阅读说明：本技术 一种物流分拣机械手臂装置 (commodity circulation letter sorting mechanical arm device ) 是由 韦东方 游专 于 2019-09-17 设计创作，主要内容包括：本发明公开了一种物流分拣机械手臂装置,本发明通过视觉系统进行检测,并利用翻转机构进行翻转,翻转机构能绕手臂伸缩机构的中心伸缩轴线转动,使得待分拣产品的前后翻转；且翻转机构能够沿着与手臂伸缩机构的伸缩方向平行的方向伸缩移动,对待分拣产品进行左右翻转,实现对分拣物流的物体进行检测,便于安装运输信息分拣至所需的位置,提高分拣的效率与分拣的准确度；本发明的辅助支点机构能隐藏和伸出夹爪的内壁,这样在翻转时使得所述辅助支点机构伸出夹住待分拣产品,便于其绕辅助支点机构的支点转动,且在抓取分拣移动时,辅助支点机构隐藏于所述夹爪内,以便利用夹爪实现对待分拣产品的抓取移动,防止翻转中对物体产生较大的振荡。(The invention discloses a logistics sorting mechanical arm device, which is used for detecting through a vision system and overturning by utilizing an overturning mechanism, wherein the overturning mechanism can rotate around a central telescopic axis of a telescopic mechanism of a hand arm so as to overturn the front and the back of a product to be sorted; the turnover mechanism can telescopically move along the direction parallel to the telescopic direction of the arm telescopic mechanism, so that a product to be sorted is turned left and right, the object of the sorted logistics is detected, the transportation information is conveniently mounted and sorted to a required position, and the sorting efficiency and the sorting accuracy are improved; the auxiliary fulcrum mechanism can be hidden and extend out of the inner wall of the clamping jaw, so that the auxiliary fulcrum mechanism extends out to clamp a product to be sorted during overturning, the product to be sorted can conveniently rotate around the fulcrum of the auxiliary fulcrum mechanism, and the auxiliary fulcrum mechanism is hidden in the clamping jaw during grabbing and sorting movement, so that grabbing movement of the product to be sorted is realized by using the clamping jaw, and large oscillation on the object during overturning is prevented.)

1. A logistics sorting mechanical arm device comprises an installation chassis (4), an arm rotating mechanism (2), an arm telescopic mechanism (9) and a mechanical paw grabbing mechanism (6), wherein the arm telescopic mechanism (9) is rotatably supported on the installation chassis by the arm rotating mechanism (2), and the mechanical paw grabbing mechanism (6) is arranged at the front end of the arm telescopic mechanism (9); it is characterized in that the preparation method is characterized in that,

A turnover mechanism is arranged between the mechanical gripper gripping mechanism (6) and the output end of the arm telescopic mechanism;

the turnover mechanism can rotate around a central telescopic axis of the arm telescopic mechanism so as to turn over a product to be sorted back and forth; and is

The turnover mechanism can move in a telescopic way along a direction parallel to the telescopic direction of the arm telescopic mechanism so as to turn over a product to be sorted left and right;

A visual system is further arranged below the mechanical gripper grabbing mechanism and can identify the transportation label information of the product to be sorted so as to control the overturning action of the overturning mechanism, the grabbing action of the mechanical gripper grabbing mechanism (6) and the movement action of the arm; wherein the content of the first and second substances,

the inboard of two clamping jaws (12) that the gripper snatchs mechanism (6) still is provided with supplementary fulcrum mechanism, supplementary fulcrum mechanism can hide and stretch out the inner wall of clamping jaw to make when the upset supplementary fulcrum mechanism stretches out and carries treat the letter sorting product, be convenient for it rotates around the fulcrum of supplementary fulcrum mechanism, and when snatching the letter sorting removal, supplementary fulcrum mechanism hide in the clamping jaw, so that utilize the clamping jaw realizes treating the snatching removal of letter sorting product.

2. The mechanical arm device for logistics sorting is characterized in that the auxiliary fulcrum mechanism comprises an overturning fulcrum cylinder (22) and an overturning strut (21), wherein the overturning fulcrum cylinder (22) is fixed in a mounting hole on the clamping jaw (12), the output end of the overturning fulcrum cylinder (22) is connected to the overturning strut, the overturning strut can extend from the mounting hole to the inner side of the clamping jaw, and the overturning struts on the two clamping jaws are opposite and located on the same straight line.

