CN107758567A - A kind of intelligent mounting-dismounting device for warehouse freezer - Google Patents
A kind of intelligent mounting-dismounting device for warehouse freezer Download PDFInfo
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- CN107758567A CN107758567A CN201711105756.2A CN201711105756A CN107758567A CN 107758567 A CN107758567 A CN 107758567A CN 201711105756 A CN201711105756 A CN 201711105756A CN 107758567 A CN107758567 A CN 107758567A
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- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 239000006096 absorbing agent Substances 0.000 claims description 36
- 230000035939 shock Effects 0.000 claims description 36
- 238000003860 storage Methods 0.000 claims description 11
- 210000000707 wrist Anatomy 0.000 claims description 11
- 230000003028 elevating effect Effects 0.000 claims 1
- 230000007704 transition Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 abstract description 2
- 230000036461 convulsion Effects 0.000 abstract 1
- 238000004088 simulation Methods 0.000 abstract 1
- 230000009466 transformation Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 13
- 230000036544 posture Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 210000000245 forearm Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- 230000014759 maintenance of location Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005057 refrigeration Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/127—Working platforms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
- F16F13/005—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper
- F16F13/007—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper the damper being a fluid damper
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- General Engineering & Computer Science (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of intelligent mounting-dismounting device for warehouse freezer, including omni-directional moving platform, hoistable platform and mechanical arm；Wherein, omni-directional moving platform includes frame, motor, Mecanum wheel and damper；Hoistable platform includes upper mounted plate, middle supporting plate, bottom plate, screw pair and stepper motor, conveyer mechanism is connected with middle supporting plate, conveyer mechanism is made up of bearing plate and two electric expansion bars, and electric expansion bar one end is fixed on nut, and the other end is fixed on bearing plate lower end；Mechanical arm is sixdegree-of-freedom simulation.The present invention is applied to apron space is limited, passage is narrow warehouse, freezer, can both change motion track without rotation, avoids and repeatedly starts and the transformation of jerk posture, transition is more smooth, mobile more steady；Small lot goods can be realized using hoistable platform and be fetched and delivered on the shelf of different height, it is convenient and possible to be provided for the different size of article of placement.
Description
Technical Field
The invention relates to a storage robot, in particular to an intelligent loading and unloading device for a warehouse cold storage.
Background
With the emergence of e-commerce platforms, the development of warehouse logistics is more and more rapid, and e.g. such as Ali baba, Jingdong city of commerce and the like establish nationwide intelligent warehouse logistics centers. The intelligent warehousing system mainly comprises a three-dimensional goods shelf, a rail roadway stacker, an in-out warehouse conveying system, an information recognition system, an automatic control system, a computer monitoring system, a computer management system and other auxiliary equipment, adopts an first-class integrated logistics concept design, and coordinates actions of various equipment to realize automatic in-out warehouse operation through advanced control, bus, communication and information technology application.
One of the important links in the intelligent warehousing system is stacking and transporting goods, the most widely applied existing warehousing system is a Kiva warehousing robot, and the robot has the defects that the goods cannot be stored and taken independently and can be transported only by matching with an automatic shelf; when the moving direction is changed, the robot needs to rotate around the axis of the robot, and when the robot moves into a narrow space or a corner, the robot is easy to be jammed.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent loading and unloading device for a warehouse cold storage, which is suitable for warehouses and cold storages with limited operation space and narrow passages, does not need the cooperation of other systems, and can automatically and accurately realize the storage, the taking and the carrying of goods.
