阅读说明：本技术 一种机械爪、机械手、搬运机器人以及搬运系统 (Mechanical claw, mechanical hand, transfer robot and transfer system ) 是由 袁静 杨林 徐刚 李子睿 李威 李红丽 于 2020-05-22 设计创作，主要内容包括：本发明公开一种机械爪、机械手、搬运机器人以及搬运系统,所述机械爪包括包括旋转驱动装置和多个手指,所述旋转驱动装置用以安装在机械臂的末端,且所述旋转驱动装置具有竖向分布的驱动轴,多个手指均竖向设置且沿所述驱动轴的周向间隔均匀分布在其上方,所述驱动轴上设有旋转传动装置,多个所述手指的下端分别与所述旋转传动装置转动连接,所述旋转驱动装置的驱动轴用以通过所述旋转传动装置带动多个所述手指以所述驱动轴为中心水平转动,每个手指的上端可分别转动并远离所述驱动轴的上方以使述机械爪张开,或靠近所述驱动轴的上方以使机械爪收拢。本发明所述机械爪灵活的应用于拿取物品。(The invention discloses a mechanical claw, a mechanical hand, a carrying robot and a carrying system, wherein the mechanical claw comprises a rotary driving device and a plurality of fingers, the rotary driving device is used for being installed at the tail end of a mechanical arm and is provided with a driving shaft which is vertically distributed, the fingers are vertically arranged and are uniformly distributed above the driving shaft at intervals along the circumferential direction of the driving shaft, a rotary transmission device is arranged on the driving shaft, the lower ends of the fingers are respectively and rotatably connected with the rotary transmission device, the driving shaft of the rotary driving device is used for driving the fingers to horizontally rotate by taking the driving shaft as the center through the rotary transmission device, and the upper end of each finger can respectively rotate and is far away from the upper part of the driving shaft so as to enable the mechanical claw to be opened or close to the upper part of the driving shaft so as to enable the mechanical claw to be folded. The mechanical claw is flexibly applied to taking articles.)

1. The mechanical claw is characterized by comprising a rotary driving device (1) and a plurality of fingers (2), wherein the rotary driving device (1) is used for being installed at the tail end of a mechanical arm, the rotary driving device (1) is provided with a driving shaft (11) which is vertically distributed, the fingers (2) are vertically arranged and are uniformly distributed above the driving shaft (11) at intervals along the circumferential direction of the driving shaft (11), a rotary transmission device (3) is arranged on the driving shaft (11), the lower ends of the fingers (2) are respectively in rotary connection with the rotary transmission device (3), the driving shaft (11) of the rotary driving device (1) is used for driving the fingers (2) to horizontally rotate by taking the driving shaft (11) as a center through the rotary transmission device (3), and the upper end of each finger (2) can respectively rotate and is far away from the opened upper side of the driving shaft (11) so as to enable the mechanical claw to be installed at the tail end of the mechanical arm, or close to the upper part of the driving shaft (11) to fold the mechanical claw.

2. The gripper according to claim 1, wherein each finger (2) comprises a plurality of joints (21) and a plurality of electric telescopic members (22), the joints (21) and the electric telescopic members (22) correspond to each other one by one, the joints (21) are vertically arranged and sequentially distributed from top to bottom, one ends of any two adjacent joints (21) close to each other are rotatably connected with each other, the lower ends of the joints (21) located at the lowest position are rotatably connected with the rotary transmission device (3) respectively, each electric telescopic member (22) is rotatably installed at one side of the corresponding joint (21) departing from the rotary driving device (1), the telescopic end of the electric telescopic member (22) located at the lowest position is vertically downward and rotatably connected with the joint (21) adjacent to the joint, and the telescopic end of the electric telescopic member (22) located at the lowest position is rotatably connected with the rotary driving device (1), the telescopic end of each electric telescopic piece (22) can be extended to drive the corresponding joint (21) to rotate and approach the rotary driving device (1) or shortened to drive the corresponding joint (21) to rotate and move away from the rotary driving device (1).

