CN110587635A - Intelligent storage manipulator for locker - Google Patents
Intelligent storage manipulator for locker Download PDFInfo
- Publication number
- CN110587635A CN110587635A CN201910709274.0A CN201910709274A CN110587635A CN 110587635 A CN110587635 A CN 110587635A CN 201910709274 A CN201910709274 A CN 201910709274A CN 110587635 A CN110587635 A CN 110587635A
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- China
- Prior art keywords
- plate
- transverse
- fixed
- manipulator
- storage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0478—Storage devices mechanical for matrix-arrangements
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
Abstract
The invention discloses an intelligent storage manipulator used in a locker, which comprises a manipulator body and a horizontal traversing mechanism, wherein the manipulator body is arranged on the horizontal traversing mechanism and is driven by the horizontal traversing mechanism to realize transverse movement; the manipulator body comprises a transverse sliding block, a vertical plate, a cylinder, a longitudinal guide rail, a longitudinal sliding block, a transverse plate, a rotary driving mechanism, a rotary table, a lifting and storing plate and an extension driving mechanism. The invention aims to provide an intelligent storage manipulator used in a locker, which has high automation degree, can accurately extract and store objects into corresponding storage lattices, is convenient for storage workers to continuously release the objects, reduces the labor intensity of the storage workers and improves the efficiency of the storage workers in releasing the objects.
Description
Technical Field
The invention relates to a manipulator, in particular to an intelligent storage manipulator used in a locker.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.
The existing manipulator is easy to clamp the object when taking the object, and meanwhile, due to the lack of a positioning device, the deviation exists when taking the object, so that the object cannot be accurately stored.
Disclosure of Invention
The invention aims to solve the problems, provides an intelligent storage manipulator used in a locker, has high automation degree, can accurately extract and store objects into corresponding storage lattices, is convenient for storage workers to continuously release the objects, reduces the labor intensity of the storage workers and improves the object release efficiency of the storage workers.
In order to realize the purpose, the invention adopts the technical scheme that: the storage cabinet comprises a cabinet body, a lifting controller and a ceiling, wherein a plurality of storage lattices are arranged in the cabinet body and used for storing articles, each storage lattice is provided with a pick-up door, the middle part in the cabinet body is provided with a hollow structure, and the storage lattices are distributed on two sides of the hollow structure in a multi-row and multi-column state; an object lifting device and a manipulator body are arranged in the hollow structure, and the object lifting device is arranged at one end of the hollow structure; the manipulator body is arranged on the horizontal traversing mechanism; the lower end of the cabinet body is provided with an object placing channel at a corresponding position of the object lifting device, an object placing door is arranged at the position of the object placing channel, when an object is placed by a storage worker, the object placing door is opened, a target storage lattice is input to the object lifting controller, then the object is placed on a lifting plate in the object lifting device, preset program control in the object lifting controller is carried out, the manipulator body is controlled to extract the object placed on the object lifting device and convey the object into the corresponding storage lattice, and automatic object storage is completed.
Preferably, the object lifting device comprises a stepping motor, a first rotating shaft, a second rotating shaft, a conveying belt and a lifting plate; any one of the first rotating shaft and the second rotating shaft is connected with an output shaft of the stepping motor, and the transmission belt is arranged on the first rotating shaft and the second rotating shaft; the number of the lifting plates is multiple, and the lifting plates are uniformly fixed on the conveying belt; when the lifting device is used, the stepping motor drives the first rotating shaft and the second rotating shaft to rotate, the conveying belt rotates clockwise, and the lifting plate is lifted to the horizontal position of the target storage lattice.
Preferably, the lifting plate comprises a supporting panel and a fixing plate, the fixing plate is vertically fixed at the end of the supporting panel, and the end of the supporting panel is provided with a plurality of first strip-shaped notches at the side far away from the fixing plate.