The invention relates to an intelligent loading and unloading device for a warehouse cold storage, which comprises an all-directional mobile platform, a lifting platform and a mechanical arm; the omnibearing moving platform comprises a rack, a driving motor, Mecanum wheels and shock absorbers, wherein the rack consists of an upper plate, a lower plate and support beams which are connected between the upper plate and the lower plate and positioned at four corners of the upper plate and the lower plate;
the lifting platform comprises an upper fixing plate, a middle supporting plate, a lower fixing plate, a screw-nut pair and a stepping motor, wherein the lower fixing plate is fixed on the upper plate, a screw penetrates through the lower fixing plate, the stepping motor is arranged at the lower end of the upper plate, the stepping motor is connected with the bottom of the screw through a coupler, the upper end of the screw is sleeved on the upper fixing plate, the middle supporting plate is connected to the nut, the middle supporting plate is connected with a taking and delivering mechanism, the taking and delivering mechanism consists of a bearing plate and two electric telescopic rods, one end of each electric telescopic rod is fixed on the nut;
the arm includes the fixed bolster, rotating base, big arm, the forearm, elbow rotary mechanism, the wrist and grabs the grab ware, the fixed bolster is connected on the upper plate, the fixed bolster is fixed the arm on the upper plate, the rotating base bottom is connected on the fixed bolster, big arm is articulated with rotating base, big arm includes four-bar linkage and a actuating mechanism, a actuating mechanism drives four-bar linkage luffing motion and extends or crooked, elbow rotary mechanism's connecting seat handing-over is in the four-bar linkage upper segment of big arm, elbow rotary mechanism's output links to each other with the forearm, the end-to-end connection wrist of forearm, the wrist is free type steering wheel, the output of wrist links to each other with the grab ware.
The driving wheels of the omnibearing moving platform all adopt Mecanum wheels, a plurality of small rollers are obliquely distributed on the wheel rim of the Mecanum wheels, the angled peripheral wheel shafts convert part of the steering force of the wheels to the phase force of one wheel method, and the resultant force vector in any required direction is synthesized by depending on the direction and speed of the respective wheels, so that the Mecanum wheels can ensure that the robot is driven to move to any position on the premise of not changing the self-upward direction of the wheels, and the direction is not required to be changed by rotation, so that the robot can randomly move in a warehouse and a refrigeration house with limited space and narrow road, and the right-angle over-bending can be realized without rotation even at a right-angle turning part by depending on the self motion characteristic; the shock absorber can prevent the goods to be transported from shaking caused by vibration in the moving process of the moving platform, and the stability of the device in the transporting process is improved; the nut lifting is realized by driving the screw rod to rotate by the stepping motor on the lifting platform, the nut drives the taking and delivering mechanism on the middle supporting plate to lift to different heights, and the taking and delivering mechanism drives the bearing plate through the electric telescopic rod to take out goods on the goods shelf or place the goods on the goods shelf, so that the goods of different classifications can be more accurately carried or loaded and unloaded; the six-degree-of-freedom mechanical arm can realize accurate operation of a mechanical arm space, goods of different sizes are picked up, the mechanical arm can adjust the posture in the full-load walking process of the device to ensure the self balance of the device, and in order to ensure the stability of the goods in the upgrading process of the lifting platform, the mechanical arm can also clamp a goods shelf through a clamp holder to firmly fix the device.
Furthermore, a first bearing seat is fixed in the middle of the lower end of the lower plate, a second bearing seat is fixed in the middle of the lower end of the U-shaped beam, and the two bearing seats are connected through a main shaft.
The U-shaped beam at the front end and the U-shaped beam at the rear end are connected with the rack through the main shaft, the U-shaped beam at the front end and the U-shaped beam at the rear end can swing around the main shaft in the moving process of the platform to compensate deviation of Mecanum wheels at two sides in the installation and manufacturing processes, so that the Mecanum wheels are always kept in contact with the ground, and meanwhile, the buffer effect on uneven or bumpy road surfaces can be achieved.
Furthermore, the shock absorber comprises a pneumatic shock absorber and a spring shock absorber, the shock absorber mounting bracket comprises a first bracket and a second bracket, the first bracket is supported on the lower plate, connecting lug plates are arranged at two ends of the first bracket, a hinged support is fixed on the U-shaped beam, and the pneumatic shock absorber is hinged between the connecting lug plates and the hinged support; one end of the second support is fixed at the upper end of the first support, the other end of the second support extends to the position right above the U-shaped beam, a spring shock absorber is connected between the second support and the U-shaped beam and consists of a spring, a stud and a nut, the bottom of the stud is fixed on the U-shaped beam, the upper end of the stud penetrates through a through hole in the second support and is fixed by the nut, and the spring is sleeved on the stud between the second support and the U-shaped beam.
The spring damper can filter the vibrations on road surface, but because spring self still can have reciprocating motion to lead to the automobile body to have jump from top to bottom, consequently set up pneumatic damper and can restrain this kind of spring jump, use through pneumatic damper and the mutual collocation of spring damper and can eliminate the vibrations that this device appears at the transport goods in-process to make it more steady at the transport removal in-process.
