Manipulator is allocated in a kind of intelligent scanning logisticsTechnical field
The present invention is that manipulator is allocated in a kind of intelligent scanning logistics, belongs to logistics and allocates manipulator field.
Background technology
Logistics refers to being realized by modes such as transport, keeping, dispatchings with minimum cost to meet the needs of clientRaw material, semi-finished product, finished product or relevant information carry out plan, implementation and management of the place of production by commodity to the area of consumption of commodityOverall process.Logistics is the system of a control raw material, manufactured goods, finished product and information, through various intermediate rings since supplyThe transfer of section and possess and reach the movement in kind in ultimate consumer's hand, the hard objectives of tissue are realized with this.Modern logisticsIt is the product of economic globalization, and pushes the critical services industry of economic globalization.World Modern logistics is in steady-state growth stateGesture, Europe, the U.S., Japan become the important Logistic Base within the scope of Present Global.
China's Logistics Industry is started late, with the rapid development of the national economy, China's Logistics Industry continues to increase rapidlySpeed, logistics system constantly improve, industry run increasingly mature and specification.
But intelligent scanning logistics in the prior art allocates manipulator allocating logistics goods and is, if meeting heavierThe case where cargo is susceptible to left and right weight imbalance, and manipulator is toppled over, not only reduces working efficiency, there is also security risks.
Invention content
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of intelligent scanning logistics to allocate manipulator, withSolve the problems, such as that allocating cargo be that can effectively avoid weight of equipment unbalance.
To achieve the goals above, the present invention is to realize by the following technical solutions：A kind of intelligent scanning logistics pointManipulator is dialled, structure includes control device, mobile base, supporting rod, supporting rod fixed seat, allocates device, the control dressIt sets and is nested in support bar top one end, and connected by screw bolt reinforcing, the mobile base is set to supporting rod bottom end, describedSupporting rod fixed seat is nested in supporting rod bottom, and the supporting rod fixed seat is that interference fit connects with supporting rod, the supportBar fixed seat is welded in mobile base overhead surface, and is connected by screw bolt reinforcing, and described to allocate device close with control deviceIt links together, the control device is equipped with balance telescoping mechanism, main motor, and the balance telescoping mechanism is set in control devicePortion, and by screw bolt reinforcing, the main motor is set to by fixing piece below control device, and connect with control device inner tightIt connects, it is described to allocate device and formed by firmly grasping fixed jaw, mechanical arm, connecting joint, second mechanical arm, terminal pad, it is described promptly solidDetermine pawl and be equipped with 4, the promptly fixed jaw is respectively welded in terminal pad underlying surfaces, and the terminal pad is rectangular configuration, describedThe insertion of mechanical arm bottom end is connected to terminal pad inside middle, and by screw bolt reinforcing, and the connecting joint is by mechanical arm topPortion one end links together with second mechanical arm, embedded at the top of the second mechanical arm other end to be connected in control devicePortion, the balance telescoping mechanism by fixing shell, fixed frame, telescopic rod opening device, circuit for reversing controller, connection motor,Flexible balance mechanism composition, the fixed frame are set to fixing shell inner upper, and the telescopic rod opening device is solid by nutBelow fixed frame, and on fixing shell inside, the circuit for reversing controller passes through circuit connecting wire and telescopic rodOpening device closely connects, and is connected to lower right inside fixing shell by nut reinforcing, and the circuit for reversing controller is logicalIt crosses buckle to be set to above connection motor side, the connection motor is set to fixing shell lower inside, the flexible balance mechanismInternal one end is inserted into and is connected to inside fixing shell, and the flexible balance mechanism engagement is connected to above connection motor.
Further, the fixed frame is equipped with fixed cross beam, connector, and the connector is nested in fixed cross beam both ends topPortion, and by being fixed together inside nut and fixing shell, the fixed cross beam is set to fixing shell inner upper.
Further, the telescopic rod opening device is by the first fixed contact, connecting sliding rail, the first circuit connecting wire,Two fixed contacts, fixed sleeve part, second circuit connecting line, tertiary circuit connecting line, flexible connection contact composition, described first is solidFixed contact is respectively arranged on both ends inside fixed sleeve part with the second fixed contact, and the connecting sliding rail insertion is connected in fixed sleeve partSide is internal, and is reinforced and connected by nut, and top, which is screwed by nut with fixed cross beam, above the fixed sleeve part both ends connect,The flexible connection contact bottom end is equipped with connector sleeve, which is nested on connecting sliding rail, the connectionSet is that clearance fit is connect with connecting sliding rail, and the flexible connection contact is set on connector sleeve.