Preferably, the manipulator body comprises a transverse sliding block, a vertical plate, an air cylinder, a longitudinal guide rail, a longitudinal sliding block, a transverse plate, a rotation driving mechanism, a rotary table, a lifting and storing plate and an extension driving mechanism, wherein the transverse sliding block is fixedly arranged at the top of the vertical plate, the longitudinal guide rail is fixedly arranged on the vertical plate, the longitudinal sliding block is arranged on the longitudinal guide rail, the end part of the transverse plate is fixedly connected with the longitudinal sliding block, the air cylinder is fixedly arranged on a seat body at the front end of the vertical plate, and the extension end of the air cylinder is fixedly connected; the rotary table is arranged on the transverse plate and can rotate 90 degrees clockwise or anticlockwise squarely under the action of the rotary driving mechanism; the lifting plate is arranged at the front end of the rotary table and can be pushed forwards under the action of the extension driving mechanism; the tail end of the lifting and storing plate is provided with a supporting strip matched with the first strip-shaped notch; the bottom is provided with supporting baseplate in the matter storage lattice, and supporting baseplate includes the plate body, is provided with on the plate body with the rectangular form breach of support bar assorted second.
Preferably, the middle front end of the storage plate is provided with a telescopic positioning bolt, and the support bottom plate in the storage lattice and the lifting plate in the object lifting device are both provided with positioning seat assemblies matched with the telescopic positioning bolt; the front ends of the supporting bottom plate and the lifting plate are respectively provided with a third strip-shaped notch and a fourth notch which are matched with the telescopic positioning bolt; the positioning seat assembly is respectively fixed at the upper end of the supporting bottom plate and the bottom of the lifting plate, cushion blocks are arranged on the left side and the right side of the upper end of the supporting bottom plate, and the height of each cushion block is slightly lower than that of the positioning seat assembly; the third strip-shaped notch and the fourth notch are positioned right above the positioning seat assembly.
Preferably, the telescopic positioning bolt comprises a fixed block and a movable block, the fixed block is fixed at the bottom of the storage plate through a bolt, a first guide rod and a plurality of second guide rods are fixed at the rear end of the movable block, the first guide rod and the second guide rods are respectively inserted into corresponding guide holes in the fixed block, and an anti-falling block is fixedly arranged at one end of the first guide rod, which is positioned in the guide hole; an extension spring is arranged between the fixed block and the movable block and sleeved on the first guide rod; the front end of the movable block is provided with an arc.
Preferably, the positioning seat assembly comprises a positioning seat body, a first U-shaped guide groove matched with the movable block is formed in the middle front end of the positioning seat body, U grooves are formed in the left side arm and the right side arm of the U-shaped guide groove, guide rollers are installed in the U grooves, an inclined angle is formed in the front end of the left side arm and the right side arm of the U-shaped guide groove, and the guide rollers are arranged at the inclined angle.
Preferably, the rotary driving mechanism comprises a first motor, a driving gear and a driven gear, the driving gear is arranged at the bottom of the transverse plate and fixedly connected with an output shaft of the first motor, a rotating shaft is fixedly arranged at the bottom of the rotary table, the bottom of the rotating shaft penetrates through the transverse plate and then is fixedly connected with the driven gear, and the driving gear is meshed with the driven gear.
Preferably, the extension driving mechanism includes a second motor, two first ball screws, a plurality of second guide rods, a first driving belt, and a second driving belt; the two first ball screws are respectively arranged at the left side and the right side of the front end of the rotary table, the plurality of second guide rods are respectively fixed at the front end of the rotary table, the second driving belt is fixed on a belt pulley at the tail end of the two first ball screws, and the first driving belt is connected between the belt pulley of one first ball screw and the belt pulley on the output shaft of the second motor; the bottom of the supporting bar is fixedly connected with the mounting seat, the first ball screw and the second guide rod penetrate through the mounting seat in a movable mode, and the nut of the first ball screw is fixedly connected with the mounting seat.