In order to guide an execution part in the lifting process of the lifting platform, the lifting platform further comprises guide columns and guide sleeves arranged on two sides of the screw rod, the guide sleeves are fixed in guide holes of the middle supporting plate, the bottoms of the guide columns are fixed on the lower fixing plate, and the upper ends of the guide columns sequentially penetrate through the middle supporting plate and the upper fixing plate.
Furthermore, a camera mounting frame is fixed on one of the U-shaped beams, and the camera is mounted on the camera mounting frame. Can understand the goods transport condition directly perceived through the camera to carry video signal to major control system.
Furthermore, a battery and a main control panel are arranged in the middle of the machine frame. The battery can be a rechargeable battery, and the battery provides electric energy for the motor and the main control board in the device.
And a tracking module is arranged on the U-shaped beam below the camera. The omnibearing mobile platform can move to a required position according to a set track by writing an input moving track in advance.
The invention is suitable for warehouses and cold storages with limited operation space and narrow passages, can change the moving track without rotating, avoids the transition of multiple starting and sudden stopping postures, has smoother transition and more stable movement; the lifting platform can be used for fetching and delivering small batches of goods on the goods shelves with different heights, so that convenience and possibility are provided for placing goods with different sizes; the six-degree-of-freedom mechanical arm can realize accurate operation of a manipulator space, and meanwhile, the self balance of the device can be guaranteed by adjusting the posture in the full-load walking process.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is a front view of the robot of FIG. 1;
FIG. 5 is a left side view of FIG. 4; a schematic structural diagram;
in the figure: 1. a frame; 1.1, upper plate; 1.2, a lower plate; 1.3 supporting beams; 2. a drive motor; 3. a Mecanum wheel; 4. a shock absorber; 4.1, a pneumatic shock absorber; 4.2, a spring damper; 5. a shock absorber mounting bracket; 5.1, a first bracket; 5.2, a second bracket; 5.3, connecting the lug plate; 5.4, a hinged support; 6. a U-shaped beam; 7. an upper fixing plate; 8. a middle support plate; 9. a lower fixing plate; 10. a screw-nut pair; 10.1, a lead screw; 10.2, a nut; 11. a stepping motor; 12. a coupling; 13. a pick-and-place mechanism; 13.1, a bearing plate; 13.2, electrically telescopic rods; 14. fixing a bracket; 15. rotating the base; 16. a large arm; 17. a small arm; 18. an elbow rotation mechanism; 19. a wrist portion; 20. a grab device; 21. a first bearing seat; 22. a second bearing seat; 23. a main shaft; 24. a guide post; 25. a guide sleeve; 26. a camera mounting bracket; 27. a camera; 28. a battery; 29. a main control panel; 30. and a tracking module.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 to 5, an intelligent handling device for a warehouse cold storage includes an omni-directional mobile platform, a lifting platform and a mechanical arm; the omnibearing moving platform comprises a rack 1, a driving motor 2, Mecanum wheels 3 and shock absorbers 4, wherein the rack 1 consists of an upper plate 1.1, a lower plate 1.2 and support beams 1.3 which are connected between the upper plate and the lower plate and positioned at four corners of the upper plate and the lower plate, shock absorber mounting brackets 5 are arranged at two ends of the rack 1, the Mecanum wheels 3 and the driving motor 2 are mounted on a U-shaped beam 6, one end of each shock absorber 4 is fixed on the shock absorber mounting bracket 5, and the other end of each shock absorber 4 is fixed on the U-shaped beam 6;
the lifting platform comprises an upper fixing plate 7, a middle supporting plate 8, a lower fixing plate 9, a screw-nut pair 10 and a stepping motor 11, wherein the lower fixing plate 9 is fixed on an upper plate 1.1, a screw 10.1 penetrates through the lower fixing plate 9, the stepping motor 11 is arranged at the lower end of the upper plate 1.1, the stepping motor 11 is connected with the bottom of the screw 10.1 through a coupler 12, the upper end of the screw 10.1 is sleeved on the upper fixing plate 7, the middle supporting plate 8 is connected onto a nut 10.2, the middle supporting plate 8 is connected with a taking and feeding mechanism 13, the taking and feeding mechanism consists of a bearing plate 13.1 and two electric telescopic rods 13.2, one end of each electric telescopic rod 13.2 is fixed on the nut 10.2, and the other end;
the mechanical arm comprises a fixed support 14, a rotating base 15, a large arm 16, a small arm 17, an elbow rotating mechanism 18, a wrist portion 19 and a grab device 20, the fixed support 14 is connected to the upper plate 1.1, the mechanical arm is fixed on the upper plate by the fixed support, the bottom of the rotating base 15 is connected to the fixed support 14, the large arm 16 is hinged to the rotating base 15, the large arm 16 comprises a four-bar linkage mechanism and a first driving mechanism, the first driving mechanism drives the four-bar linkage mechanism to swing up and down and stretch or bend, a connecting seat of the elbow rotating mechanism 14 is connected to the upper section of the four-bar linkage mechanism of the large arm in an intersecting mode, the output end of the elbow rotating mechanism 18 is connected with the small arm 17, the tail end of the small arm 17 is connected with the wrist portion 2, the wrist portion is a free type steering.
