roller-way is driven to be equipped with electricity Machine, it is possible to achieve Double-directional rotary.Under the action of roller-way is driven, cargo is placed on supporting plate according to certain rule automatically.

Another kind embodiment according to the present utility model, is equipped with Universal caster on supporting plate, movable telescopic plate. The presence of Universal caster, reduces the frictional force between cargo babinet and supporting plate, reduces the damage to cargo surfaces, easier By cargo conveying in place.

Another kind embodiment according to the present utility model, supporting rack are equipped with movable baffle.Movable baffle Feeding conveyer belt is coordinated to work, during stacking, active blocking plate closing simultaneously props up cargo, effect of the supporting plate in transmission component Under, detached from cargo bottom, cargo enters compartment specified location.

Another kind embodiment according to the present utility model, feeding conveyer belt are equipped with backplate, and backplate corresponds to movable Baffle plate setting；Backplate is equipped with independent delivery device, and delivery device is according to the transitable width of cargo adjust automatically conveyer belt Degree, aids in cargo being transported on supporting plate from feeding conveyer belt.

Another kind embodiment according to the present utility model, adjusting mechanism include screw, sliding block, drive rod, driving One end of bar is arranged on screw by sliding block, other end connection mechanical arm.Screw is equipped with servomotor, passes through servomotor Drive screw to rotate, be further driven to sliding block action, adjust the angle of drive rod and horizontal plane, realize the machine being connected with drive rod The pitching motion of tool arm.

Another kind embodiment according to the present utility model, mechanical arm, which is equipped with, to be used to adjust entangling for conveyer belt position Inclined mechanism.

In the utility model, long arm robot integrally realizes that itself is rotated under the action of swing mechanism, wherein, mechanical arm It is hinged on fixed frame, realizes the elevating movement of mechanical arm by adjusting mechanism, the telescopic arm and telescopic belt on mechanical arm The length for realizing that adjustment entirely conveys is set, determining for chucking position is further realized, realizes high accuracy positioning, meet different casees The automatic loading demand of body.

In the utility model, cargo is first transmitted to telescopic conveyer belt, and (base is positioned to fixture by long arm robot The pitching of plinth arm, flexible, the rotation of whole mechanical arm of telescopic arm), cargo is conveyed by feeding conveyer belt again, according to not Same cargo box sizes, backplate are adjusted to suitable position, and feeding conveyer belt is passed through easy to cargo, at this time, movable Baffle is in open position；Cargo is sent to driving roller-way, by driving roller-way to carry out the distribution of cargo, realizes and presses cargo Arranged automatically in supporting plate according to certain rule.During stacking, active blocking plate closing simultaneously props up cargo, and supporting plate is from cargo bottom Detach, the specified location of cargo pile to compartment.

The utility model is beneficial in that：

1st, long arm robot is fixedly mounted, and when work is contactless with compartment；

2nd, the direct alignment code stack position of long arm robot is put, and impulse stroke is small, efficient；

3rd, compatibility is strong, is adapted to various types of compartments；

4th, entrucking mode is changeable, realizes the combination entrucking of cargo；

5th, long arm robot vacantly enters compartment, it is not necessary to which extra hoistable platform, compact-sized, practicality is high.

The utility model is described in further detail below in conjunction with the accompanying drawings.

Brief description of the drawings

Fig. 1 is a kind of overall structure diagram of long arm robot of embodiment 1；

Fig. 2 is a kind of arm portion structure diagram of long arm robot of embodiment 1；

Fig. 3 is a kind of holder part structure diagram of long arm robot of embodiment 1.

Embodiment

Embodiment 1

A kind of long arm robot is present embodiments provided, as shown in Figs. 1-3, it includes pedestal 1, swing mechanism 2, transmission Device 3, fixture 4.

As shown in Figs. 1-2, wherein, pedestal 1 is equipped with fixed frame 11, and fixed frame 11 is equipped with Auxiliary support, swing mechanism 2 are located at the lower section of pedestal 1, it includes support base 21, rotary flange 22, driving motor, and support base 21 is fixed at ground, pedestal 1 carries out rotary motion by 22 connecting support seat 21 of rotary flange, driving motor driving support base 21.