3. The logistics sorting mechanical arm device according to claim 2, wherein the turnover mechanism comprises a front and rear turnover sleeve (10), a fixed column (15), a support plate seat (7), a telescopic cylinder (16), a moving seat (18), a front and rear turnover claw (5) and a left and right turnover claw (20), wherein the front and rear turnover sleeve is rotatably sleeved on the fixed column driven by a front and rear turnover driver, the fixed column is fixedly connected between the mechanical gripper gripping mechanism (6) and the output end of the arm telescopic mechanism, the outer wall of the front and rear turnover sleeve (10) is provided with the support plate seat extending in the direction perpendicular to the axis thereof, the telescopic cylinder is arranged in the support plate seat, the output end of the telescopic cylinder is connected to the moving seat, and the moving seat is connected with the front and rear turnover claw (5) perpendicular thereto, and a left-right overturning cylinder is arranged in the end part of the front-back overturning claw, and the output end of the left-right overturning cylinder is connected with the left-right overturning claw (20).

4. The mechanical arm device for logistics sorting according to claim 3, wherein the bottom of the moving seat is further connected to the output end of a front and rear auxiliary overturning cylinder (19), the cylinder body of the front and rear auxiliary overturning cylinder (19) is fixedly connected to the front and rear overturning claw (5), and a plurality of guide columns (17) are further arranged between the moving seat and the support plate seat.

5. The logistics sorting mechanical arm device according to claim 2, wherein the gripper gripping mechanism (6) comprises a driving seat (27), two clamping jaws (12), a guiding slide (26) and a spring (23), wherein the driving seat (27) is connected to the end of the fixed column (15) at the rear end, the driving seat is provided with two sliding guiding slides at the front end, the clamping jaws are fixed on the guiding slides, the spring is arranged between the two guiding slides or between the two clamping jaws, a gripping driver for driving the two clamping jaws to move relatively is arranged in the driving seat, and the vision system is mounted at the bottom of the driving seat.

6. The logistics sorting mechanical arm device according to claim 2, wherein the vision system at least comprises a main high-definition camera (27), two auxiliary high-definition cameras (25) and a processor connected with the main high-definition camera (27) and the two auxiliary high-definition cameras (25), wherein a containing protective groove (24) is formed in the bottom of the driving seat, the main high-definition camera (27) and the two auxiliary high-definition cameras (25) are installed in the containing protective groove, and shooting angles of the main high-definition camera (27) and the two auxiliary high-definition cameras (25) are different.

7. The logistics sorting mechanical arm device according to claim 2, wherein the arm rotation mechanism (2) is a rotary air cylinder or a rotary hydraulic cylinder, the bottom of the arm rotation mechanism (2) is mounted on the mounting chassis through an adjusting seat (3), one end of the arm telescoping mechanism (9) far away from the gripper gripping mechanism (6) is mounted at the output end of the arm rotation mechanism through a swivel base (8), and a counterweight mechanism is further arranged on one side of the swivel base far away from the arm telescoping mechanism.

8. the logistics sorting mechanical arm device of claim 7, wherein the weight mechanism comprises a weight rod (13) and a weight block (1), wherein the weight rod (13) is fixedly extended from one side of the swivel base away from the arm extension mechanism, and the weight block (1) is movably arranged on the weight rod.

9. The logistics sorting robot arm device of claim 1, wherein the rotation direction of the arm rotation mechanism (2) is perpendicular to the expansion direction of the arm expansion mechanism (9).

10. the logistics sorting mechanical arm device of claim 2, wherein the front end of the overturning strut (21) is of a resilient ball head structure or a resilient cylinder structure.

Technical Field

The invention relates to the technical field of logistics sorting equipment, in particular to a logistics sorting mechanical arm device.

Background

At present, when sorting the operation to the commodity circulation, generally rely on the manpower to sort, this kind of mode of sorting sorts inefficiency, and the labour is big, and very much to great sales promotion festival, manual sorting can lead to commodity circulation piece to pile up like the mountain, delays customer's time of receiving goods, has all brought many inconveniences for customer and trade company. Moreover, for large logistics pieces, time and labor are wasted, and along with the continuous development of mechanical automation, sorting by using a robot tends to be great. However, when the logistics is sorted, generally attached label information needs to be installed in a transportation area for sorting, and the note information is generally attached to one surface, so that the sorting difficulty is increased for the sorting operation, and therefore, the common manipulator is difficult to apply to the logistics sorting.

Therefore, the present invention provides a logistic sorting mechanical arm device to solve the problems in the background art.

