CN112659095A - Overhead loading ceiling manipulator for low-temperature refrigeration house - Google Patents
Overhead loading ceiling manipulator for low-temperature refrigeration house Download PDFInfo
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- CN112659095A CN112659095A CN202011525123.9A CN202011525123A CN112659095A CN 112659095 A CN112659095 A CN 112659095A CN 202011525123 A CN202011525123 A CN 202011525123A CN 112659095 A CN112659095 A CN 112659095A
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- 238000005057 refrigeration Methods 0.000 title claims abstract description 21
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- 230000001681 protective effect Effects 0.000 claims description 4
- 239000003381 stabilizer Substances 0.000 description 9
- 230000003019 stabilising effect Effects 0.000 description 5
- 230000008014 freezing Effects 0.000 description 3
- 238000007710 freezing Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
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Abstract
The invention relates to the field of low-temperature refrigeration houses, in particular to an overhead loading ceiling manipulator for a low-temperature refrigeration house, which comprises a refrigeration house, a Y-direction moving assembly for adjusting the moving direction, an X-direction moving assembly, a manipulator for grabbing goods, a rotary adjusting assembly for adjusting the picking direction of the manipulator, a movable assembly for adjusting the angle of the manipulator and a telescopic assembly for adjusting the grabbing range of the manipulator, wherein the Y-direction moving assembly is arranged at the top of the refrigeration house, the X-direction moving assembly is arranged at the top of the Y-direction moving assembly, the moving direction of the X-direction moving assembly is vertical to the moving direction of the Y-direction moving assembly, one end of the refrigeration house is also provided with a gate for loading and unloading goods, and the manipulator is also provided with a porous camera for observing the loading and unloading conditions in the refrigeration house, thereby solving the problem that the traditional refrigeration house manipulator can not carry out multi, the loading efficiency is improved, and the freshness of the frozen goods is ensured.
Description
Technical Field
The invention relates to the field of low-temperature refrigerators, in particular to an overhead ceiling loading manipulator for a low-temperature refrigerator.
Background
Along with the continuous development of scientific technology, the automation degree of industrial production is higher and higher, the automation degree is higher, the production efficiency is higher, the labor cost is lower, as a plurality of domestic advanced automation devices are imported and are expensive, the automation degree of a plurality of enterprises is still low, for example, various unloading devices used for unloading of refrigeration house transport vehicles are generally controlled manually or semi-automatically, the unloading efficiency is low, and accidents such as damage and the like are easy to occur, so that improvement is needed, the currently used loading and unloading means are manual operation, especially for objects with irregular shapes, the prior art can not realize the replacement of manual operation by machinery, the operation efficiency is low, the labor intensity is high, the use of machinery for the replacement of manual operation is urgently needed, the production efficiency is improved, and the labor intensity is reduced.
The low temperature freezer stores a large amount of goods in, frequent opening and closing of the door of the freezer can lead to unstable temperature, humidity and pressure in the freezer, and the quality of stored goods is influenced, when the plasma biological products are stored in the freezer, frequent opening and closing of the door of the freezer can lead to deterioration and scrapping of the biological products, and long-term operation under a low temperature environment can be unfavorable to the physical health condition of workers, the pedestrian passageway of the traditional freezer is wide, the utilization rate of the freezer is low, in the food storage and processing process, products such as fish, shrimps and the like are frequently required to be rapidly frozen and stored, so as to keep the products fresh and undamaged, when in rapid freezing, the door of the freezer is frequently opened and closed, cold air in the rapid freezer is caused to be directly convected with external hot air, so that the temperature in the rapid freezer is increased, not only is the freezing of the products.
Traditional freezer product loads in the freezer when, often load and unload the goods through the manual work, this has not only increaseed human labor, still can make the discharge efficiency greatly reduced that the goods unloaded, and the goods still leads to the fresh degree of having destroyed the goods because discharge efficiency is too slow when putting into the freezer, traditional freezer manipulator still leads to some goods can't pick up owing to unable diversified regulation, also lead to the efficiency reduction of unloading, consequently, to these problems, need design a freezer manipulator that can diversely adjust.
Disclosure of Invention
For solving above-mentioned technical problem, provide an overhead ceiling manipulator of getting in stock for low temperature freezer, this technical scheme has solved the problem that traditional freezer manipulator can't carry out diversified regulation according to the position of goods.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
an elevated ceiling loading manipulator for a low-temperature refrigerator comprises the refrigerator, a Y-direction moving assembly for adjusting the moving direction, an X-direction moving assembly, a manipulator for grabbing goods, a rotation adjusting assembly for adjusting the picking direction of the manipulator, a movable assembly for adjusting the angle of the manipulator and a telescopic assembly for adjusting the grabbing range of the manipulator, wherein the Y-direction moving assembly is arranged at the top of the refrigerator, the X-direction moving assembly is arranged at the top of the Y-direction moving assembly, and X is to the moving direction perpendicular to Y of removal subassembly to the moving direction of removal subassembly, and the rotation regulation subassembly sets up in X is to the top of removal subassembly, and the movable part sets up in the bottom of rotation regulation subassembly, and flexible subassembly sets up on the movable part, and the manipulator sets up in the flexible end of flexible subassembly, and the one end of freezer still is equipped with the gate that is used for loading and unloading goods, still is equipped with the porous camera that is used for observing the goods condition of loading and unloading in the freezer on the manipulator.