3. The mechanical claw according to claim 2, wherein the rotary transmission device (3) comprises a gear ring (31), a rotary transmission bearing (32) and a plurality of circular gears (33), the plurality of circular gears (33) correspond to the plurality of fingers (2) one by one, the rotary transmission bearing (32) is coaxially installed on the driving shaft (11), the periphery of the rotary transmission bearing (32) is provided with a plurality of lugs uniformly distributed along the circumferential direction of the rotary transmission bearing, the plurality of lugs correspond to the plurality of circular gears (33) one by one, the plurality of circular gears (33) are respectively and horizontally and rotatably installed on the corresponding lugs, the lower ends of the joints (21) positioned at the lowest part are respectively and rotatably connected with the corresponding circular gears (33), the gear ring (31) is coaxially and fixedly installed on the driving shaft (11) at a position close to the rotary transmission bearing (32), and the driving shaft (11) of the rotary driving device (1) drives the gear ring (31) to drive the circular gears (33) and the fingers (2) to synchronously rotate.

4. A gripper according to claim 2 or 3, characterised in that at least one joint (21) of each finger (2) is provided with a suction cup (23) on the side close to the rotary drive (1), and the bell mouth of the suction cup (23) faces above the drive end of the drive, and the other end of the suction cup (23) passes through the joint (21) and is connected to the air port of a pneumatic device.

5. Gripper according to claim 2 or 3, characterized in that it further comprises a lifting gear (4), the lifting transmission device (4) is arranged on the rotary driving device (1) and is positioned below the fingers (2), and the driving end of the lifting transmission device (4) is provided with a lifting transmission bearing (41) which is coaxially distributed with the driving shaft (11), the lower end of the telescopic end of the electric telescopic piece (22) positioned at the lowest part is respectively and rotatably connected with the lifting transmission bearing (41), under the action of external force, the driving end of the lifting transmission device (4) can drive the telescopic ends of the electric telescopic pieces (22) positioned at the lowest part to synchronously lift, so as to drive the lower end of each joint (21) positioned at the lowest part to synchronously move close to or far away from the rotary driving device (1).

6. Gripper according to claim 5, characterized in that the lifting gear (4) comprises an annular cylinder (42) and a rotation ring (43), the annular cylinder (42) is vertically and rotatably arranged on the rotary driving device (1) and is coaxially distributed with the driving shaft (11), the annular cylinder (42) is positioned below the fingers (2), the outer side wall of the annular cylinder (42) is provided with continuous external threads, the inner wall of the rotating ring (43) is provided with an internal thread matched with the annular cylinder (42), the rotating ring (43) is screwed outside the annular cylinder (42), and the rotating ring (43) constitutes the driving end of the lifting transmission device (4), the lifting transmission bearing (41) is coaxially arranged on the rotating ring (43), under the action of external force, the annular cylinder (42) is rotated, and the rotating ring (43) is lifted along the axial direction of the annular cylinder (42).

7. A manipulator, characterized by comprising a manipulator (5) and a gripper according to claim 5 or 6, wherein the manipulator (5) has a terminal shaft (51) at the end, the lifting transmission device (4) is mounted on the terminal shaft (51), the lifting transmission bearing (41) and the terminal shaft (51) are coaxially distributed, the terminal shaft (51) is used for driving the driving end corresponding to the lifting transmission device (4) to drive the rotating ring (43) thereon to lift, and the manipulator (5) is used for driving the manipulator to move to take an article.

8. A transfer robot, characterized by comprising a walking device (6), a storage groove (7) and two manipulators as claimed in claim 7, wherein the storage groove (7) and the two manipulators are both mounted on the walking device (6), the notch of the storage groove (7) faces upwards, the two manipulators are distributed at intervals along the left and right directions, the walking device (6) is used for driving the storage groove (7) and the manipulators to move synchronously, and the mechanical arm (5) is used for driving the manipulator to take an article to be carried and place the article in the storage groove (7) or take the article in the storage groove (7) and place the article at a specified position.

9. A handling robot as claimed in claim 8, wherein said traveling unit (6) comprises a mounting frame (61), two sets of wheels (62) and two driving assemblies (63), said mounting frame (61) is a square box structure with hollow interior, two sets of said wheels (62) are symmetrically mounted on the left and right sides of said mounting frame (61), and two driving assemblies (63) are mounted in said mounting frame (61) and are respectively connected to two sets of said wheels (62) in a transmission manner, said robot arm (5) and said object holding slot (7) are mounted on the upper end of said mounting frame (61), and two driving assemblies (63) are respectively used for driving two sets of said wheels (62) to rotate and drive said mounting frame (61) and said object holding slot (7), said robot arm and said robot arm (5) thereon to move synchronously.