Disclosure of Invention

The invention aims to provide a logistics sorting mechanical arm device to solve the problems in the background technology.

in order to achieve the purpose, the invention provides the following technical scheme:

a logistics sorting mechanical arm device comprises an installation chassis, an arm rotating mechanism, an arm telescopic mechanism and a mechanical paw grabbing mechanism, wherein the arm telescopic mechanism is rotatably supported on the installation chassis by the arm rotating mechanism, and the mechanical paw grabbing mechanism is arranged at the front end of the arm telescopic mechanism; it is characterized in that the preparation method is characterized in that,

A turnover mechanism is arranged between the mechanical gripper grabbing mechanism and the output end of the arm telescopic mechanism;

The turnover mechanism can rotate around a central telescopic axis of the arm telescopic mechanism so as to turn over a product to be sorted back and forth; and is

The turnover mechanism can move in a telescopic way along a direction parallel to the telescopic direction of the arm telescopic mechanism so as to turn over a product to be sorted left and right;

a visual system is further arranged below the mechanical gripper grabbing mechanism and can identify the transportation label information of the product to be sorted so as to control the overturning action of the overturning mechanism, the grabbing action of the mechanical gripper grabbing mechanism and the movement action of the arm; wherein the content of the first and second substances,

the inboard that two clamping jaws of mechanical gripper snatched mechanism still is provided with supplementary fulcrum mechanism, supplementary fulcrum mechanism can hide and stretch out the inner wall of clamping jaw to make when the upset supplementary fulcrum mechanism stretches out and cliies treat letter sorting product, its fulcrum rotation around supplementary fulcrum mechanism of being convenient for, and when snatching the letter sorting and remove, supplementary fulcrum mechanism hide in the clamping jaw, so that use the clamping jaw realizes treating the snatching removal of letter sorting product.

Further, as preferred, supplementary fulcrum mechanism includes upset fulcrum cylinder and upset pillar, wherein, the upset fulcrum cylinder is fixed in the mounting hole on the clamping jaw, the output of upset fulcrum cylinder is connected to the upset pillar, the upset pillar can be followed stretch out to the inboard of clamping jaw in the mounting hole, and just in time relative and lie in same straight line of upset pillar on two clamping jaws.

Further, as an optimization, the turnover mechanism comprises a front turnover sleeve, a rear turnover sleeve, a fixed column, a supporting plate seat, a telescopic cylinder, a moving seat, a front turnover claw, a rear turnover claw and a left turnover claw and a right turnover claw, wherein the front turnover sleeve and the rear turnover sleeve are rotatably sleeved on the fixed column by a front turnover driver and a rear turnover driver, the fixed column is fixedly connected between the gripper gripping mechanism and the output end of the arm telescopic mechanism, the supporting plate seat extending in the direction perpendicular to the axis of the supporting plate seat is arranged on the outer wall of the front turnover sleeve and the rear turnover sleeve, the telescopic cylinder is arranged in the supporting plate seat, the output end of the telescopic cylinder is connected to the moving seat, the moving seat is connected with the front turnover claw and the rear turnover claw perpendicular to the moving seat, the left turnover cylinder and the right turnover cylinder are arranged in the end.

Further, as preferred, the bottom of removing the seat still connects the output at the supplementary upset cylinder in front and back, the cylinder body fixed connection of the supplementary upset cylinder in front and back the upset claw in front and back, remove the seat with still be provided with many guide posts between the backup pad seat.

further, as preferred, the gripper grabbing mechanism comprises a driving seat, two clamping jaws, a guide sliding seat and a spring, wherein the rear end of the driving seat is connected to the end of the fixed column, the front end of the driving seat is provided with two sliding guide sliding seats, the clamping jaws are fixed on the guide sliding seats, the spring is arranged between the two guide sliding seats or between the two clamping jaws, a grabbing driver for driving the two clamping jaws to move relatively is arranged in the driving seat, and the vision system is arranged at the bottom of the driving seat.

Further, as preferred, the vision system includes main high definition digtal camera, two vice high definition digtal cameras and the treater that is connected with it at least, wherein, the bottom of driving seat is provided with and holds the protective groove, main high definition digtal camera, two vice high definition digtal cameras install in hold in the protective groove, and main high definition digtal camera, two vice high definition digtal cameras's shooting angle is different.

further, as preferred, arm rotary mechanism adopts revolving cylinder or rotary hydraulic cylinder, arm rotary mechanism's bottom is installed on the installation chassis through adjusting the seat, arm telescopic machanism keep away from the mechanical gripper and snatch the one end of mechanism and adopt the swivel mount to install arm rotary mechanism's output, one side of the arm telescopic machanism of keeping away from of swivel mount still is provided with counter weight mechanism.