Further, the circuit for reversing controller connects contact by the first connection contact, second, third connects contact,Controller main body, circuit connecting wire composition, the first connection contact, the second connection contact connect contact with third and are sequentially arranged inAbove controller main body, the first connection contact, the second connection contact connect with third contact respectively in controller main bodyPortion closely connects, and one end is connected with controller main body on the circuit connecting wire, is inserted at the top of the circuit connecting wire other endEnter to be connected to inside connection motor, and connect with motor inner tight is connect.
Further, one end is connected across fixed sleeve part with the first fixed contact at the top of first circuit connecting wire,It is inserted on the first connection contact, and is closely connect with controller body interior, institute at the top of the first circuit connecting wire other endIt states second circuit connecting line the second fixed contact is connect contact with third and link together, the tertiary circuit connecting line will liveMotion contact connect contact with second and links together.
Further, the connection motor by motor body, fixing bracket, universal driving shaft, rotary worm, supporting linkage,Limited block forms, and the fixing bracket is nested on motor body lower outer surface, and is secured by bolts in fixing shellPortion bottom surface, described universal driving shaft one end are inserted into and are connected to inside motor body, and the universal driving shaft is that interference fit connects with motor bodyIt connects.
Further, the connecting worm end surface is equipped with screw thread, and the connecting worm passes through screw threadIt screws and connect with universal driving shaft, twill latch is evenly distributed in the rotary worm central exterior surface, the limited block is nested inOn rotary worm other end outer surface, the limited block coordinates with rotary worm for transition, the limited block and supporting linkageBy being fastened and connected.
Further, the flexible balance mechanism is by first gear, second gear, telescopic rod, support limit bar, balance weightComposition, the first gear outer are evenly distributed with latch on surface, which is in integrated formed structure with first gear, describedSecond gear engages connection, and the top on the left of first gear, the first gear bottom one with first gear by latchEnd engages connection with the twill latch on rotary worm by latch, and latch is uniformly distributed on the telescopic rod underlying surfaces, shouldLatch is in integrated formed structure with telescopic rod, and the telescopic rod engages connection, the telescopic rod with second gear by the latchWith set on second gear overhead surface, the telescopic rod is in integrated formed structure, the telescopic rod and balance weight phase with balance weightMutual vertical connection.
Advantageous effect
It is flat inside control device if allocating manipulator in intelligent scanning logistics and occurring allocating device and allocate that cargo is overweightThe telescoping mechanism that weighs is tilted towards the heavier one end in right side, is then flexibly connected contact and is slided along connection inside telescopic rod opening deviceRail is gone towards right direction cunning, and is connected with the second fixed contact, then tertiary circuit connecting line, flexible connection contact, theTwo fixed contacts, second circuit connecting line and circuit for reversing controller form closed circuit, and power supply is connected on motor body, inIt is that motor body starts and universal driving shaft is driven to start to rotate, due to universal driving shaft and the close nested encryptions of connecting worm, then linksAxis drives connecting worm rotation, first gear to be meshed with the twill latch on connecting worm, and first gear is in rotate clockwiseWhile drive second gear rotate counterclockwise, the sawtooth in second gear is engaged with the latch on telescopic rod, then telescopic rodIt is stretched out outwardly along support limit bar with balance weight, manipulator is allocated to intelligent scanning logistics and plays balanced action, avoids allocatingDevice one end cargo is overweight to be caused to tilt；When logistics goods allocate machinery by intelligent scanning logistics to hand down, stretch outBalance weight one end weight is larger, and then control device is tilted towards left hand balance Block direction, and flexible connection contact is slided along connectionRail is slided towards left side one end to be gone, and is closely connect face-to-face with the first fixed contact, and then the first circuit connecting wire, first are fixedClosed circuit is formed between contact, flexible connection contact, tertiary circuit connecting line and circuit for reversing controller, is inverted at this timeThe influence of circuit, universal driving shaft is rotated in negative direction after motor body is opened, and then first gear starts rotation, the counterclockwise at this timeTwo gears in rotating clockwise and drive telescopic rod and balance weight towards fixing shell internal motion, until restore to it is in situ when,It balances and keeps balance at left and right sides of telescoping mechanism, be then flexibly connected contact and return to centre position along connecting sliding rail, and is sameWhen disconnected with the first fixed contact and the second fixed contact, closed circuit can not be formed, then motor body stop turnIt is dynamic；The present invention realizes the logistics and allocates manipulator when allocating cargo, can effectively avoid equipment from left and right weight occur and loseThe case where weighing apparatus, keeps the stability of equipment, avoids toppling over, and improves safety when work.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,Objects and advantages will become more apparent upon：
Fig. 1 is the structural schematic diagram that manipulator is allocated in a kind of intelligent scanning logistics of the present invention.