10. Handling system, characterized in that it comprises a pallet, a controller, a vision camera device, a smart camera and a handling robot according to claim 8 or 9, said vision camera device, smart camera, rotary drive device, a robot arm, electric telescopic element and said walking device (6) being electrically connected to said controller, respectively, said smart camera and said vision camera device being mounted on said mounting frame (61), said vision camera device being adapted to acquire a three-dimensional image of an item to be handled and send a signal to said controller, said controller sending a signal to said robot arm (5) and to said robot arm, respectively, said robot arm being open, said robot arm (5) driving said gripper to move close to the item to be handled, said controller sending a signal to said electric telescopic element and to said rotary drive device again, the mechanical claw draws in and snatchs the article of waiting to carry, intelligent camera is used for gathering the picture information of the article of waiting to carry and sends the signal to the controller, the controller send signal to running gear (6), running gear (6) drive put thing groove (7), arm (5) and manipulator and move and be close to target goods shelves, intelligent camera acquires the picture information of target goods shelves to the controller, the controller sends the signal to the arm, arm (5) drive the manipulator removes and will wait to carry the article and place the target position, the controller send the signal to the manipulator, the manipulator opens in order to accomplish the transport of article.

Technical Field

The invention relates to the technical field of unmanned supermarkets, in particular to a mechanical claw, a mechanical hand, a carrying robot and a carrying system.

Background

In the industries of social progress and rapid development of science and technology, the figure of the robot can be seen, and the robot is characterized by helping people to complete repeated, high-precision and monotonous work, helping people to complete operations which cannot be completed or are not to be completed by human beings in a severe work place and having higher danger coefficients.

In order to avoid the boring and repeated mechanical work, the robot for grabbing and placing is very necessary, so that the manpower, material resources and financial resources can be reduced, the working efficiency of the robot can be increased, the working quality is improved, and the high-efficiency and high-quality work is achieved.

However, the robots used in the existing supermarkets have low claw flexibility, are only suitable for putting on shelves for carrying small and regularly-shaped objects, and cannot carry fragile and large-sized objects.

Disclosure of Invention

In order to solve the technical problems, the invention provides a gripper, a manipulator, a transfer robot and a transfer system, which can flexibly transfer articles, and adopts the following technical scheme:

a mechanical claw comprises a rotary driving device and a plurality of fingers, wherein the rotary driving device is used for being installed at the tail end of a mechanical arm and provided with a driving shaft which is vertically distributed, the fingers are vertically arranged and evenly distributed above the driving shaft at intervals along the circumferential direction of the driving shaft, a rotary transmission device is arranged on the driving shaft, the lower ends of the fingers are respectively connected with the rotary transmission device in a rotating mode, the driving shaft of the rotary driving device is used for driving the fingers to horizontally rotate by taking the driving shaft as the center through the rotary transmission device, and the upper end of each finger can be respectively rotated and is far away from the upper portion of the driving shaft so that the mechanical claw is opened or is close to the upper portion of the driving shaft so that the mechanical claw is closed.

Preferably, each finger comprises a plurality of joints and a plurality of electric telescopic pieces, the joints and the electric telescopic pieces are in one-to-one correspondence, the joints are vertically arranged and are sequentially distributed from top to bottom, one ends, close to each other, of any two adjacent joints are mutually rotatably connected, the lower ends of the joints positioned at the lowest part are respectively rotatably connected with the rotary transmission device, each electric telescopic piece is respectively rotatably installed at one side, away from the rotary driving device, of the corresponding joint, and the telescopic end of the electric telescopic piece is vertically downward and is rotationally connected with the adjacent joint, the telescopic end of the electric telescopic piece positioned at the lowest position is rotationally connected with the rotary driving device, and the telescopic end of each electric telescopic piece can extend to drive the corresponding joint to rotate and approach the rotary driving device or shorten to drive the corresponding joint to rotate and keep away from the rotary driving device.

Preferably, the rotation transmission device comprises a gear ring, a rotation transmission bearing and a plurality of circular gears, the circular gears correspond to the fingers one by one, the rotation transmission bearing is coaxially installed on the driving shaft, and the periphery of the rotary transmission bearing is provided with a plurality of lugs which are uniformly distributed along the circumferential direction at intervals, the lugs are in one-to-one correspondence with the circular gears, the circular gears are respectively horizontally and rotatably arranged on the corresponding lugs, the lower ends of the joints positioned at the lowest part are respectively rotatably connected with the corresponding circular gears, the gear ring is coaxially and fixedly arranged on the driving shaft at a position close to the rotary transmission bearing, and with a plurality of the circular gear meshing, rotary drive device's drive shaft drive the gear ring drives a plurality of circular gear and a plurality of the finger synchronous revolution.