The driving wheels of the omnibearing moving platform all adopt Mecanum wheels 3, a plurality of small rollers are obliquely distributed on the wheel rim of the Mecanum wheels, the angled peripheral wheel shafts convert part of wheel steering force to the upper side of wheel normal force, and the resultant force vector in any required direction is synthesized by depending on the direction and speed of each wheel, so the Mecanum wheels can ensure to drive the robot to move to any position on the premise of not changing the direction of the wheels from the upper side, and the direction is not required to be changed by rotation, so the robot can randomly move in a warehouse and a cold storage with limited space and narrow road, and the right-angle bending can be realized without rotation even at a right-angle bending part by depending on the self motion characteristic; the shock absorber 4 can prevent the carried goods from shaking caused by vibration in the moving process of the moving platform, and the stability of the device in the carrying process is improved; a stepping motor 11 on the lifting platform drives a screw rod 10.1 to rotate so as to realize lifting of a nut 10.2, the nut 10.2 drives a taking and delivering mechanism 13 on a middle supporting plate 8 to lift to different heights, and the taking and delivering mechanism drives a bearing plate 13.1 through an electric telescopic rod 13.2 so as to realize taking out goods on a goods shelf or placing the goods on the goods shelf, so that more accurate carrying or loading and unloading of the goods of different classifications is realized; the six-degree-of-freedom mechanical arm can realize accurate operation of a mechanical arm space, goods of different sizes are picked up, the mechanical arm can adjust the posture in the full-load walking process of the device to ensure the self balance of the device, and in order to ensure the stability of the goods in the upgrading process of the lifting platform, the mechanical arm can also clamp a goods shelf through a clamp holder to firmly fix the device.
As shown in fig. 1 and 2, a first bearing seat 21 is fixed in the middle of the lower end of the lower plate 1.2, a second bearing seat 22 is fixed in the middle of the lower end of the U-shaped beam 6, and the two bearing seats are connected through a main shaft 23.
The U-shaped beam at the front end and the U-shaped beam at the rear end are connected with the frame 1 through a main shaft 23, and the U-shaped beam at the front end and the U-shaped beam at the rear end can swing around the main shaft in the moving process of the platform to compensate deviation of Mecanum wheels at two sides in the installation and manufacturing processes, so that the Mecanum wheels are always kept in contact with the ground, and meanwhile, the buffer effect on uneven or bumpy road surfaces can be achieved.
As shown in fig. 1 to 3, the shock absorber 4 comprises a pneumatic shock absorber 4.1 and a spring shock absorber 4.2, the shock absorber mounting bracket 5 comprises a first bracket 5.1 and a second bracket 5.2, the first bracket 5.1 is supported on the lower plate 1.2, the two ends of the first bracket 5.1 are provided with connecting lug plates 5.3, a hinged support 5.4 is fixed on the U-shaped beam 6, and the pneumatic shock absorber 4.1 is hinged between the connecting lug plates 5.3 and the hinged support 5.4; one end of a second support 5.2 is fixed at the upper end of the first support 5.1, the other end of the second support extends to the position right above the U-shaped beam 6, a spring shock absorber 4.2 is connected between the second support 5.2 and the U-shaped beam 6, the spring shock absorber 4.2 is composed of a spring, a stud and a nut, the bottom of the stud is fixed on the U-shaped beam 6, the upper end of the stud penetrates through a through hole in the second support 5.2 and is fixed by the nut, and the spring is sleeved on the stud between the second support 5.2 and the U-shaped beam 6.