Preferably, the horizontal transverse moving mechanism comprises a stepping motor, a transverse guide rail and a second ball screw, the transverse guide rail and the second ball screw are arranged on a left transverse beam and a right transverse beam, the left transverse beam and the right transverse beam are fixed in the hollow structure, an output shaft of the stepping motor is connected with the second ball screw, the transverse guide rail and the second ball screw movably penetrate through a transverse sliding block, and a nut of the second ball screw is fixedly connected with the transverse sliding block.
The manipulator body moves to the bottom of the corresponding storage lattice, then the articles on the storage lattice are lifted upwards and conveyed to the article descending device, and the article descending device conveys the articles to the article taking channel opening, so that the articles can be conveniently picked up by the receiving persons, and the articles can be stored and taken more conveniently and quickly.
The invention has the beneficial effects that: the invention provides an intelligent storage manipulator used in a locker, wherein a storage worker places objects on a lifting plate in an object lifting device from an object placing channel opening, then the objects on the lifting plate are lifted upwards by the object lifting device and are conveyed and stored in corresponding storage lattices, so that automatic storage is completed, and the automation degree of sharing the locker is improved.
The invention can facilitate storage workers to continuously release the objects, reduce the labor intensity of the storage workers and improve the efficiency of the storage workers in releasing the objects.
According to the invention, the telescopic positioning bolt arranged on the manipulator body is matched with the positioning seat assembly on the lifting plate, and the telescopic positioning bolt is oppositely inserted into the positioning seat assembly at the bottom of the lifting plate, so that the lifting plate and the lifting plate can be accurately butted, and an object can be smoothly lifted upwards from the bottom of the lifting plate.
According to the invention, the telescopic positioning bolt arranged on the manipulator body is matched with the positioning seat assembly on the supporting bottom plate in the storage lattice, and the telescopic positioning bolt is inserted into the positioning seat assembly on the upper part of the supporting bottom plate, so that the accurate butt joint of the carrying and storing plate and the supporting bottom plate is realized, thus the object on the carrying and storing plate can be smoothly lowered onto the supporting bottom plate, the separation of the carrying and storing plate is smoothly completed, and the automatic storage of the object is realized.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic structural view of the interior of the cabinet body in the present invention.
Fig. 3 is a schematic cross-sectional structure of the present invention.
Fig. 4 is a schematic view of a partial three-dimensional structure of the lowest manipulator body in the hollow structure of the cabinet body of the present invention in a state of moving and butting to the lowest lifting plate in the lifting device.
Fig. 5 is a schematic perspective view of a first angle of the robot body according to the present invention.
Fig. 6 is a schematic perspective view of the carrying plate of the robot body in an extended state according to the present invention.
Fig. 7 is a schematic top view of a robot body according to the present invention.
Fig. 8 is a schematic sectional view of the robot body according to the present invention.
FIG. 9 is a schematic perspective view of a second angle of the manipulator body according to the present invention
Fig. 10 is a schematic perspective view of an object lifting device according to the present invention.
Fig. 11 is a perspective view of the lifting plate of the present invention.
Fig. 12 is a schematic perspective view of a padder assembly according to the present invention.
FIG. 13 is a top view of the support base of the present invention.
The text labels in the figures are represented as: 1. a piece placing door; 2. extracting a controller; 3. a cabinet body; 4. a pickup door; 5. a ceiling; 6. an object lifting device; 7. a manipulator body; 8. a horizontal traversing mechanism; 9. a positioning seat assembly; 31. a hollow structure; 32. a storage grid; 33. a support base plate; 331. a plate body; 332. a second strip-shaped notch; 333. a third strip-shaped notch; 334. cushion blocks; 61. a first rotating shaft; 62. a conveyor belt; 63. a second rotating shaft; 64. a lifting plate; 641. a support panel; 642. a fixing plate; 643. a first strip-shaped notch; 644. a fourth notch; 71. a transverse slide block; 72. a vertical plate; 73. a longitudinal guide rail; 74. a longitudinal slide block; 75. a transverse plate; 76. a turntable; 77. a mounting seat; 78. a first ball screw; 79. a supporting strip; 710. a movable block; 711. a third guide bar; 712. a fixed block; 713. lifting and storing the plate; 714. a second motor; 715. a first motor; 716. a cylinder; 717. a base body; 718. a first drive belt; 719. a second drive belt; 720. a tension spring; 721. a second guide bar; 722. a first guide bar; 723. a driving gear; 724. a driven gear; 725. a rotating shaft; 726. an anti-drop block; 81. a transverse guide rail; 82. a second ball screw; 83. a cross beam; 91. a positioning seat body; 92. a U-shaped guide groove; 93. a U groove; 94. inclination angle; 95. and (4) guiding the roller.