Preferably, a suction cup is arranged on one side, close to the rotary driving device, of at least one joint in each finger, a bell mouth of each suction cup faces the upper part of the driving end of the driving device, and the other end of each suction cup penetrates through the joint and is connected with an air port of a pneumatic device.

Preferably, the lifting transmission device is installed on the rotary driving device and located below the fingers, lifting transmission bearings which are coaxially distributed with the driving shaft are installed on the driving end of the lifting transmission device, the lower end of the telescopic end of the electric telescopic piece located at the lowermost position is respectively connected with the lifting transmission bearings in a rotating mode, and under the action of external force, the driving end of the lifting transmission device can drive the telescopic ends of the electric telescopic pieces located at the lowermost position to synchronously lift so as to drive the lower end of each joint located at the lowermost position to synchronously move and be close to or far away from the rotary driving device.

Preferably, lifting gearing includes an annular section of thick bamboo and swivel becket, the vertical and rotatable installation of an annular section of thick bamboo rotary driving device go up and with the coaxial distribution of drive shaft, an annular section of thick bamboo is located the below of a plurality of fingers, the lateral wall of an annular section of thick bamboo is equipped with continuous external screw thread, the inner wall of swivel becket be equipped with annular section of thick bamboo complex internal thread, the swivel becket closes soon outside the annular section of thick bamboo, just the swivel becket constitutes lifting gearing's drive end, lifting gearing bearing coaxial arrangement on the swivel becket, under the exogenic action, rotate an annular section of thick bamboo, the swivel becket is followed the axial of an annular section of thick bamboo goes up and down.

The mechanical arm is characterized by comprising a mechanical arm and the mechanical claw, wherein the tail end of the mechanical arm is provided with a tail end shaft, the lifting transmission device is installed on the tail end shaft, the lifting transmission bearing and the tail end shaft are coaxially distributed, the tail end shaft is used for driving the driving end corresponding to the lifting transmission device to drive the rotating ring on the lifting transmission device to lift, and the mechanical arm is used for driving the mechanical arm to move so as to take articles.

The utility model provides a transfer robot, includes running gear, puts thing groove and two above-mentioned manipulators, put thing groove and two the manipulator is all installed on running gear, just the notch of putting the thing groove up, two the manipulator is along left and right direction interval distribution, running gear is used for driving it on put the thing groove with manipulator synchronous motion, the arm is used for the drive the manipulator takes the article of treating the transport and puts put the thing inslot, or the article of taking the thing inslot are placed at the assigned position.

Preferably, running gear includes mounting bracket, two sets of wheels and two drive assembly, the mounting bracket is inside hollow square box structure, and is two sets of the wheel symmetry is installed the left and right sides of mounting bracket, and two drive assembly all installs in the mounting bracket, and respectively with two sets of the wheel transmission is connected, the arm with it all installs to put the thing groove the upper end of mounting bracket, two drive assembly is used for driving two sets of the wheel rotates and drives the mounting bracket with it puts thing groove, manipulator and arm synchronous motion.

A carrying system comprises a goods shelf, a controller, a visual camera device, an intelligent camera and the carrying robot, wherein the visual camera device, the intelligent camera, a rotary driving device, a mechanical arm, an electric telescopic part and a walking device are respectively and electrically connected with the controller, the intelligent camera and the visual camera device are both arranged on a mounting frame, the visual camera device is used for acquiring a three-dimensional image of an article to be carried and sending a signal to the controller, the controller respectively sends a signal to the mechanical arm and the mechanical arm, the mechanical arm opens, the mechanical arm drives a mechanical claw to move to be close to the article to be carried, the controller sends a signal to the electric telescopic part and the rotary driving device, the mechanical claw draws in and grabs the article to be carried, the intelligent camera is used for acquiring picture information of the article to be carried and sending a signal to the controller, the controller sends a signal to the walking device, the walking device drives the object placing groove, the mechanical arm and the mechanical arm to move to be close to a target shelf, the intelligent camera obtains picture information of the target shelf and sends the picture information to the controller, the controller sends the signal to the mechanical arm, the mechanical arm drives the mechanical arm to move and place an article to be carried at a target position, the controller sends the signal to the mechanical arm, and the mechanical arm is opened to carry the article.