The spring damper can filter the vibrations on road surface, but because spring self still can have reciprocating motion to lead to the automobile body to have jump from top to bottom, consequently set up pneumatic damper and can restrain this kind of spring jump, use through pneumatic damper and the mutual collocation of spring damper and can eliminate the vibrations that this device appears at the transport goods in-process to make it more steady at the transport removal in-process.
In order to guide the execution part in the lifting process of the lifting platform, the lifting platform further comprises guide posts 24 and guide sleeves 25 which are arranged on two sides of the screw rod 10.1, the guide sleeves 25 are fixed in guide holes of the middle supporting plate 8, the bottoms of the guide posts 24 are fixed on the lower fixing plate 9, and the upper ends of the guide posts sequentially penetrate through the middle supporting plate 8 and the upper fixing plate 7.
As shown in fig. 1, a camera mounting bracket 26 is fixed to one of the U-shaped beams 6, and a camera 27 is mounted on the camera mounting bracket 26. Can understand the goods transport condition directly perceived through the camera to carry video signal to major control system.
Further, a battery 28 and a main control board 29 are provided in the middle of the housing 1. The battery can be a rechargeable battery, and the battery provides electric energy for the motor and the main control board in the device.
A tracking module 30 is arranged on the U-shaped beam 6 below the camera 27. The omnibearing mobile platform can move to a required position according to a set track by writing an input moving track in advance.
Claims (7)
1. An intelligent loading and unloading device for a warehouse cold storage is characterized by comprising an all-directional moving platform, a lifting platform and a mechanical arm; wherein,
the omnibearing moving platform comprises a rack (1), a driving motor (2), Mecanum wheels (3) and shock absorbers (4), wherein the rack (1) consists of an upper plate (1.1), a lower plate (1.2) and supporting beams (1.3) which are connected between the upper plate and the lower plate and positioned at four corners of the upper plate and the lower plate, shock absorber mounting brackets (5) are arranged at two ends of the rack (1), the Mecanum wheels (3) and the driving motor (2) are mounted on a U-shaped beam (6), one end of each shock absorber (4) is fixed on each shock absorber mounting bracket (5), and the other end of each shock absorber (4) is fixed on the U-shaped beam (6);
the lifting platform comprises an upper fixing plate (7), a middle supporting plate (8), a lower fixing plate (9), a screw-nut pair (10) and a stepping motor (11), wherein the lower fixing plate (9) is fixed on the upper plate (1.1), the screw (10.1) penetrates through the lower fixing plate (9), the stepping motor (11) is arranged at the lower end of the upper plate (1.1), the stepping motor (11) is connected with the bottom of the screw (10.1) through a coupler (12), the upper end of the screw (10.1) is sleeved on the upper fixing plate (7), the middle supporting plate (8) is connected onto the nut (10.2), the middle supporting plate (8) is connected with a taking and feeding mechanism (13) which consists of a bearing plate (13.1) and two electric telescopic rods (13.2), one end of each electric telescopic rod (13.2) is fixed on the nut (10.2), and the other end of each electric telescopic rod (13.2) is fixed at;
the mechanical arm comprises a fixed support (14), a rotary base (15), a large arm (16), a small arm (17), an elbow rotating mechanism (18), a wrist part (19) and a grab device (20), wherein the fixed support (14) is connected to an upper plate (1.1), the mechanical arm is fixed on the upper plate by the fixed support, the bottom of the rotary base (15) is connected to the fixed support (14), the large arm (16) is hinged to the rotary base (15), the large arm (16) comprises a four-bar linkage mechanism and a first driving mechanism, the first driving mechanism drives the four-bar linkage mechanism to swing up and down and extend or bend, a connecting seat of the elbow rotating mechanism (14) is connected to the upper section of the four-bar linkage mechanism of the large arm, the output end of the elbow rotating mechanism (18) is connected with the small arm (17), and the tail end of the small arm (17) is connected with the, the wrist is a free rudder disc, and the output end of the wrist is connected with the grab gripper (20).