Detailed Description
The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.
As shown in fig. 1 to 13, the specific structure of the present invention is: the storage cabinet comprises a cabinet body 3, a lifting controller 2 and a ceiling 5, wherein a plurality of storage lattices 32 are arranged in the cabinet body 3, each storage lattice 32 is provided with a pick-up door 4, a hollow structure 31 is arranged in the middle of the cabinet body 3, and the storage lattices 32 are distributed on two sides of the hollow structure 31 in a multi-row and multi-column state; an object lifting device 6 and a manipulator body 7 are arranged in the hollow structure 31, and the object lifting device 6 is arranged at one end of the hollow structure 31; the manipulator body 7 is arranged on the horizontal traversing mechanism 8 and is used for extracting the articles placed on the article lifting device 6 and conveying the articles into the corresponding storage lattice 32; an object placing channel is arranged at the lower end of the cabinet body 3 and at the corresponding position of the object lifting device 6, and an object placing door 1 is arranged at the position of the object placing channel.
Preferably, the object lifting device 6 includes a stepping motor, a first rotating shaft 61, a second rotating shaft 63, a conveying belt 62 and a lifting plate 64; any one of the first rotating shaft 61 and the second rotating shaft 63 is connected with an output shaft of the stepping motor, and the transmission belt 62 is installed on the first rotating shaft 61 and the second rotating shaft 63; the lifting plate 64 is plural in number and is uniformly fixed on the conveyor belt 62.
Preferably, the lifting plate 64 includes a supporting panel 641 and a fixing plate 642, the fixing plate 642 is perpendicularly fixed to an end of the supporting panel 641, and a plurality of first elongated gaps 643 are disposed at an end of the supporting panel 641 and on a side away from the fixing plate 642.
Preferably, the manipulator body 7 comprises a transverse slider 71, a vertical plate 72, an air cylinder 716, a longitudinal guide rail 73, a longitudinal slider 74, a transverse plate 75, a rotation driving mechanism, a turntable 76, a storage plate 713 and an extension driving mechanism, wherein the transverse slider 71 is fixedly arranged at the top of the vertical plate 72, the longitudinal guide rail 73 is fixed on the vertical plate 72, the longitudinal slider 74 is mounted on the longitudinal guide rail 73, the end of the transverse plate 75 is fixedly connected with the longitudinal slider 74, the air cylinder 716 is fixed on a seat 717 at the front end of the vertical plate 72, and the extending end of the air cylinder 716 is fixedly connected with the upper end of the transverse plate 75; the turntable 76 is mounted on the transverse plate 75 and can rotate 90 degrees clockwise or counterclockwise in a square manner under the action of the rotary driving mechanism; the lifting plate 713 is installed at the front end of the turntable 76 and can be pushed forward by the extension driving mechanism; the end of the lifting and storing plate 713 is provided with a supporting strip 79 matched with the first strip-shaped notch 643; the bottom in the storage compartment 32 is provided with a supporting bottom plate 33, the supporting bottom plate 33 includes a plate body 331, and a second strip-shaped notch 332 matched with the supporting bar 79 is arranged on the plate body 331.