The upper ends of the fingers of the mechanical claw can move close to or far away from the upper part of the driving shaft respectively, and the rotary driving device can drive the fingers to synchronously horizontally rotate to be consistent with the shape of an article to be carried, so that the mechanical claw can be flexibly applied to article taking.

This application transfer robot realizes through end axle the change that the finger opened the angle scope, structural design is ingenious, and does not increase transfer robot occupation space.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a schematic structural diagram of a gripper according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a finger according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a robot according to an embodiment of the present invention;

fig. 4 is a schematic structural view of a transfer robot according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of the walking device according to the embodiment of the present invention.

The specific meanings of the reference numerals are:

1. a rotation driving device; 11. a drive shaft; 2. a finger; 21. a joint; 22. an electric telescopic member; 23. a suction cup; 3. a rotation transmission device; 31. a gear ring; 32. a rotation transmission bearing; 33. a circular gear; 4. a lifting transmission device; 41. a lifting transmission bearing; 42. an annular cylinder; 43. a rotating ring; 5. a mechanical arm; 51. a tip shaft; 6. a traveling device; 61. a mounting frame; 62. a wheel; 63. a drive assembly; 7. a storage groove;

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The principles and features of the present invention are described below in conjunction with the accompanying fig. 1-5, which are provided as examples to illustrate the invention and not to limit the scope of the invention. The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1-5, an embodiment of the present invention is provided, in which the gripper includes a rotary drive device 1 and a plurality of fingers 2, the rotary drive device 1 is configured to be mounted at the end of a robot arm, the rotary driving device 1 is provided with a driving shaft 11 which is vertically distributed, a plurality of fingers 2 are vertically arranged and evenly distributed above the driving shaft 11 at intervals along the circumferential direction of the driving shaft, the driving shaft 11 is provided with a rotary transmission device 3, the lower ends of a plurality of fingers 2 are respectively connected with the rotary transmission device 3 in a rotating way, the driving shaft 11 of the rotation driving device 1 is used for driving the plurality of fingers 2 to horizontally rotate around the driving shaft 11 through the rotation transmission device 3, and the upper end of each finger 2 can respectively rotate and is far away from the upper part of the driving shaft 11 to open the mechanical claw or close to the upper part of the driving shaft 11 to close the mechanical claw.

When the gripper grips an article, the upper ends of the fingers 2 move away from the upper side of the rotary driving device 1 respectively to place the article to be gripped between the fingers 2, the upper ends of the fingers 2 move close to the upper side of the rotary driving device 1 respectively, and each finger 2 can adjust the distance between the finger 2 and the upper side of the driving shaft 11 respectively, so that a space matched with the shape of the gripped article is formed between the fingers 2, the article is gripped between the fingers 2, and various articles are gripped.

Preferably, each finger 2 comprises a plurality of joints 21 and a plurality of electric telescopic pieces 22, the joints 21 and the electric telescopic pieces 22 are in one-to-one correspondence, the joints 21 are vertically arranged and are sequentially distributed from top to bottom, any two adjacent joints 21 are rotatably connected with one end close to each other, the lower ends of the joints 21 positioned at the lowest part are rotatably connected with the rotary transmission device 3, each electric telescopic piece 22 is rotatably installed at one side, corresponding to the joint 21, deviating from the rotary driving device 1, of which the telescopic end is vertically downward and is rotatably connected with the adjacent joint 21, the telescopic end of the electric telescopic piece 22 positioned at the lowest part is rotatably connected with the rotary driving device 1, and the telescopic end of each electric telescopic piece 22 can be extended to correspond to the joint 21 in a driving manner and is close to the rotary driving device 1, or foreshorten to drive the corresponding joint 21 to rotate and move away from the rotary drive device 1.

Every the flexible end of electronic extensible member 22 can stretch out and draw back respectively in order to drive to correspond joint 21 rotates and is close to or keeps away from rotary drive device 1 to make it is a plurality of every that joint 21 forms 2 crooked angle modulation of finger is more nimble, is applicable to the article of various irregular shapes, so that the application scope of article is taken to the gripper is wider.