As an optimal scheme of the overhead ceiling loading manipulator for the low-temperature refrigeration house, the Y-direction moving assembly comprises two first sliding tables, the two first sliding tables are all in a horizontal state and are fixedly arranged on two sides of the top of the refrigeration house, two first sliding blocks are arranged on each first sliding table in a sliding mode, a gap is reserved between every two corresponding first sliding blocks, a first screw rod and a first guide rod are further arranged on the top of each first sliding table along the length direction of the corresponding first sliding table respectively, the first screw rod is driven by a first driving motor, each first sliding block is further sleeved on the corresponding first screw rod and the corresponding first guide rod in a sliding mode, each two corresponding first sliding blocks are further fixedly connected through a connecting plate, and the X-direction moving assembly is arranged on the tops of the four first sliding blocks.
As an optimal scheme of the overhead ceiling loading manipulator for the low-temperature refrigeration house, the X-direction moving assembly comprises two second sliding tables, an installation part is arranged at the top of each first sliding table, each second sliding table is perpendicular to the installation parts of the first sliding tables which are fixedly arranged in the two symmetrical first sliding tables, each second sliding table is further provided with a second sliding block in a sliding mode, each second sliding table is further provided with a second screw rod and a second guide rod in the length direction of the corresponding second sliding table respectively, the second screw rods are further driven by a second driving motor, each second sliding block is further sleeved on the corresponding second screw rod and the corresponding second guide rod in a sliding mode, and a mounting plate used for mounting a rotary adjusting assembly is fixedly arranged between the two second sliding blocks.
As an optimal selection scheme of low temperature freezer overhead ceiling manipulator, the rotation regulation subassembly includes a driving gear, an inner circle gear and two driven gear, the driving gear, inner circle gear and two driven gear all set up on a round rack body, round rack body fixed set up in the top of mounting panel, still all be equipped with one on the middle part of round rack body and the mounting panel and be used for two driven gear driven round mouths, the inner circle gear is the fixed setting on the inside wall of round rack body of horizontality, coaxial line between driving gear and the inner circle gear, two driven gear all along the circumferencial direction evenly distributed of driving gear, the driving gear still drives through a rotating electrical machines.
As an optimal selection scheme of overhead ceiling manipulator of getting in stock for low temperature freezer, the top of the circle rack body is equipped with a protecting crust, the rotating electrical machines is vertical state and sets up in the top of protecting crust through a frame is fixed, the output of rotating electrical machines passes the protecting crust and stretches out downwards, and the driving gear is still fixed to overlap and locates on the output of rotating electrical machines, the diameter of driving gear is greater than two driven gear's diameter, and the teeth of a cogwheel of two driven gear all with the teeth of a cogwheel of driving gear and inner circle gear between intermeshing, two driven gear still all overlap and locate in a pivot, the upper and lower end of two pivots still overlaps respectively and is equipped with one and is used for stabilizing two driven gear pivoted first stabilising plate and second stabilising plate, the movable assembly still sets up in the bottom of second stabilising plate.
As an optimal selection scheme of overhead ceiling manipulator of getting loaded for low temperature freezer, the bottom of round support body is equipped with and is used for second stabilizer plate pivoted arc wall, the movable assembly includes an upper arm and a underarm, the one end of upper arm sets up on the second stabilizer plate, the one end of underarm sets up on the free end of upper arm, telescopic component sets up in the underarm, the bottom of second stabilizer plate is equipped with a first articulated seat, it is fixed and is equipped with a first double-head motor to be the horizontality in the first articulated seat, the both sides that first articulated seat was passed respectively to the output of first double-head motor are outwards stretched out, fixed being equipped with a first rotation frame on two output of first double-head motor, the outside of first rotation frame still is equipped with a mounting, and the one end of upper arm still fixes setting in the mounting.
As an optimal selection scheme of overhead ceiling manipulator of getting loaded for low temperature freezer, the both sides that the upper arm is close to the free end and the bottom both sides of second stabilising plate all are equipped with a first articulated portion, it is used for stabilizing the first electronic gas pole of upper arm still all to articulate between two corresponding first articulated portions of upper arm and second stabilising plate, the free end of upper arm is equipped with the articulated seat of a second, the one end of underarm can the pivoted articulate in the articulated seat of second of upper arm, the top of upper arm and the top of underarm still all are equipped with a second articulated portion, and still articulate between two second articulated portions and be equipped with one and be used for driving the underarm and adjust wobbling second electronic gas pole, a flexible mouth has inwards been seted up to the free end of underarm, flexible subassembly sets up in flexible mouth.