Transmitting device 3, it include mechanical arm 31 and be located on mechanical arm 31 conveyer belt 32, bow for adjusting mechanical arm 31 The adjusting mechanism 33 of elevation angle degree；Mechanical arm 31 is located on fixed frame 11, and adjusting mechanism 33 is arranged on pedestal 1.Wherein, mechanical arm 31 include basis arm 311, telescopic arm 312, and basis arm 311 is arranged on fixed frame 11, lead between basis arm 311 and fixed frame 11 Cross and be laterally hinged with axis 313 and be hinged, optimized integration arm 311, which can surround, to be laterally hinged with axis 313 and carry out pitch rotation；Adapt to different The compartment of specification, realizes the horizontal tilt compensation to compartment railway carriage or compartment bottom.Telescopic arm 312 is telescopically located inside basis arm 311, Telescopic arm 312 can set more piece, correspondingly, servomotor is provided with basis arm 311, for controlling telescopic arm 312 Collapsing length.

Conveyer belt 32 is telescopic conveyer belt, which is provided with the adjusting part 321 for adjusting 32 length of conveyer belt.In base The position that adjusting part 321 is corresponded on plinth arm 311 is equipped with fixing piece 322, during telescopic arm 312 is flexible, adjusting part 321 Height change, ensure in whole transmitting procedure, conveyer belt 32 keeps certain rate of tension, keep transmission stabilization Property.

Adjusting mechanism 33, it includes screw 331, the regulation motor 332 for driving screw 331, sliding block 333, drive rod 334th, fixed plate 335, regulation motor 332 are installed on pedestal 1, and fixed plate 335 corresponds to regulation motor 332 and is installed on pedestal 1, 331 one end of screw is drivingly connected regulation motor 332, and the other end is rotatably arranged in fixed plate 335, and sliding block 333 is equipped with spiral shell Line, it coordinates with screw 331, with screw 331 rotation into row position change；334 one end of drive rod is fixedly connected on cunning Block 333, the other end are fixedly connected with basis arm 311.By the position of adjusting slider 333, the level height of basis arm 311 is adjusted, Realize the overall pitching motion of mechanical arm 31.

Fixture 4, as shown in figure 3, it is arranged on the movable end of telescopic arm 312, including linking arm 41, supporting rack 42, sets Put feeding conveyer belt 43, supporting plate 44 on supporting rack 42；41 one end of linking arm connects telescopic arm 312, other end connection support Frame 42；Supporting plate 44 is arranged on supporting rack 42 by slide rail type transmission component 45；Acted and driven by slide rail type transmission component 45 Supporting plate 44 is acted along close to the position of supporting rack 42.

One end of linking arm 41 is hinged by horizontally hinged axis 411 and telescopic arm 312, linking arm 41 can relative telescopic arm 312 carry out pitch rotation, are driven by servomotor, position therebetween is adjusted, by setting horizontally hinged axis 411 ensure that the compensation to the horizontal tilt angle in compartment in parastate, is realized in railway carriage or compartment bottom of the supporting plate 44 all the time with compartment.Even 41 other end of arm is connect to be hinged by vertical articulated shaft 412 with supporting rack 42.Linking arm 41 has two, wherein a connection In arm, equipped with the flexible slide 413 for adjusting 41 length of linking arm, it is by Serve Motor Control, to the length of linking arm 41 Degree is accurately controlled.By setting vertical articulated shaft 412 and flexible slide 413, before the front end and compartment that ensure that supporting plate 44 Wall compatible degree, avoids because the offset of car position causes the problems such as stacking is unstable or gap is excessive, realizes compartment Stand and the vertical missing of mechanical arm compensate.Supporting rack 42 is equipped with movable baffle 421, it corresponds to feeding conveying Band 43 is set, and movable baffle 421 includes the first opening-closing plate 422 and the second opening-closing plate 423；First opening-closing plate 422 is located at support On frame 42, the second opening-closing plate 423 is slidably disposed on the first opening-closing plate 422, correspondingly, the first opening-closing plate 422 is equipped with Push rod 424, supporting rack 42 are equipped with slide 425, and push rod 424 passes through 426 connecting sliding rail 425 of push rod sliding block；426 number of push rod is Two, pass through servomotor Synchronization Control.

Feeding conveyer belt 43, it corresponds to movable baffle 421 and is installed on supporting rack 42, which is provided with for adjusting feeding The backplate 431 of 43 width of conveyer belt.Backplate 431 is arranged on the both sides of feeding conveyer belt 43, passes through servomotor adjustment both it Between distance, on backplate 431, the live-roller 432 equipped with auxiliary transmission, is active live-roller on one of backplate 431, separately It is slave drive roller on one piece of backplate 431.On the one hand, it is not in tilt to ensure cargo in freight forwarding process, the opposing party Face ensure that the stability of transmittance process.