2. The intelligent handling device for the warehouse freezer according to claim 1, characterized in that a first bearing seat (21) is fixed at the middle position of the lower end of the lower plate (1.2), a second bearing seat (22) is fixed at the middle position of the lower end of the U-shaped beam (6), and the two bearing seats are connected through a main shaft (23).
3. The intelligent handling device for the warehouse freezer according to claim 2, characterized in that the shock absorber (4) comprises a pneumatic shock absorber (4.1) and a spring shock absorber (4.2), the shock absorber mounting bracket (5) comprises a first bracket (5.1) and a second bracket (5.2), the first bracket (5.1) is supported on the lower plate (1.2), the connecting lug plates (5.3) are arranged at two ends of the first bracket (5.1), the U-shaped beam (6) is fixed with the hinge supports (5.4), and the pneumatic shock absorber (4.1) is hinged between the connecting lug plates (5.3) and the hinge supports (5.4); one end of a second support (5.2) is fixed at the upper end of the first support (5.1), the other end of the second support extends to the position right above the U-shaped beam (6), a spring shock absorber (4.2) is connected between the second support (5.2) and the U-shaped beam (6), the spring shock absorber (4.2) is composed of a spring, a stud and a nut, the bottom of the stud is fixed on the U-shaped beam (6), the upper end of the stud penetrates through a through hole in the second support (5.2) and is fixed by the nut, and the spring is sleeved on the stud between the second support (5.2) and the U-shaped beam (6).
4. The intelligent handling device for the warehouse freezer according to claim 3, characterized in that the elevating platform further comprises guide posts (24) and guide sleeves (25) arranged at both sides of the screw rod (10.1), the guide sleeves (25) are fixed in the guide holes of the middle support plate (8), the bottoms of the guide posts (24) are fixed on the lower fixing plate (9), and the upper ends thereof sequentially penetrate through the middle support plate (8) and the upper fixing plate (7).
5. The intelligent handling device for the warehouse freezer according to claim 4, characterized in that a camera mounting bracket (26) is fixed to one of the U-shaped beams (6), and the camera (27) is mounted on the camera mounting bracket (26).
6. The intelligent handling device for the warehouse freezer according to claim 5, characterized in that a battery (28) and a main control board (29) are provided in the middle of the rack (1).
7. The intelligent handling device for a warehouse freezer according to any one of claims 1 to 6, characterized in that a tracking module (30) is provided on the U-beam (6) below the camera (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711105756.2A CN107758567A (en) | 2017-11-10 | 2017-11-10 | A kind of intelligent mounting-dismounting device for warehouse freezer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711105756.2A CN107758567A (en) | 2017-11-10 | 2017-11-10 | A kind of intelligent mounting-dismounting device for warehouse freezer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107758567A true CN107758567A (en) | 2018-03-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711105756.2A Pending CN107758567A (en) | 2017-11-10 | 2017-11-10 | A kind of intelligent mounting-dismounting device for warehouse freezer |
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| CN (1) | CN107758567A (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN109704225A (en) * | 2019-01-22 | 2019-05-03 | 杭州柏晗装饰设计工程有限公司 | A kind of lifting transport device of aluminum-pinch |
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| CN112849893A (en) * | 2021-02-08 | 2021-05-28 | 日日顺供应链科技股份有限公司 | Clamping vehicle and flat warehouse management system |