As shown in fig. 1, the finger 2 includes three joints 21, the joints 21 are strip-shaped plates vertically distributed, and the length directions of the joints 21 are vertically distributed, so as to increase the contact area between the article and the finger 2.

The electric telescopic piece is a telescopic cylinder, the stroke is stable, and the structure is simple and light.

In order to increase the stability of the gripper for taking the object, a rubber antiskid plate is arranged on one side of each joint 21 close to the rotary driving device 1, so as to increase the friction force between each finger 2 and the object and protect the fragile object.

Preferably, the rotation transmission device 3 includes a gear ring 31, a rotation transmission bearing 32 and a plurality of circular gears 33, the plurality of circular gears 33 correspond to the plurality of fingers 2 one by one, the rotation transmission bearing 32 is coaxially installed on the driving shaft 11, and the periphery of the rotary transmission bearing 32 is provided with a plurality of lugs which are uniformly distributed along the circumferential direction at intervals, the plurality of lugs are in one-to-one correspondence with the plurality of circular gears 33, the plurality of circular gears 33 are respectively horizontally and rotatably installed on the corresponding lugs, the lower ends of the joints 21 positioned at the lowest part are respectively rotatably connected with the corresponding circular gears 33, the gear ring 31 is coaxially and fixedly mounted on the drive shaft 11 at a position close to the rotation transmission bearing 32, and is engaged with a plurality of circular gears 33, the driving shaft 11 of the rotary driving device 1 drives the gear ring 31 to drive a plurality of circular gears 33 and a plurality of fingers 2 to synchronously rotate.

The rotary transmission device 3 drives the plurality of US Ook fingers 2 to rotate around the driving shaft 11 through the plurality of circular gears 33, so that the transmission is stable and the noise is low.

Preferably, still include lift transmission 4, lift transmission 4 installs on rotary drive device 1 and be located a plurality ofly the below of finger 2, just install on lift transmission 4's the drive end with drive shaft 11 coaxial distribution's lift transmission bearing 41, be located the below the lower extreme of the flexible end of electronic extensible member 22 respectively with lift transmission bearing 41 rotates and is connected, under the exogenic action, lift transmission 4's drive end can drive and be located a plurality ofly of below the flexible end of electronic extensible member 22 goes up and down in step to drive every be located the below the lower extreme synchronous motion of joint 21 is close to or is kept away from rotary drive device 1.

The lifting transmission device 4 is used for driving the lower end of each joint 21 located at the lowest part to synchronously move and approach to the rotary driving device 1, and the farthest distance between the upper end of each joint 21 located at the lowest part and the driving shaft 11 is increased, so that the angle range of each opening angle of the folding device 2 is increased, the lifting transmission device is suitable for articles with different sizes, and the application range is wider.

Preferably, the lifting transmission device 4 includes an annular cylinder 42 and a rotating ring 43, the annular cylinder 42 is vertically and rotatably installed on the rotary driving device 1 and coaxially distributed with the driving shaft 11, the annular cylinder 42 is located below the plurality of fingers 2, the outer side wall of the annular cylinder 42 is provided with continuous external threads, the inner wall of the rotating ring 43 is provided with internal threads matched with the annular cylinder 42, the rotating ring 43 is screwed outside the annular cylinder 42, the rotating ring 43 constitutes the driving end of the lifting transmission device 4, the lifting transmission bearing 41 is coaxially installed on the rotating ring 43, the annular cylinder 42 is rotated under the action of external force, and the rotating ring 43 is lifted along the axial direction of the annular cylinder 42.

External force drive annular cylinder 42 horizontal rotation, swivel ring 43 drives lift transmission bearing 41 follows annular cylinder 42's axial synchronous lift to it is a plurality of to drive to be located the below the flexible end synchronous lift of electronic extensible member 22, thereby the realization is located the below the lower extreme of joint 21 removes and is close to or keeps away from drive shaft 11 has simple structure's advantage.

Wherein rotary drive device 1 is the motor, the vertical setting of an annular section of thick bamboo 42 and upper end are uncovered, the motor is installed in an annular section of thick bamboo 42, just the motor drive shaft 11 by its top is stretched out to an upper end of an annular section of thick bamboo 42, an annular section of thick bamboo 42 can for motor housing rotates, and structural design is ingenious and simple, does not increase the volume and the occupation space of gripper.