Further, as preferred, the counter weight mechanism includes counter weight pole and balancing weight, wherein, the fixed extension of one side of keeping away from arm telescopic machanism of swivel mount has the counter weight pole, mobilizable balancing weight that is provided with on the counter weight pole.

Further, preferably, the rotation direction of the arm rotation mechanism is arranged perpendicular to the extending and retracting direction of the arm extending and retracting mechanism.

Further, preferably, the front end of the turning support column is of an elastic ball head structure or an elastic cylindrical structure.

Compared with the prior art, the invention has the beneficial effects that:

(1) the invention detects through a vision system and turns over by using a turning mechanism, and the turning mechanism can rotate around the central telescopic axis of the arm telescopic mechanism to turn over the product to be sorted back and forth; the turnover mechanism can move in a telescopic mode along a direction parallel to the telescopic direction of the arm telescopic mechanism, and a product to be sorted is turned left and right, so that objects of sorting logistics can be detected, transportation information can be conveniently mounted and sorted to a required position, and sorting efficiency and sorting accuracy are improved;

(2) The auxiliary fulcrum mechanism can be hidden and extend out of the inner wall of the clamping jaw, so that the auxiliary fulcrum mechanism extends out to clamp a product to be sorted during overturning, the product can conveniently rotate around the fulcrum of the auxiliary fulcrum mechanism, and the auxiliary fulcrum mechanism is hidden in the clamping jaw during grabbing and sorting movement, so that grabbing movement of the product to be sorted is realized by using the clamping jaw, the overturning force on a logistics object during overturning can be effectively reduced, and large oscillation on the object during overturning is prevented;

(3) the high-definition camera for visual detection is arranged in the groove, so that the high-definition camera can be effectively protected, and transparent anti-collision glass can be added to prevent external collision.

Drawings

FIG. 1 is a schematic structural diagram of a physical distribution sorting mechanical arm device;

FIG. 2 is a schematic structural diagram of a turnover mechanism in a mechanical arm device for logistics sorting;

Fig. 3 is a schematic view of a bottom view of a gripper grabbing mechanism in a robot arm device for sorting material flows.

Fig. 4 is a schematic view of an installation structure of a main high-definition camera and two auxiliary high-definition cameras of a logistic sorting mechanical arm device;

FIG. 5 is a schematic diagram of a left-right turning structure of a physical distribution sorting mechanical arm device;

FIG. 6 is a schematic diagram of a front-back overturning structure of a mechanical arm device for logistics sorting; .

Detailed Description

Referring to fig. 1 to 6, in an embodiment of the present invention, a logistics sorting manipulator device includes an installation chassis 4, an arm rotating mechanism 2, an arm telescoping mechanism 9, and a manipulator claw grabbing mechanism 6, wherein the arm telescoping mechanism 9 is rotatably supported by the arm rotating mechanism 2 on the installation chassis, and the manipulator claw grabbing mechanism 6 is disposed at a front end of the arm telescoping mechanism 9; it is characterized in that the preparation method is characterized in that,

a turnover mechanism is arranged between the mechanical gripper gripping mechanism 6 and the output end of the arm telescopic mechanism;

the turnover mechanism can rotate around a central telescopic axis of the arm telescopic mechanism so as to turn over a product to be sorted back and forth; the turnover mechanism can move in a telescopic way along a direction parallel to the telescopic direction of the arm telescopic mechanism so as to turn over the product to be sorted left and right; a visual system is arranged below the mechanical gripper grabbing mechanism and can identify the transportation label information of the product to be sorted so as to control the overturning action of the overturning mechanism, the grabbing action of the mechanical gripper grabbing mechanism 6 and the movement action of the arm; wherein, the inboard that two clamping jaws 12 of mechanical gripper snatchs mechanism 6 still is provided with supplementary fulcrum mechanism, supplementary fulcrum mechanism can hide and stretch out the inner wall of clamping jaw to make when the upset supplementary fulcrum mechanism stretches out and carries treat the letter sorting product, be convenient for it rotates around the fulcrum of supplementary fulcrum mechanism, and when snatching the letter sorting and remove, supplementary fulcrum mechanism hide in the clamping jaw, so that use the clamping jaw realizes treating the snatching of letter sorting product and removes.

In this embodiment, supplementary fulcrum mechanism includes upset fulcrum cylinder 22 and upset pillar 21, wherein, upset fulcrum cylinder 22 is fixed in the mounting hole on clamping jaw 12, upset fulcrum cylinder 22's output is connected to the upset pillar, the upset pillar can be followed stretch out to the inboard of clamping jaw in the mounting hole, and just opposite and lie in same straight line the upset pillar on two clamping jaws.