Preferably, a telescopic positioning bolt is arranged at the middle front end of the storage plate 713, and the supporting bottom plate 33 in the storage compartment 32 and the lifting plate 64 in the object lifting device 6 are both provided with a positioning seat assembly 9 matched with the telescopic positioning bolt; the front ends of the supporting bottom plate 33 and the lifting plate 64 are respectively provided with a third strip-shaped notch 333 and a fourth notch 644 which are matched with the telescopic positioning bolts; the positioning seat assembly 9 is respectively fixed at the upper end of the supporting bottom plate 33 and the bottom of the lifting plate 64, the left side and the right side of the upper end of the supporting bottom plate 33 are both provided with cushion blocks 334, and the height of the cushion blocks 334 is slightly lower than that of the positioning seat assembly 9; the third elongated notch 333 and the fourth notch 644 are located right above the positioning seat assembly 9.
Preferably, the telescopic positioning pin comprises a fixed block 712 and a movable block 710, the fixed block 712 is fixed at the bottom of the lifting and storing plate 713 through bolts, a first guide rod 722 and a plurality of second guide rods 721 are fixed at the rear end of the movable block 710, the first guide rod 722 and the second guide rods 721 are respectively inserted into corresponding guide holes in the fixed block 712, and an anti-falling block 726 is fixedly arranged at one end of the first guide rod 722 located in the guide holes; an extension spring 720 is arranged between the fixed block 712 and the movable block 710, and the extension spring 720 is sleeved on the first guide rod 722; the front end of the movable block 710 is provided with an arc.
Preferably, the positioning seat assembly 9 includes a positioning seat body 91, a first U-shaped guide groove 92 matched with the movable block 710 is provided at a middle front end of the positioning seat body 91, U grooves 93 are provided on both left and right side arms of the U-shaped guide groove 92, a guide roller 95 is installed in the U groove 93, an inclination angle 94 is provided at a front end of each of the left and right side arms of the U-shaped guide groove 92, and the guide roller 95 is disposed at the inclination angle 94.
Preferably, the rotation driving mechanism includes a first motor 715, a driving gear 723 and a driven gear 724, the driving gear 723 is disposed at the bottom of the transverse plate 75 and is fixedly connected to an output shaft of the first motor 715, a rotating shaft 725 is fixedly disposed at the bottom of the turntable 76, the bottom of the rotating shaft 725 passes through the transverse plate 75 and is fixedly connected to the driven gear 724, and the driving gear 723 and the driven gear 724 are engaged with each other.
Preferably, the extension driving mechanism includes a second motor 714, two first ball screws 78, a plurality of third guide rods 711, a first driving belt 718, and a second driving belt 719; two first ball screws 78 are respectively installed at the left and right sides of the front end of the rotary table 76, a plurality of third guide rods 711 are respectively fixed at the front end of the rotary table 76, a second driving belt 719 is fixed on a pulley at the tail end of the two first ball screws 78, and a first driving belt 718 is connected between the pulley of one first ball screw 78 and a pulley on the output shaft of the second motor 714; the bottom of the supporting bar 79 is fixedly connected with the mounting seat 77, the first ball screw 78 and the third guide bar 711 movably penetrate through the mounting seat 77, and the nut of the first ball screw 78 is fixedly connected with the mounting seat 77.
Preferably, the horizontal traversing mechanism 8 comprises a stepping motor, a transverse guide rail 81 and a second ball screw 82, the transverse guide rail 81 and the second ball screw 82 are mounted on a left transverse beam 83 and a right transverse beam 83, the left transverse beam 83 and the right transverse beam 83 are fixed in the hollow structure 31, an output shaft of the stepping motor is connected with the second ball screw 82, the transverse guide rail 81 and the second ball screw 82 movably penetrate through the transverse sliding block 71, and a nut of the second ball screw 82 is fixedly connected with the transverse sliding block 71.