Fig. 2 is the structural schematic diagram of present invention balance telescoping mechanism.
Fig. 3 is the detailed construction schematic diagram of present invention balance telescoping mechanism.
Fig. 4 is that the present invention balances structural schematic diagram of the telescoping mechanism towards top rake when.
Fig. 5 is that the present invention balances structural schematic diagram of the telescoping mechanism towards rear-inclined when.
Fig. 6 is the schematic diagram of circuit for reversing of the present invention.
In figure：Control device -1, supporting rod -3, supporting rod fixed seat -4, allocates device -5, balances and stretch at mobile base -2Contracting mechanism -10, main motor -11, promptly fixed jaw -50, mechanical arm -51, connecting joint -52, second mechanical arm -53, terminal pad -54, fixing shell -100, fixed frame -101, telescopic rod opening device -102, circuit for reversing controller -103, connection motor -104, stretch balance mechanism -105, fixed cross beam -1011, connector -1012, the first fixed contact -1021, connecting sliding rail -1022, the first circuit connecting wire -1023, the second fixed contact -1024, fixed sleeve part -1025, second circuit connecting line -1026,Tertiary circuit connecting line -1027, flexible connection contact -1028, the first connection contact -1031, the second connection contact -1032, theThree connection contacts -1033, controller main body -1034, circuit connecting wire -1035, motor body -1041, fixing bracket -1042,Universal driving shaft -1043, rotary worm -1044, supporting linkage -1045, limited block -1046, first gear -1051, second gear -1052, telescopic rod -1054, support limit bar -1055, balance weight -1056.
Specific implementation mode
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, with reference toSpecific implementation mode, the present invention is further explained.
Please refer to Fig.1-Fig. 6, the present invention provides the technical solution that manipulator is allocated in a kind of intelligent scanning logistics：Its structure packetIt includes control device 1, mobile base 2, supporting rod 3, supporting rod fixed seat 4, allocate device 5, the control device 1 is nested in support3 top one end of bar, and connected by screw bolt reinforcing, the mobile base 2 is set to 3 bottom end of supporting rod, and the supporting rod is solidReservation 4 is nested in 3 bottom of supporting rod, and the supporting rod fixed seat 4 is that interference fit connects with supporting rod 3, and the supporting rod is solidReservation 4 is welded in 2 overhead surface of mobile base, and is connected by screw bolt reinforcing, described to allocate device 5 and control device 1 closelyIt links together, the control device 1 is equipped with balance telescoping mechanism 10, main motor 11, and the balance telescoping mechanism 10 is set to controlInside device 1 processed, and by screw bolt reinforcing, the main motor 11 is set to 1 lower section of control device by fixing piece, and is filled with controlSet 1 inner tight connection, it is described allocate device 5 by firmly grasp fixed jaw 50, mechanical arm 51, connecting joint 52, second mechanical arm 53,Terminal pad 54 forms, and the promptly fixed jaw 50 is equipped with 4, and the promptly fixed jaw 50 is respectively welded in 54 lower section table of terminal padFace, the terminal pad 54 are rectangular configuration, and the insertion of 51 bottom end of the mechanical arm is connected to 54 inside middle of terminal pad, and leads toScrew bolt reinforcing is crossed, the connecting joint 52 links together 51 top one end of mechanical arm with second mechanical arm 53, and described secondInsertion is connected to inside control device 1 at the top of 51 other end of mechanical arm, and the balance telescoping mechanism 10 is by fixing shell100, fixed frame 101, telescopic rod opening device 102, circuit for reversing controller 103, connection motor 104, flexible balance mechanism 105Composition, the fixed frame 101 are set to 100 inner upper of fixing shell, and the telescopic rod opening device 102 is fixed on by nutThe lower section of fixed frame 101, and on 100 inside of fixing shell, the circuit for reversing controller 103 by circuit connecting wire with stretchContracting bar opening device 102 closely connects, and is connected to 100 inside lower right of fixing shell, the reversion electricity by nut reinforcingRoad controller 103 is set to by buckle above 104 side of connection motor, and the connection motor 104 is set to inside fixing shell 100Lower section, 105 inside one end of the flexible balance mechanism are inserted into and are connected to inside fixing shell 100, the flexible balance mechanism 105Engagement is connected to 104 top of connection motor, and the fixed frame 101 is equipped with fixed cross beam 1011, connector 1012, the connector1012 are nested at the top of 1011 both ends of fixed cross beam, and by being fixed together inside nut and fixing shell 100, the fixationCrossbeam 1011 is set to 100 inner upper of fixing shell, and the telescopic rod opening device 102 is by the first fixed