Preferably, a suction cup 23 is arranged on one side of at least one joint 21 of each finger 2, which is close to the rotary driving device 1, a bell mouth of the suction cup 23 faces to the upper part of the driving end of the driving device, and the other end of the suction cup 23 penetrates through the joint 21 and is connected with a gas port of a pneumatic device.

The sucker 23 is used for being adsorbed on an article to be moved and can be used for carrying heavy objects or articles which are inconvenient to be grabbed by the mechanical claw, so that the mechanical claw is wider in application range.

As shown in fig. 1, in this embodiment, each joint 21 located at the top is provided with one suction cup 23, when the carrying robot carries a heavy article, the upper end of each finger 2 moves away from the rotary driving device 1 respectively to open the mechanical claws, the robot arm 5 moves the gripper to be close to the article to be conveyed, the upper end of each finger 2 moves close to the rotary drive device 1 to the uppermost joint 21 to be brought into contact with the article, the pneumatic device is used for exhausting air so that each sucking disc 23 is sucked on an article to be taken, the mechanical arm 5 drives the mechanical claw to move and drives the article to move to be placed at a specified position, the pneumatic device then delivers gas to the suction cup 23, and the suction cup 23 releases the suction with the article to complete the movement of the article.

The embodiment of the application also discloses a manipulator, including arm 5 and above-mentioned gripper, arm 5's end has a last end axle 51, lifting gearing 4 installs on last end axle 51, just lifting gearing bearing 41 with last end axle 51 is coaxial to be distributed, arm 5 is used for the drive the manipulator removes, last end axle 51 is used for the drive to correspond lifting gearing 4's drive end drives it up and down to rotate ring 43.

This application the manipulator is used for the drive gripper article of taking and place at the assigned position, accomplish the removal of article.

As shown in fig. 3, the end shaft 51 is in transmission connection with the middle of the lower end of the annular cylinder 42, and the end shaft 51 is used for driving the annular cylinder 42 to rotate, so that the rotating ring 43 is lifted along the axial direction of the annular cylinder 42 and drives the telescopic ends of the plurality of electric telescopic parts 22 located at the lowermost position to lift synchronously, the structure is simple and ingenious, and no additional driving device is required to drive the annular cylinder 42.

As shown in fig. 3, the robot arm 5 is a three-axis robot arm, and the cost of the robot arm is reduced on the premise that the movement of the gripper is realized.

As shown in fig. 4, this application still discloses a transfer robot, include running gear 6, put thing groove 7 and two above-mentioned manipulators, put thing groove 7 and two the manipulator is all installed on running gear 6, just put the notch of thing groove 7 up, two the manipulator is along left right direction interval distribution, running gear 6 is used for driving it put thing groove 7 with manipulator synchronous motion, arm 5 is used for the drive the manipulator is taken the article of treating the transport and is put in putting the thing groove 7, or the article of taking in the thing groove 7 is placed at the assigned position.

The transfer robot is provided with two mechanical arms 5 and two mechanical claws to simulate the movement of human transfer, and the taking and the transfer of various types and shapes of articles including packaging boxes, single commodities and the like are realized, so that the transfer robot is more flexible to use and wider in application range.

Preferably, running gear 6 includes mounting bracket 61, two sets of wheels 62 and two drive assembly 63, mounting bracket 61 is inside hollow cubic box structure, and is two sets of wheels 62 symmetry is installed the left and right sides of mounting bracket 61, and two drive assembly 63 all installs in mounting bracket 61, and respectively with two sets of the transmission of wheels 62 is connected, arm 5 with it all installs to put thing groove 7 the upper end of mounting bracket 61, two drive assembly 63 is used for driving two sets of wheels 62 rotates and drives respectively mounting bracket 61 with it put thing groove 7, manipulator and arm 5 synchronous motion.

As shown in fig. 5, each group of wheels 62 includes four wheels, and four wheels are vertically and rotatably mounted on the mounting bracket 61, and four wheels are distributed along the front-back direction at intervals, the driving assembly 63 includes a driving motor and a differential, the driving motor is connected with the input shaft of the differential in a transmission manner, the output shaft of the differential is connected with one of the wheels in a transmission manner, and is connected with three of the wheels in a transmission manner through a chain wheel and a chain, the driving assembly 63 drives four of the wheels through the input shaft of the differential in a transmission manner, and the wheels synchronously rotate, so that the walking device 6 can turn.