In the operation of the present invention, as shown in fig. 1-13, a storage worker opens the article opening door 1 to put an article into the lifting plate 64 of the article lifting device 6 from the article placing passage, inputs a target storage cell on the lifting controller above the article placing passage, the article lifting device 6 lifts the lifting plate 64 to the horizontal position of the target storage cell (the target storage cell of fig. 3 is at the lowest layer, the article lifting device lifting plate 64 is at the horizontal position of the layer), the air cylinder 716 of the manipulator body 7 extends downward to lower the horizontal plate 75, the horizontal traversing mechanism 8 drives the manipulator body 7 to move toward the lifting plate 64, the movable block 710 automatically completes guiding and inserting into the U-shaped guiding groove 92, the air cylinder 716 lifts upward, the supporting bar 79 moves upward from the first notch 643 to lift the article from the lifting plate 64, the horizontal traversing mechanism 8 drives the manipulator body 7 to move toward the target storage cell, when the manipulator body 7 reaches the position of the target storage lattice, the first motor 715 drives the driving gear 723 and the driven gear 724 to rotate, so that the rotary table 76 rotates by 90 degrees, the storage plate 713 is aligned with the target storage lattice, then the second motor 714 drives the two first ball screws 78 to rotate, the first ball screws 78 rotate, the storage plate 713 is driven to extend into the target storage lattice, so that the object is conveyed into the target storage lattice, in the process that the storage plate 713 extends into the target storage lattice, the movable block 710 is oppositely inserted into the U-shaped guide groove 92 in the positioning seat assembly 9 at the upper end of the target storage lattice, after accurate butt joint is completed, the air cylinder drives the transverse plate 75 to move downwards, the support bar 79 moves downwards from the second elongated notch 332 to store the object in the target storage lattice, the second motor 714 drives the storage plate 713 to retract, the first motor 715 drives the rotary table 76 to rotate by 90 degrees, thereby completing the automatic deposit of the object in the target storage compartment.
In the prior art, the lifting and storing plate 713, the supporting base plate 33 and the lifting plate 64 are generally positioned by using sensors, the lifting and storing plate 713 is easy to shift when rotating under the control of a motor, and simultaneously, the lifting and storing plate vibrates and is dislocated in the moving process, and the common sensor cannot correct the rotating angle of the lifting and storing plate 713, so that the dislocation between the supporting bars and the strip-shaped gaps is easily caused, the dislocation between the supporting bars and the strip-shaped gaps can lead the lifting and storing plate and the lifting plate to be blocked, and the fault is easily caused. After the telescopic positioning bolt is in butt joint with the positioning seat assembly, the angle of the lifting and storing plate can be corrected, the supporting bars are aligned with the long-strip-shaped notches, the phenomenon that the lifting and storing plate is clamped with the lifting plate due to dislocation between the supporting bars and the long-strip-shaped notches is avoided, and normal operation of storing and storing objects of the storage cabinet is guaranteed.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.
Claims (5)
1. An intelligent storage manipulator used in a locker is characterized by comprising a manipulator body (7) and a horizontal traversing mechanism (8), wherein the manipulator body (7) is arranged on the horizontal traversing mechanism (8) and is driven by the horizontal traversing mechanism (8) to move transversely; the manipulator body (7) comprises a transverse sliding block (71), a vertical plate (72), an air cylinder (716), a longitudinal guide rail (73), a longitudinal sliding block (74), a transverse plate (75), a rotary driving mechanism, a rotary table (76), a lifting and storing plate (713) and an extension driving mechanism, wherein the transverse sliding block (71) is fixedly arranged at the top of the vertical plate (72), the longitudinal guide rail (73) is fixed on the vertical plate (72), the longitudinal sliding block (74) is installed on the longitudinal guide rail (73), the end part of the transverse plate (75) is fixedly connected with the longitudinal sliding block (74), the air cylinder (716) is fixed on a seat body (717) at the front end of the vertical plate (72), and the extending end of the air cylinder (716) is fixedly connected with the upper end of the transverse plate (; the rotary table (76) is arranged on the transverse plate (75) and can rotate 90 degrees clockwise or anticlockwise squarely under the action of the rotary driving mechanism; the lifting plate (713) is arranged at the front end of the rotary table (76) and can be pushed forwards under the action of the stretching driving mechanism; the tail end of the lifting and storing plate (713) is provided with a supporting strip (79) matched with the first strip-shaped notch (643); the bottom in the storage compartment (32) is provided with a supporting bottom plate (33), the supporting bottom plate (33) comprises a plate body (331), and a second strip-shaped notch (332) matched with the supporting bar (79) is arranged on the plate body (331).