In a preferred embodiment, the turnover mechanism comprises a front turnover sleeve 10, a rear turnover sleeve 10, a fixed column 15, a supporting plate seat 7, a telescopic air cylinder 16, a moving seat 18, a front turnover claw 5, a rear turnover claw 5 and a left turnover claw 20 and a right turnover claw 20, wherein the front and rear overturning sleeve is rotationally sleeved on the fixed column by being driven by the front and rear overturning driver, the fixed column is fixedly connected between the mechanical gripper gripping mechanism 6 and the output end of the arm telescopic mechanism, the outer wall of the front and rear overturning sleeve 10 is provided with a supporting plate seat extending in the direction vertical to the axis thereof, the telescopic cylinder is arranged in the support plate seat, the output end of the telescopic cylinder is connected to the movable seat, the movable seat is connected with a front and a rear overturning claws 5 which are vertical to the movable seat, a left and a right overturning cylinders are arranged in the end parts of the front and the rear overturning claws, and the output ends of the left and the right overturning cylinders are connected with the left and the right overturning claws 20.

the bottom of the moving seat is further connected to the output end of a front auxiliary overturning cylinder 19 and a rear auxiliary overturning cylinder 19, the cylinder body of the front auxiliary overturning cylinder 19 is fixedly connected with the front overturning claw 5 and the rear overturning claw 5, and a plurality of guide columns 17 are further arranged between the moving seat and the supporting plate seat.

In the invention, the gripper gripping mechanism 6 comprises a driving seat 27, two gripping jaws 12, a guide slide seat 26 and a spring 23, wherein the rear end of the driving seat 27 is connected to the end of a fixed column 15, the front end of the driving seat is provided with two sliding guide slide seats, the gripping jaws are fixed on the guide slide seats, the spring is arranged between the two guide slide seats or between the two gripping jaws, a gripping driver for driving the two gripping jaws to move relatively is arranged in the driving seat, and the vision system is arranged at the bottom of the driving seat.

Visual system includes main high definition digtal camera 27, two vice high definition digtal camera 25 at least and the treater that is connected with it, wherein, the bottom of driving seat is provided with and holds protective groove 24, main high definition digtal camera 27, two vice high definition digtal camera 25 install in hold in the protective groove, and main high definition digtal camera 27, two vice high definition digtal camera 25's shooting angle is different.

Arm rotary mechanism 2 adopts revolving cylinder or rotary hydraulic cylinder, arm rotary mechanism 2's bottom is installed on the installation chassis through adjusting seat 3, arm telescopic machanism 9 keep away from the one end that the mechanical gripper snatchs mechanism 6 and adopt swivel mount 8 to install arm rotary mechanism's output, one side of the arm telescopic machanism of keeping away from of swivel mount still is provided with counter weight mechanism.

The counterweight mechanism comprises a counterweight rod 13 and a counterweight block 1, wherein the counterweight rod 13 is fixedly extended on one side of the rotary seat far away from the arm telescopic mechanism, and the counterweight block 1 is movably arranged on the counterweight rod.

the rotation direction of the arm rotation mechanism 2 is perpendicular to the extension direction of the arm extension mechanism 9.

The front end of the turning support column 21 is of an elastic ball head structure or an elastic cylindrical structure.

the invention detects through a vision system and turns over by using a turning mechanism, and the turning mechanism can rotate around the central telescopic axis of the arm telescopic mechanism to turn over the product to be sorted back and forth; the turnover mechanism can move in a telescopic mode along a direction parallel to the telescopic direction of the arm telescopic mechanism, and a product to be sorted is turned left and right, so that objects of sorting logistics can be detected, transportation information can be conveniently mounted and sorted to a required position, and sorting efficiency and sorting accuracy are improved; the auxiliary fulcrum mechanism can be hidden and extend out of the inner wall of the clamping jaw, so that the auxiliary fulcrum mechanism extends out to clamp a product to be sorted during overturning, the product can conveniently rotate around the fulcrum of the auxiliary fulcrum mechanism, and the auxiliary fulcrum mechanism is hidden in the clamping jaw during grabbing and sorting movement, so that grabbing movement of the product to be sorted is realized by using the clamping jaw, the overturning force on a logistics object during overturning can be effectively reduced, and large oscillation on the object during overturning is prevented; the high-definition camera for visual detection is arranged in the groove, so that the high-definition camera can be effectively protected, and transparent anti-collision glass can be added to prevent external collision.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.