contact 1021, connectionSliding rail 1022, the first circuit connecting wire 1023, the second fixed contact 1024, fixed sleeve part 1025, second circuit connecting line 1026,Tertiary circuit connecting line 1027, flexible connection contact 1028 form, first fixed contact, 1021 and second fixed contact1024 are respectively arranged on 1025 inside both ends of fixed sleeve part, and the insertion of the connecting sliding rail 1022 is connected in 1025 top of fixed sleeve partPortion, and reinforced and connected by nut, top is screwed by nut and fixed cross beam 1011 above 1025 both ends of the fixed sleeve partConnection, 1028 bottom end of flexible connection contact are equipped with connector sleeve, which is nested in connecting sliding railOn 1022, the connector sleeve is that clearance fit is connect with connecting sliding rail 1022, and the flexible connection contact 1028 is set to connector sleeveOn, the circuit for reversing controller 103 connects contact 1032 by the first connection contact 1031, second, third connects contact 1033,Controller main body 1034, circuit connecting wire 1035 form, and the first connection contact 1031, second connects contact 1032 and thirdConnection contact 1033 is sequentially arranged in 1034 top of controller main body, and the first connection contact 1031, second connects contact 1032Contact 1033 is connect with third to connect with 1034 inner tight of controller main body respectively, on the circuit connecting wire 1035 one end withController main body 1034 is connected, and is inserted into and is connected to inside connection motor 104 at the top of 1035 other end of the circuit connecting wire, andWith connect the connection of 104 inner tight of motor, first circuit connecting wire, 1023 top one end passes through fixed sleeve part 1025 and theOne fixed contact 1021 is connected, and is inserted at the top of 1023 other end of the first circuit connecting wire on the first connection contact 1031,And connect with 1034 inner tight of controller main body, the second circuit connecting line 1026 is by the second fixed contact 1024 and thirdConnection contact 1033 links together, and the tertiary circuit connecting line 1027 will be flexibly connected contact 1028 and connect contact with second1032 link together, and the connection motor 104 is by motor body 1041, fixing bracket 1042, universal driving shaft 1043, rotary worm1044, supporting linkage 1045, limited block 1046 form, and the fixing bracket 1042 is nested in 1041 lower section appearance of motor bodyOn face, and it is secured by bolts in 100 inner bottom surface of fixing shell, 1043 one end of the universal driving shaft is inserted into and is connected to motor bodyInside 1041, the universal driving shaft 1043 is that interference fit connects with motor body 1041,1044 end surface of the connecting wormIt is equipped with screw thread, the connecting worm 1044 is screwed with universal driving shaft 1043 by screw thread and connect, the rotary wormTwill latch is evenly distributed in 1044 central exterior surfaces, the limited block 1046 is nested in 1044 other end appearance of rotary wormOn face, the limited block 1046 coordinates with rotary worm 1044 for transition, and the limited block 1046 is logical with supporting linkage 1045It crosses and is fastened and connected, the flexible balance mechanism 105 is by first gear 1051, second gear 1052, telescopic rod 1054, supportGag lever post 1055, balance weight 1056 form, and the first gear is evenly distributed with latch on 1051 outer surface, the latch and theOne gear 1051 is in integrated formed structure, and the second gear 1052 engages connection by latch with first gear 1051, and setsIn 1051 left side top of first gear, 1051 bottom end of the first gear passes through the twill on latch and rotary worm 1044Latch engagement connection, is uniformly distributed latch on 1054 underlying surfaces of the telescopic rod, the latch and telescopic rod 1054 in one atType structure, the telescopic rod 1054 engage connection with second gear 1052 by the latch, the telescopic rod 1054 and set on theTwo gears, 1052 overhead surface, the telescopic rod 1054 and balance weight 1056 are in integrated formed structure, the telescopic rod 1054 withBalance weight 1056 is mutually connected vertically.
Circuit for reversing of the present invention, acts on motor positive and inverse, and representative is that motor rotates clockwise and counterclockwiseRotation.It is that motor rotates forward that motor, which rotates clockwise, and it is motor reversal that motor, which rotates counterclockwise,.Positive and reverse rotation control circuit figure and its originalAs long as reason analysis will realize that the arbitrary two-phase being connected in motor three phase mains inlet wire is exchanged wiring i.e. by the positive and negative rotation of motorIt can reach the purpose of reversion.The positive and negative rotation of motor is being widely used, for example, driving, the electric facing-machine of carpenter, bench drill, weaving done in fine silks and gold thread by the tapestry method machine,Dryer and lathe etc..