As an optimal selection scheme of overhead ceiling manipulator of getting in stock for low temperature freezer, flexible subassembly includes a flexible arm, flexible arm can be movable set up in flexible mouthful, the both sides of underarm still are equipped with a third screw rod and a third guide bar respectively along the length direction of underarm, flexible arm still all is equipped with a cover and connects the ring sliding sleeve to locate corresponding third screw rod and third guide bar towards flexible intraoral one end both sides, the third screw rod still is through a third driving motor drive, the both sides of underarm still all are equipped with the bar mouth that the corresponding cover of being convenient for connects the ring removal along the length direction of underarm, the manipulator sets up on the outside of flexible arm.
As an optimal scheme of overhead ceiling manipulator of getting loaded for low temperature freezer, the outside end of flexible arm is equipped with a third articulated seat, it is the fixed second double-end motor that is equipped with of horizontal state in the third articulated seat, two output shafts of second double-end motor all pass the both sides of third articulated seat and outwards stretch out, it is equipped with a second rotating turret still to fix the cover on two output ends of second double-end motor, the outside center of second rotating turret still is equipped with a machine box, be equipped with an open and shut motor in the machine box, the manipulator is by a mounting groove, a screw thread post and two drive gear are constituteed, the mounting groove is fixed in on the machine box, the screw thread post cover is located on the output shaft of open and shut motor, two equal symmetry of drive gear and meshing set up in the both sides of screw thread post.
As an optimal selection scheme of overhead ceiling manipulator of getting loaded for low temperature freezer, porous camera is fixed to be set up in the outside of mounting groove, the both sides of screw thread post still the symmetry are equipped with a set of two link mechanism, every two link mechanism of group comprise by two connecting rods, per two connecting rods respectively with corresponding drive gear cooperation, and the side of every two link mechanism of group still is equipped with a connecting block respectively, every two link mechanism of group all is connected through a sliding seat with the free end of corresponding connecting block, the bottom of every sliding seat still is equipped with a clamping jaw that is used for snatching the goods respectively.
Compared with the prior art, the invention has the beneficial effects that:
when an operator loads frozen goods through a manipulator, firstly, the manipulator grabs the goods, when the manipulator grabs the goods, the manipulator carries out azimuth movement through a Y-direction moving component and an X-direction moving component, the manipulator can drive the goods to move along with the movement, then, the manipulator can also carry out direction adjustment through a rotary adjusting component, the movable component carries out grabbing angle adjustment on the manipulator, when some goods are inconvenient to grab at a distance, the manipulator can adjust the grabbing range through a telescopic component, a porous camera on the manipulator can also observe the situation in the refrigerator when grabbing the goods, so that the manipulator can accurately grab the goods, and finally, the manipulator grabs the goods in the refrigerator, the invention solves the problem that the traditional refrigerator manipulator cannot carry out multi-direction adjustment according to the position of the goods, and improves the loading efficiency, and the freshness of the frozen goods is guaranteed.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a partial perspective view of the first embodiment of the present invention;
FIG. 3 is a perspective view of the rotary adjustment assembly;
FIG. 4 is an exploded perspective view of the rotary adjustment assembly;
FIG. 5 is a partial perspective view of the second embodiment of the present invention;
FIG. 6 is a side view of FIG. 5;
FIG. 7 is a perspective view of the movable assembly;
FIG. 8 is a perspective view of the telescoping assembly;
FIG. 9 is a schematic perspective view of a robot;
fig. 10 is a sectional view of the robot.