| CN112847435A (en) * | 2020-12-31 | 2021-05-28 | 洛阳尚奇机器人科技有限公司 | Light mechanical arm with passive gravity compensation |
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| CN114426211A (en) * | 2020-10-29 | 2022-05-03 | 唐山海容机器人应用技术研究院 | Automatic loading and unloading robot for box-packed goods |
| CN115092660A (en) * | 2022-06-07 | 2022-09-23 | 广东工业大学 | But height-adjusting's variable many goods way transmission system |
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| CN108502823A (en) * | 2018-04-13 | 2018-09-07 | 吴德繁 | A kind of full-automatic remains carrying implement |
| CN108316718B (en) * | 2018-04-19 | 2024-04-19 | 南京工程学院 | Novel lifting type automatic parking device |
| CN108316718A (en) * | 2018-04-19 | 2018-07-24 | 南京工程学院 | Lifting/lowering type automatic stopping device |
| CN108640017A (en) * | 2018-05-21 | 2018-10-12 | 上海交通大学 | Cargo captures transport device |
| CN108640017B (en) * | 2018-05-21 | 2019-12-31 | 上海交通大学 | Goods grabbing and transporting device |
| CN108732241A (en) * | 2018-05-22 | 2018-11-02 | 北京双河理声自动化检测技术有限公司 | Train axle ultrasonic inspection machine |
| CN108732241B (en) * | 2018-05-22 | 2023-11-14 | 北京双河理声自动化检测技术有限公司 | Ultrasonic flaw detector for train wheel axle |
| CN108706506A (en) * | 2018-06-05 | 2018-10-26 | 马鞍山市三川机械制造有限公司 | A kind of job shop marine engine flywheel carrying device |
| WO2019245837A1 (en) * | 2018-06-22 | 2019-12-26 | Southwest Research Institute | Movement system for an omnidirectional vehicle |
| US10696115B2 (en) | 2018-06-22 | 2020-06-30 | Southwest Research Institute | Movement system for an omnidirectional vehicle |
| CN108974918A (en) * | 2018-07-27 | 2018-12-11 | 江南大学 | A kind of mobile robot carried for cargo |
| CN109250655A (en) * | 2018-08-28 | 2019-01-22 | 惠州市吉祥达智能装备有限公司 | A kind of stakcer crane |
| CN108873811A (en) * | 2018-09-13 | 2018-11-23 | 吉林化工学院 | A kind of machinery production manufacture bearing system and method |
| CN109462636A (en) * | 2018-09-30 | 2019-03-12 | 北京隆恩智慧科技有限公司 | A kind of universal intelligent inspection device and its application method |
| CN109650302A (en) * | 2018-12-11 | 2019-04-19 | 中联重科股份有限公司 | high-altitude operation equipment |
| CN109704225A (en) * | 2019-01-22 | 2019-05-03 | 杭州柏晗装饰设计工程有限公司 | A kind of lifting transport device of aluminum-pinch |
| CN110292497A (en) * | 2019-06-06 | 2019-10-01 | 浙江工业大学 | A kind of controllable auxiliary body turning four-bar mechanism of angle |
| CN110292497B (en) * | 2019-06-06 | 2024-03-26 | 浙江工业大学 | Angle-controllable auxiliary turning four-bar mechanism |
| CN110510354A (en) * | 2019-09-23 | 2019-11-29 | 深圳优艾智合机器人科技有限公司 | A kind of conveying device and automatic assembly line |
| CN114426211A (en) * | 2020-10-29 | 2022-05-03 | 唐山海容机器人应用技术研究院 | Automatic loading and unloading robot for box-packed goods |
| CN112847435A (en) * | 2020-12-31 | 2021-05-28 | 洛阳尚奇机器人科技有限公司 | Light mechanical arm with passive gravity compensation |
| CN112849893A (en) * | 2021-02-08 | 2021-05-28 | 日日顺供应链科技股份有限公司 | Clamping vehicle and flat warehouse management system |
| CN113320974A (en) * | 2021-07-06 | 2021-08-31 | 上海海洋大学 | Artificial intelligence commodity circulation transport vechicle |
| CN113386879A (en) * | 2021-07-30 | 2021-09-14 | 东南大学 | Lead screw guide rail type logistics trolley with signing function |
| CN114194873A (en) * | 2021-12-24 | 2022-03-18 | 大连海事大学 | Intelligent unloading system and method for refrigerated ship based on visual system |
| CN114194873B (en) * | 2021-12-24 | 2024-05-10 | 大连海事大学 | Visual system-based intelligent unloading system and method for refrigerator ship |
| CN115092660A (en) * | 2022-06-07 | 2022-09-23 | 广东工业大学 | But height-adjusting's variable many goods way transmission system |
| CN115092660B (en) * | 2022-06-07 | 2023-06-13 | 广东工业大学 | Height-adjustable variable multi-channel conveying system |
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