Supporting plate 44 is equipped with the driving roller-way 441 for being used for transmission cargo, and driving roller-way 441 corresponds to the first opening-closing plate 423 and sets Put, driving roller-way 441 is equipped with multiple rollers 442, in the bottom of driving roller-way 441, equipped with lower skateboard 443,443 table of lower skateboard Second is smooth, is withdrawn backward easy to whole supporting plate 44.Driving roller-way 441 both sides position on, symmetrically have two groups it is movable Expansion plate 444, movable telescopic plate 444 can be stretched out to outside, for increasing the area of supporting plate 44, in movable telescopic plate 444 Edge be equipped with and prevent limited block 445 that cargo drops；On position on supporting plate 44 except driving roller-way 441, equipped with ten thousand To ball 446, cargo is facilitated smoothly to reach edge under the driving of driving roller-way 441, support is preferably piled up easy to cargo On plate 44.

Test cell, it includes three sensors, and the length and width in compartment is surveyed after fixture 4 enters compartment Amount, during entrucking, positions stacking position.

In the present embodiment, the deviation correction mechanism 5 for being used for adjusting telescopic 32 position of conveyer belt is equipped with basis arm 311.

In the present embodiment, long arm robot realize overall revolution, mechanical arm luffing (pitching), upper arm stretches, fixture rotates, The movement of fixture luffing (pitching) five frees degree, but accurately realize the positioning to clamp end supporting plate, realize to stacking The accurate control of position.

Although the utility model is disclosed above with preferred embodiment, the model of the utility model implementation is not limited to Enclose.Any those of ordinary skill in the art, in the invention scope for not departing from the utility model, improve when can make a little, I.e. every equal improvement done according to the utility model, should be the scope of the utility model and is covered.

Claims (10)

1. a kind of long arm robot, it is characterised in that the long arm robot includes：

Pedestal, and the fixed frame being arranged on the pedestal, the pedestal are equipped with swing mechanism；

Transmitting device, the transmitting device include mechanical arm and the conveyer belt being located on the mechanical arm, for adjusting the machine The adjusting mechanism of tool arm pitch angle；The mechanical arm is located on the fixed frame, and the adjusting mechanism is arranged on the pedestal On；

For the fixture of stacking cargo, it is arranged on the mechanical arm, and the fixture, which is equipped with, to be used to measure the fixture phase For the test cell of car position.

2. long arm robot as claimed in claim 1, it is characterised in that the mechanical arm includes basis arm, telescopic arm, described Basis arm is arranged on the fixed frame, and the telescopic arm is telescopically located in the basis arm.

3. long arm robot as claimed in claim 2, it is characterised in that the conveyer belt is telescopic conveyer belt, described to stretch Contracting formula conveyer belt is equipped with the adjusting part for being used for adjusting the conveying strip length.

4. long arm robot as claimed in claim 1, it is characterised in that the fixture includes linking arm, supporting rack, is arranged on Feeding conveyer belt, supporting plate on support frame as described above；One end of the linking arm connects the mechanical arm, and the other end connects the branch Support；The supporting plate is arranged on support frame as described above by transmission component.

5. long arm robot as claimed in claim 4, it is characterised in that the supporting plate is equipped with the driving for being used for transmission cargo Roller-way, the movable telescopic plate for increasing the supporting plate stacking area, the driving roller-way correspond to the movable telescopic plate Set.

6. long arm robot as claimed in claim 5, it is characterised in that the supporting plate, the movable telescopic plate are equipped with Universal caster.

7. long arm robot as claimed in claim 4, it is characterised in that support frame as described above is equipped with movable baffle.

8. long arm robot as claimed in claim 4, it is characterised in that the feeding conveyer belt is equipped with backplate.

9. long arm robot as claimed in claim 1, it is characterised in that the adjusting mechanism includes screw, sliding block, driving Bar, one end of the drive rod are arranged on the screw by the sliding block, and the other end connects the mechanical arm.

10. long arm robot as claimed in claim 1, it is characterised in that the mechanical arm is equipped with described defeated for adjusting Send the deviation correction mechanism with position.