2. The intelligent storage manipulator used in the register cabinet as claimed in claim 1, wherein a telescopic positioning pin is arranged at the middle front end of the register plate (713), the telescopic positioning pin comprises a fixed block (712) and a movable block (710), the fixed block (712) is fixed at the bottom of the register plate (713) through a bolt, a first guide rod (722) and a plurality of second guide rods (721) are fixed at the rear end of the movable block (710), the first guide rod (722) and the second guide rods (721) are respectively inserted into corresponding guide holes in the fixed block (712), and an anti-drop block (726) is fixedly arranged at one end of the first guide rod (722) positioned in the guide holes; an extension spring (720) is arranged between the fixed block (712) and the movable block (710), and the extension spring (720) is sleeved on the first guide rod (722); the front end of the movable block (710) is provided with an arc.
3. The intelligent storage manipulator for the storage cabinet as claimed in claim 2, wherein the rotary driving mechanism comprises a first motor (715), a driving gear (723) and a driven gear (724), the driving gear (723) is disposed at the bottom of the horizontal plate (75) and is fixedly connected with an output shaft of the first motor (715), a rotating shaft (725) is fixedly disposed at the bottom of the turntable (76), the bottom of the rotating shaft (725) penetrates through the horizontal plate (75) and is fixedly connected with the driven gear (724), and the driving gear (723) and the driven gear (724) are meshed and connected.
4. The smart storage manipulator as recited in claim 3, wherein the extension drive mechanism comprises a second motor (714), two first ball screws (78), a plurality of third guide rods (711), a first drive belt (718), and a second drive belt (719); two first ball screws (78) are respectively arranged at the left side and the right side of the front end of the rotary table (76), a plurality of third guide rods (711) are respectively fixed at the front end of the rotary table (76), a second driving belt (719) is fixed on a belt pulley at the tail end of the two first ball screws (78), and a first driving belt (718) is connected between the belt pulley of one first ball screw (78) and a belt pulley on an output shaft of a second motor (714); the bottom of support bar (79) is equal fixed connection mount pad (77), and first ball screw (78) and third guide bar (711) are all the activity and are passed mount pad (77), the nut and mount pad (77) fixed connection of first ball screw (78).
5. The intelligent storage manipulator used in the register cabinet as claimed in any one of claims 1 to 4, wherein the horizontal traversing mechanism (8) comprises a stepping motor, a transverse guide rail (81) and a second ball screw (82), the transverse guide rail (81) and the second ball screw (82) are mounted on a left transverse beam (83) and a right transverse beam (83), the left transverse beam and the right transverse beam (83) are fixed in the hollow structure (31), an output shaft of the stepping motor is connected with the second ball screw (82), the transverse guide rail (81) and the second ball screw (82) movably pass through the transverse sliding block (71), and a nut of the second ball screw (82) is fixedly connected with the transverse sliding block (71).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910709274.0A CN110587635A (en) | 2019-08-02 | 2019-08-02 | Intelligent storage manipulator for locker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910709274.0A CN110587635A (en) | 2019-08-02 | 2019-08-02 | Intelligent storage manipulator for locker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110587635A true CN110587635A (en) | 2019-12-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910709274.0A Pending CN110587635A (en) | 2019-08-02 | 2019-08-02 | Intelligent storage manipulator for locker |
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| Country | Link |
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| CN (1) | CN110587635A (en) |
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| CN114431673A (en) * | 2022-01-28 | 2022-05-06 | 河南省肿瘤医院 | Intelligent storage system of vacuum pad for radiotherapy |
| CN115520660A (en) * | 2022-10-08 | 2022-12-27 | 广州拓普特轻工机械有限公司 | Pile up neatly machine people tongs with accurate positioning mechanism |
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