Description of reference numerals: the refrigeration house comprises a refrigeration house 1, a manipulator 2, a multi-hole camera 3, a first sliding table 4, a first sliding block 5, a first screw rod 6, a first guide rod 7, a first driving motor 8, a connecting plate 9, a second sliding table 10, a second sliding block 11, a second screw rod 12, a second guide rod 13, a second driving motor 14, an installation plate 15, a driving gear 16, an inner ring gear 17, a driven gear 18, a circular frame body 19, a circular opening 20, a rotating motor 21, a protective shell 22, a machine frame 23, a first stabilizing plate 24, a second stabilizing plate 25, an arc-shaped groove 26, an upper arm 27, a lower arm 28, a first hinged seat 29, a first double-head motor 30, a first rotating frame 31, a first hinged part 32, a first electric air rod 33, a second hinged seat 34, a second hinged part 35, a second electric air rod 36, a telescopic arm 37, a third screw rod 38, a third guide rod 39, a third driving motor 40, a third double-head hinged seat 41, a second double-head motor 42, The device comprises a second rotating frame 43, a machine box 44, an opening and closing motor 45, a threaded column 46, a driving gear 47, a connecting rod 48, a connecting block 49, a movable seat 50 and a clamping jaw 51.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
Referring to fig. 1 to 10, an overhead ceiling manipulator for a low-temperature freezer comprises a freezer 1, a Y-direction moving assembly for adjusting a moving direction, an X-direction moving assembly, a manipulator 2 for grabbing goods, a rotation adjusting assembly for adjusting a picking direction of the manipulator 2, a movable assembly for adjusting an angle of the manipulator 2, and a telescopic assembly for adjusting a grabbing range of the manipulator 2, wherein the Y-direction moving assembly is arranged at the top of the freezer 1, the X-direction moving assembly is arranged at the top of the Y-direction moving assembly, the moving direction of the X-direction moving assembly is perpendicular to the moving direction of the Y-direction moving assembly, the rotation adjusting assembly is arranged at the top of the X-direction moving assembly, the movable assembly is arranged at the bottom of the rotation adjusting assembly, the telescopic assembly is arranged on the movable assembly, the manipulator 2 is arranged at a telescopic end of the telescopic assembly, and one end of the freezer 1 is further provided with a door, the manipulator 2 is also provided with a porous camera 3 for observing the goods loading and unloading condition in the refrigeration house 1. When operating personnel carried out the shipment to freezing goods through manipulator 2, at first, manipulator 2 snatchs the goods, when manipulator 2 snatchs the goods, manipulator 2 carries out the position through Y to removing subassembly and X to removing the subassembly and removes, manipulator 2 can drive the goods thereupon and remove, then, manipulator 2 can also carry out the regulation of direction through the rotation regulation subassembly, movable assembly snatchs the regulation of angle to manipulator 2, some goods are inconvenient when snatching in a distance, manipulator 2 snatchs the regulation of scope through the telescopic component thereupon, the condition in freezer 1 can also be observed to porous camera 3 on manipulator 2 when snatching the goods, so that manipulator 2 is accurate snatching the goods, finally, manipulator 2 snatchs the goods in freezer 1.
Y is to removing the subassembly including two first slip tables 4, two first slip tables 4 all are the fixed top both sides that set up in freezer 1 of horizontality, it is equipped with two first sliders 5 still all to slide on every first slip table 4, all leave the space between every two corresponding first sliders 5, the top of every first slip table 4 still is equipped with a first screw rod 6 and a first guide bar 7 respectively along the length direction of corresponding first slip table 4, first screw rod 6 is through the drive of a driving motor 8, and every first slider 5 still slides respectively and overlaps and locate on corresponding first screw rod 6 and first guide bar 7, still all through a company's board 9 fixed connection between every two corresponding first sliders 5, X sets up in the top of four first sliders 5 to removing the subassembly. When the frozen goods are loaded by an operator through the manipulator 2, firstly, the manipulator 2 snatchs the goods, when the manipulator 2 snatchs the goods, the manipulator 2 carries out azimuth movement to the moving assembly and X through Y, when Y drives to the moving assembly, the first screw rod 6 of the first driving motor 8 drives rotates, because X installs on four first sliders 5 to the moving assembly, consequently, four first sliders 5 move on the corresponding first sliding table 4 and drive X and do Y to the moving assembly and move.
The X is to moving the subassembly including two second slip tables 10, the top of every first slider 5 all is equipped with an installation department, every second slip table 10 all is perpendicular to every first slip table 4 and fixes in the installation department of two symmetrical first sliders 5, it is equipped with a second slider 11 still all to slide on every second slip table 10, still be equipped with a second screw rod 12 and a second guide bar 13 respectively along the length direction of corresponding second slip table 10 on every second slip table 10, second screw rod 12 still drives through a second driving motor 14, and every second slider 11 still all sliding sleeve locates on corresponding second screw rod 12 and second guide bar 13, still fixed mounting panel 15 that is used for installing the rotation regulation subassembly that is equipped with between two second sliders 11. When the X-direction moving assembly is driven, the second driving motor 14 drives the second screw 12 to rotate, because the mounting plate 15 is fixedly arranged on the two second sliding blocks 11, the two second sliding blocks 11 move on the corresponding second sliding table 10 along with the movement of the mounting plate 15 in the X-direction, and because the rotation adjusting assembly is mounted on the mounting plate 15, the rotation adjusting assembly also moves along with the movement.
The rotation regulation subassembly includes a driving gear 16, an inner ring gear 17 and two driven gear 18, the driving gear 16, inner ring gear 17 and two driven gear 18 all set up on a circle support body 19, circle support body 19 is fixed to be set up in the top of mounting panel 15, still all be equipped with one on the middle part of circle support body 19 and the mounting panel 15 and be used for two driven gear 18 driven round mouths 20, inner ring gear 17 is the fixed inside wall that sets up in circle support body 19 of horizontality, coaxial line between driving gear 16 and the inner ring gear 17, two driven gear 18 all along driving gear 16's circumferencial direction evenly distributed, driving gear 16 still drives through a rotating electrical machines 21. When the rotation adjusting assembly drives the manipulator 2 to adjust the direction, the rotation motor 21 drives the driving gear 16 to rotate, and the two driven gears 18 rotate along the circumferential direction of the driving gear 16 because the two driven gears 18 are meshed with the driving gear 16 and the inner ring gear 17, respectively.