The two driving assemblies 63 drive the two sets of wheels to synchronously rotate at constant speed, the traveling device 6 moves straight, the two driving assemblies 63 drive the two sets of wheels to rotate in a differential mode, and the traveling device 6 travels along a curve, so that the carrying robot travels between the goods shelves and is suitable for scenes with complex traveling tracks.

This application the transport manipulator still can install on the platform that slides to through for the platform drive that slides the manipulator walks between the goods shelves, simple to operate, and be applicable to the scene that the action orbit is single.

The application also discloses a carrying system, which comprises a goods shelf, a controller, a visual camera device, an intelligent camera and the carrying robot, wherein the visual camera device, the intelligent camera, a rotary driving device, a mechanical arm, an electric telescopic piece and a walking device 6 are respectively electrically connected with the controller, the intelligent camera and the visual camera device are all installed on the installation frame 61, the visual camera device is used for acquiring a three-dimensional image of an article to be carried and sending a signal to the controller, the controller respectively sends a signal to the mechanical arm 5 and the mechanical arm, the mechanical arm is opened, the mechanical arm 5 drives the mechanical arm to move to a position close to the article to be carried, the controller sends a signal to the mechanical claw again, the mechanical claw is folded and grabs the article to be carried, the intelligent camera is used for acquiring picture information of the article to be carried and sending a signal to the controller, the controller sends a walking signal to the walking device 6, the walking device 6 drives the object placing groove 7, the mechanical arm 5 and the mechanical arm to move to be close to a target shelf, the intelligent camera obtains picture information of the target shelf to the controller, the controller sends a signal to the mechanical arm, the mechanical arm 5 drives the mechanical arm to move and place an article to be carried at a target position, the controller sends a signal to the mechanical arm, and the mechanical arm is opened to carry the article.

This application handling system will treat the article of transport and place the realization transport in putting the thing groove, and the process is stable, and avoids transfer robot to remove in-process article and drop.

The specific method for operating the carrying system comprises the following steps:

s1, the vision camera device collects three-dimensional images of the articles to be carried and sends signals to the controller, and the controller obtains grabbing position data and three-dimensional size of the articles to be carried;

s2, the controller sends a signal to the electric telescopic piece, and the mechanical claw opens; the controller sends a grabbing position signal to the mechanical arm, and the mechanical arm drives the mechanical claw to move to be close to an article to be carried;

s3, the controller sends signals to the electric telescopic piece and the rotary driving device, and the mechanical claw gathers and forms a space matched with the three-dimensional size of an article to be carried so as to grab the article; the controller sends a signal to the mechanical arm, and the mechanical arm drives the mechanical claw to move so as to place the article to be carried in the article placing groove;

s4, the intelligent camera collects picture information of the articles to be carried in the position storage groove and sends signals to the controller, and the controller obtains type information of the articles to be carried and the position of a target shelf;

s5, the controller sends a walking target shelf position signal to the walking device, and the walking device drives the storage tank 7, the mechanical arm 5 and the mechanical arm to move close to a target shelf;

s6, the intelligent camera collects picture information of a target shelf and sends the picture information to the controller, the controller obtains shelf vacant position data, the controller sends a vacant position signal, namely a target position signal to the mechanical arm, and the mechanical arm drives the mechanical claw to move to place an article to be carried at a target position;

and S7, the controller sends a signal to the electric telescopic piece and the rotary driving device, and the mechanical claw is opened to finish the carrying of the article.

Preferably, a pressure sensor is arranged on one side of at least one joint 21 of each finger 2, which is close to the rotation driving device 1, and the pressure sensor is connected with the controller through a wireless communication module.

After the mechanical claw is folded and grabs the object to be carried, the pressure sensor is used for detecting the pressure applied to the object by the joint, if the pressure is smaller than a set value, the telescopic end corresponding to the electric telescopic piece extends to enable the joint to rotate towards the position close to the rotary driving device 1 until the pressure between the object and the corresponding joint is increased to the set value, and the mechanical claw is ensured to stably grab the object; if the pressure is greater than the set value, the telescopic end corresponding to the electric telescopic piece is shortened, the joint rotates towards the direction away from the rotary driving device 1, the pressure between the object and the joint is reduced to the set value, the mechanical claw is placed, the pressure applied to the object is too large, the object is damaged, and the electric telescopic piece can be used for grabbing fragile objects.

The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; the present invention may be readily implemented by those of ordinary skill in the art as illustrated in the accompanying drawings and described above; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.