Along with the birth of contactor, there has also been further development for the positive and negative rotation circuit of motor.It can be with more flexible sideJust the positive and negative rotation of control motor, and protection circuit-interlocking and double interlock are increased in circuit.Low electricity may be implementedPressure and remote frequently control.There is PLC, microcontroller etc. in succession along with the development of electronic technology in the positive and negative rotation of motorThere is further circuit to improve.And some are increased in practical application circuit realizes close to switch, optoelectronic switch etc.It is two-way to automatically control, it lays a good foundation for industrial machine man-based development.
When intelligent scanning logistics allocates manipulator and carries out allocating operation, if there is allocating device 5, to allocate cargo overweightWhen, the balance telescoping mechanism 10 inside control device 5 is tilted towards the heavier one end in right side, is then flexibly connected contact 1028 and is being stretchedIt goes towards right direction cunning along connecting sliding rail 1022 inside contracting bar opening device 102, and is connected with the second fixed contact 1024It connects, then tertiary circuit connecting line 1027, flexible connection contact 1028, the second fixed contact 1024, second circuit connecting line1026 form closed circuit with circuit for reversing controller 103, and power supply is connected on motor body 1041, then motor body 1041Start and universal driving shaft 1043 is driven to start to rotate, due to universal driving shaft 1043 and 1044 close nested encryptions of connecting worm, then joinsMoving axis 1043 drives connecting worm 1044 to rotate, and first gear 1051 is meshed with the twill latch on connecting worm 1044, theOne gear 1051 in rotate clockwise while drive second gear 1052 rotate counterclockwise, the sawtooth in second gear 1052 withLatch engagement on telescopic rod 1053, then telescopic rod 1053 is stretched out with balance weight 1056 along support limit bar 1055 outwardly,Manipulator is allocated to intelligent scanning logistics and plays balanced action, avoids allocating that 5 one end cargo of device is overweight to be caused to tilt；
When logistics goods allocate machinery by intelligent scanning logistics to hand down, balance weight one end weight for having stretched out compared withGreatly, then control device 1 is tilted towards left hand balance Block direction, and flexible connection contact 1028 is along connecting sliding rail 1022 towards a left sideSide one end, which is slided, to be gone, and is closely connect face-to-face with the first fixed contact 1021, and then the first circuit connecting wire 1023, first is fixedIt is formed and is closed between contact 1021, flexible connection contact 1028, tertiary circuit connecting line 1027 and circuit for reversing controller 1034Circuit is influenced by circuit for reversing at this time, and universal driving shaft 1043 is in negative direction rotation after motor body 1034 is opened, and then firstThe wheel of tooth 1051 starts rotation counterclockwise at this time, second gear 1052 is in rotate clockwise and drive telescopic rod 1053 and balance weight1056 towards 100 internal motion of fixing shell, until restore to it is in situ when, 10 left and right sides of balance telescoping mechanism keeps balance,Then flexible connection contact 1028 return to centre position along connecting sliding rail 1022, and at the same time with the first fixed contact 1021It is disconnected with the second fixed contact 1024, closed circuit can not be formed, and then motor body 1041 stops operating；Pass through balanceTelescoping mechanism dials manipulator when allocating cargo to achieve the purpose that balance allocates manipulator, in practibility flow point, can be effectiveAvoid equipment from the case where left and right weight imbalance occur, keep the stability of equipment, avoid toppling over.
Problems solved by the invention is that logistics allocates manipulator and cannot have the function of maintaining equipment or so weight balancing, ifIt is to meet heavier cargo, is susceptible to left and right weight imbalance, the case where manipulator is toppled over, not only reduces working efficiency, also depositIn security risk, the present invention is combined with each other by above-mentioned component, is realized the logistics and is allocated manipulator when allocating cargo, canEffectively to avoid equipment from the case where left and right weight imbalance occur, keep the stability of equipment, avoid toppling over, improve work whenSafety.
In the embodiment of the present invention 1, the support limit bar 1055 is plastic material；
In the embodiment of the present invention 2, the support limit bar 1055 is metal material；
In conclusion when the support limit bar of the present invention is metal material, of the invention the service life is longer, and hardness is moreGreatly, it is not likely to produce cut, is not easily broken, there is preferable oxidative resistance, be not easily decomposed, using effect reaches best.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skillFor art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from the present invention spirit orIn the case of essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to actionEmbodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on stateBright restriction, it is intended that including all changes that come within the meaning and range of equivalency of the claims in the present inventionIt is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrappedContaining an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art shouldIt considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the artThe other embodiment being appreciated that.