The top of round frame body 19 is equipped with a protecting crust 22, rotating electrical machines 21 is vertical state and sets up in the top of protecting crust 22 through a frame 23 is fixed, the output of rotating electrical machines 21 passes protecting crust 22 and stretches out downwards, and driving gear 16 still fixes the cover and locates on rotating electrical machines 21's the output, the diameter of driving gear 16 is greater than the diameter of two driven gear 18, and intermeshing between the teeth of a cogwheel of two driven gear 18 all with driving gear 16 and inner ring gear 17, two driven gear 18 still all overlap and locate in a pivot, the upper and lower end of two pivots still overlaps respectively and is equipped with one and is used for stabilizing two driven gear 18 pivoted first stabilizer plate 24 and second stabilizer plate 25, the movable assembly still sets up in the bottom of second stabilizer plate 25. When the two driven gears 18 rotate, the first and second stabilizing plates 24 and 25 facilitate the stability of the rotation of the two driven gears 18, and the diameter of the driving gear 16 is larger than the diameter of the two driven gears 18. in order to increase the transmission ratio, since the movable assembly is installed at the bottom of the second stabilizing plate 25, the rotation of the second stabilizing plate 25 drives the movable assembly to rotate therewith.
The bottom of round frame body 19 is equipped with and is used for second stabilizer plate 25 pivoted arc wall 26, the movable assembly includes an upper arm 27 and a underarm 28, the one end of upper arm 27 sets up on second stabilizer plate 25, the one end of underarm 28 sets up on the free end of upper arm 27, flexible subassembly sets up in underarm 28, the bottom of second stabilizer plate 25 is equipped with a first articulated seat 29, it is fixed and is equipped with a first double-end motor 30 to be the horizontality in the first articulated seat 29, the both sides that first double-end motor 30's output passed first articulated seat 29 respectively are outwards stretched out, fixed being equipped with a first rotating frame 31 on two output of first double-end motor 30, the outside of first rotating frame 31 still is equipped with a mounting, and the one end of upper arm 27 still fixed the setting in the mounting. When the second stabilizing plate 25 rotates, the second stabilizing plate 25 rotates in the arc-shaped groove 26, the stability of the rotation of the second stabilizing plate 25 is ensured, when the movable assembly adjusts the grabbing angle of the manipulator 2, the first double-head motor 30 drives the first rotating frame 31 to rotate, and because the upper arm 27 is mounted on the first rotating frame 31, the upper arm 27 can swing by the driving of the first double-head motor 30.
The both sides that upper arm 27 is close to the free end and the bottom both sides of second stabilizing plate 25 all are equipped with a first articulated portion 32, still all articulate between two corresponding first articulated portions 32 of upper arm 27 and second stabilizing plate 25 and be equipped with an electronic gas pole 33 that is used for stabilizing upper arm 27, the free end of upper arm 27 is equipped with an articulated seat 34 of second, the one end of lower arm 28 can be pivoted articulate in the articulated seat 34 of second of upper arm 27, the top of upper arm 27 and the top of lower arm 28 still all are equipped with a articulated portion 35 of second, and still articulate between two articulated portions 35 and be equipped with an electronic gas pole 36 of second that is used for driving lower arm 28 and adjusts the swing, a flexible mouth has inwards been seted up to the free end of lower arm 28, telescopic component sets up in flexible mouth. When the upper arm 27 swings, the two first electric air rods 33 play a role of stably supporting the upper arm 27, and when the lower arm 28 further adjusts the grabbing angle of the manipulator 2, the second electric air rod 36 pushes the lower arm 28, and since the two ends of the second electric air rod 36 are respectively hinged with the lower arm 28 and the upper arm 27, the lower arm 28 can swing by the pushing of the second electric air rod 36.
The telescopic assembly comprises a telescopic arm 37, the telescopic arm 37 can be movably arranged in a telescopic opening, two sides of the lower arm 28 are respectively provided with a third screw rod 38 and a third guide rod 39 along the length direction of the lower arm 28, the telescopic arm 37 is provided with a sleeving ring sliding sleeve on the third screw rod 38 and the third guide rod 39 facing to the two sides of the telescopic opening, the third screw rod 38 is driven by a third driving motor 40, two sides of the lower arm 28 are provided with strip-shaped openings convenient for the corresponding sleeving ring to move along the length direction of the lower arm 28, and the manipulator 2 is arranged at the outer end of the telescopic arm 37. When the manipulator 2 is adjusted in the grabbing range through the telescopic assembly, the third driving motor 40 drives the third screw rod 38 to rotate, and since the telescopic arm 37 moves in the telescopic opening and the two ends of the telescopic arm 37 are respectively sleeved on the third screw rod 38 and the third guide rod 39 through a sleeving ring, the telescopic arm 37 can move in the telescopic opening, and the manipulator 2 is adjusted in the grabbing range of the goods.
The outer end of telescopic arm 37 is equipped with a third articulated seat 41, it is the fixed second double-end motor 42 that is equipped with of horizontal state in the third articulated seat 41, two output shafts of second double-end motor 42 all pass the both sides of third articulated seat 41 and outwards stretch out, it is equipped with a second rotating turret 43 still to fix the cover on two output ends of second double-end motor 42, the outside center of second rotating turret 43 still is equipped with a machine box 44, be equipped with an open and shut motor 45 in the machine box 44, manipulator 2 comprises an installation groove, a screw thread post 46 and two drive gear 47, the installation groove is fixed in on the machine box 44, screw thread post 46 overlaps on the output shaft of open and shut motor 45, two drive gear 47 are equal symmetry and the meshing sets up in the both sides of screw thread post 46. When the manipulator 2 further adjusts the grabbing angle, the second double-head motor 42 drives the second rotating frame 43 to rotate on the third hinge base 41, and the manipulator 2 is mounted on the second rotating frame 43, so that the manipulator 2 can further adjust the angle, and when the manipulator 2 grabs the goods, the opening and closing motor 45 drives the threaded column 46 to rotate, and the rotation of the threaded column 46 drives the two driving gears 47 to rotate.
The working principle of the invention is as follows:
the device/apparatus/method realizes the functions of the invention by the following steps, thereby solving the technical problems proposed by the invention:
firstly, when an operator loads frozen goods through a manipulator 2, firstly, the manipulator 2 grabs the goods, when the manipulator 2 grabs the goods, the manipulator 2 carries out azimuth movement through a Y-direction moving assembly and an X-direction moving assembly, when the Y-direction moving assembly is driven, a first driving motor 8 drives a first screw rod 6 to rotate, because the X-direction moving assembly is arranged on four first sliding blocks 5, the four first sliding blocks 5 move on corresponding first sliding tables 4 to drive the X-direction moving assembly to move in a Y direction, when the X-direction moving assembly is driven, a second driving motor 14 drives a second screw rod 12 to rotate, because an installation plate 15 is fixedly arranged on two second sliding blocks 11, the two second sliding blocks 11 move on corresponding second sliding tables 10 to drive the installation plate 15 to move in an X direction, and because a rotation adjusting assembly is arranged on the installation plate 15, thus, the rotation adjustment assembly also moves therewith.
Step two, when the rotation adjusting assembly drives the manipulator 2 to perform direction adjustment, the rotating motor 21 drives the driving gear 16 to rotate, because the two driven gears 18 are respectively meshed with the driving gear 16 and the inner ring gear 17, the two driven gears 18 rotate along the circumferential direction of the driving gear 16, the first stabilizing plate 24 and the second stabilizing plate 25 facilitate the stability of the rotation of the two driven gears 18, the diameter of the driving gear 16 is larger than that of the two driven gears 18, in order to increase the transmission ratio, because the movable assembly is mounted at the bottom of the second stabilizing plate 25, the rotation of the second stabilizing plate 25 drives the movable assembly to rotate, and when the second stabilizing plate 25 rotates, the second stabilizing plate 25 rotates in the arc-shaped groove 26, so that the stability of the rotation of the second stabilizing plate 25 is ensured.
Step three, when the movable assembly adjusts the grabbing angle of the manipulator 2, the first double-head motor 30 drives the first rotating frame 31 to rotate, because the upper arm 27 is mounted on the first rotating frame 31, the upper arm 27 can swing by the driving of the first double-head motor 30, when the upper arm 27 swings, the two first electric air rods 33 play a role of stably supporting the upper arm 27, when the lower arm 28 further adjusts the grabbing angle of the manipulator 2, the second electric air rod 36 pushes the lower arm 28, and because the two ends of the second electric air rod 36 are respectively hinged with the lower arm 28 and the upper arm 27, the lower arm 28 can swing by the pushing of the second electric air rod 36.
Step four, when the manipulator 2 performs grabbing range adjustment through the telescopic assembly, the third driving motor 40 drives the third screw rod 38 to rotate along with the third driving motor, the telescopic arm 37 moves in the telescopic opening, and two ends of the telescopic arm 37 are respectively sleeved on the third screw rod 38 and the third guide rod 39 through a sleeving ring, so that the telescopic arm 37 can move in the telescopic opening along with the telescopic arm, the manipulator 2 adjusts the grabbing range of the goods along with the telescopic arm, when the manipulator 2 further adjusts the grabbing angle, the second double-head motor 42 drives the second rotating frame 43 to rotate on the third hinging seat 41, and the manipulator 2 is installed on the second rotating frame 43, so that the manipulator 2 can further obtain angle adjustment along with the second rotating frame 43.
Step five, when the manipulator 2 grabs the goods, the opening and closing motor 45 drives the threaded column 46 to rotate, the rotation of the threaded column 46 drives the two driving gears 47 to rotate along with the rotation, each group of double-connecting-rod mechanisms is respectively matched with the corresponding driving gears 47, therefore, each group of double-connecting-rod mechanisms can be opened and closed along with the threaded column, when each group of double-connecting-rod mechanisms is closed inwards, each connecting block 49 also rotates synchronously along with the double-connecting-rod mechanisms through the matching of the corresponding movable seat 50, the clamping jaw 51 on each movable seat 50 is closed along with the double-connecting-rod mechanisms to grab the frozen goods, and finally, the manipulator 2 can grab and load the frozen goods in a multi-direction and accurately mode through the X-direction moving assembly, the Y-direction.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The overhead ceiling loading manipulator for the low-temperature refrigeration house is characterized by comprising a refrigeration house (1), a Y-direction moving assembly for adjusting the moving direction, an X-direction moving assembly, a manipulator (2) for grabbing goods, a rotation adjusting assembly for adjusting the picking direction of the manipulator (2), a movable assembly for adjusting the angle of the manipulator (2) and a telescopic assembly for adjusting the grabbing range of the manipulator (2), wherein the Y-direction moving assembly is arranged at the top of the refrigeration house (1), the X-direction moving assembly is arranged at the top of the Y-direction moving assembly, the moving direction of the X-direction moving assembly is vertical to the moving direction of the Y-direction moving assembly, the rotation adjusting assembly is arranged at the top of the X-direction moving assembly, the movable assembly is arranged at the bottom of the rotation adjusting assembly, the telescopic assembly is arranged on the movable assembly, and the manipulator (2) is arranged at the telescopic end of the telescopic assembly, one end of the refrigeration house (1) is also provided with a gate for loading and unloading goods, and the manipulator (2) is also provided with a porous camera (3) for observing the condition of loading and unloading goods in the refrigeration house (1).
2. The overhead ceiling manipulator for the low-temperature refrigerator according to claim 1, wherein the Y-direction moving assembly comprises two first sliding tables (4), the two first sliding tables (4) are horizontally and fixedly arranged on two sides of the top of the refrigerator (1), each first sliding table (4) is further provided with two first sliding blocks (5) in a sliding manner, a gap is reserved between every two corresponding first sliding blocks (5), the top of each first sliding table (4) is further provided with a first screw (6) and a first guide rod (7) along the length direction of the corresponding first sliding table (4), the first screw (6) is driven by a first driving motor (8), each first sliding block (5) is further respectively sleeved on the corresponding first screw (6) and the corresponding first guide rod (7) in a sliding manner, and each two corresponding first sliding blocks (5) are further fixedly connected through a connecting plate (9), the X-direction moving assembly is arranged at the tops of the four first sliding blocks (5).
3. The overhead ceiling manipulator for the cryogenic refrigerator according to claim 2, wherein the X-direction moving assembly comprises two second sliding tables (10), a mounting part is arranged at the top of each first sliding block (5), each second sliding table (10) is fixedly arranged in the mounting parts of the two symmetrical first sliding blocks (5) perpendicular to each first sliding table (4), a second sliding block (11) is further arranged on each second sliding table (10) in a sliding manner, a second screw (12) and a second guide rod (13) are further arranged on each second sliding table (10) along the length direction of the corresponding second sliding table (10), the second screw (12) is further driven by a second driving motor (14), and each second sliding block (11) is further sleeved on the corresponding second screw (12) and second guide rod (13) in a sliding manner, and a mounting plate (15) for mounting the rotary adjusting component is fixedly arranged between the two second sliding blocks (11).
4. The overhead ceiling manipulator for a cryogenic refrigerator according to claim 3, wherein the rotation adjustment assembly comprises a driving gear (16), an inner ring gear (17) and two driven gears (18), the driving gear (16), inner circle gear (17) and two driven gear (18) all set up on a round rack body (19), round rack body (19) fixed set up in the top of mounting panel (15), still all be equipped with one on the middle part of round rack body (19) and mounting panel (15) and be used for round mouth (20) of two driven gear (18) driven, inner circle gear (17) are the fixed inside wall that sets up in round rack body (19) of horizontality, coaxial line between driving gear (16) and inner circle gear (17), two driven gear (18) all along the circumferencial direction evenly distributed of driving gear (16), driving gear (16) still drive through a rotating electrical machines (21).
5. The overhead ceiling manipulator for the low-temperature refrigerator according to claim 4, wherein a protective shell (22) is arranged at the top of the round frame body (19), the rotating motor (21) is vertically fixed at the top of the protective shell (22) through a frame (23), the output end of the rotating motor (21) penetrates through the protective shell (22) to extend downwards, the driving gear (16) is further fixedly sleeved on the output end of the rotating motor (21), the diameter of the driving gear (16) is larger than that of the two driven gears (18), the gear teeth of the two driven gears (18) are meshed with the gear teeth of the driving gear (16) and the gear teeth of the inner ring gear (17), the two driven gears (18) are further sleeved on a rotating shaft, the upper end and the lower end of the two rotating shafts are further respectively sleeved with a first stabilizing plate (24) and a second stabilizing plate (25) for stabilizing the rotation of the two driven gears (18), the movable assembly is also arranged at the bottom of the second stabilizing plate (25).
6. The manipulator of claim 5, wherein the bottom of the circular frame body (19) is provided with an arc-shaped groove (26) for rotating the second stabilizing plate (25), the movable assembly comprises an upper arm (27) and a lower arm (28), one end of the upper arm (27) is arranged on the second stabilizing plate (25), one end of the lower arm (28) is arranged at the free end of the upper arm (27), the telescopic assembly is arranged in the lower arm (28), the bottom of the second stabilizing plate (25) is provided with a first hinged seat (29), a first double-head motor (30) is fixedly arranged in the first hinged seat (29) in a horizontal state, the output end of the first double-head motor (30) respectively penetrates through two sides of the first hinged seat (29) to extend outwards, two output ends of the first double-head motor (30) are fixedly provided with a first rotating frame (31), a fixing piece is further arranged on the outer side of the first rotating frame (31), and one end of the upper arm (27) is further fixedly arranged in the fixing piece.
7. The overhead ceiling manipulator for the cryogenic refrigerator according to claim 6, wherein two sides of the upper arm (27) near the free end and two sides of the bottom of the second stabilizing plate (25) are provided with a first hinge part (32), a first electric air rod (33) for stabilizing the upper arm (27) is further hinged between the two first hinge parts (32) of the upper arm (27) and the second stabilizing plate (25), the free end of the upper arm (27) is provided with a second hinge seat (34), one end of the lower arm (28) is rotatably hinged in the second hinge seat (34) of the upper arm (27), the top of the upper arm (27) and the top of the lower arm (28) are further provided with a second hinge part (35), and a second electric air rod (36) for driving the lower arm (28) to swing is further hinged between the two second hinge parts (35), the free end of the lower arm (28) is inwards provided with a telescopic opening, and the telescopic assembly is arranged in the telescopic opening.
8. The overhead ceiling manipulator for the low-temperature refrigerator according to claim 7, wherein the telescopic assembly comprises a telescopic arm (37), the telescopic arm (37) is movably arranged in a telescopic opening, two sides of the lower arm (28) are respectively provided with a third screw (38) and a third guide rod (39) along the length direction of the lower arm (28), two sides of one end, facing the telescopic opening, of the telescopic arm (37) are respectively provided with a sleeving ring which is slidably sleeved on the corresponding third screw (38) and the corresponding third guide rod (39), the third screw (38) is further driven by a third driving motor (40), two sides of the lower arm (28) are respectively provided with a strip-shaped opening which is convenient for the corresponding sleeving ring to move along the length direction of the lower arm (28), and the manipulator (2) is arranged at the outward end of the telescopic arm (37).
9. The overhead ceiling manipulator for the low-temperature refrigerator according to claim 8, wherein a third hinge seat (41) is provided at an outward end of the telescopic arm (37), a second double-head motor (42) is fixedly provided in the third hinge seat (41) in a horizontal state, two output shafts of the second double-head motor (42) both penetrate through two sides of the third hinge seat (41) to extend outward, a second rotating frame (43) is further fixedly sleeved on two output ends of the second double-head motor (42), a machine box (44) is further provided at an outer center of the second rotating frame (43), an opening and closing motor (45) is provided in the machine box (44), the manipulator (2) is composed of an installation groove, a threaded column (46) and two driving gears (47), and is fixed on the machine box (44), the threaded column (46) is sleeved on an output shaft of the opening and closing motor (45), the two driving gears (47) are symmetrically and meshed with each other and are arranged on two sides of the threaded column (46).
10. The overhead ceiling manipulator for the cryogenic refrigerator according to claim 9, wherein the porous camera (3) is fixedly arranged outside the mounting groove, a set of double-link mechanisms are symmetrically arranged on two sides of the threaded column (46), each set of double-link mechanism consists of two connecting rods (48), every two connecting rods (48) are respectively matched with the corresponding driving gear (47), a connecting block (49) is arranged beside each set of double-link mechanism, the free ends of each set of double-link mechanism and the corresponding connecting block (49) are connected through a movable seat (50), and the bottom of each movable seat (50) is provided with a clamping jaw (51) for grabbing goods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011525123.9A CN112659095A (en) | 2020-12-22 | 2020-12-22 | Overhead loading ceiling manipulator for low-temperature refrigeration house |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011525123.9A CN112659095A (en) | 2020-12-22 | 2020-12-22 | Overhead loading ceiling manipulator for low-temperature refrigeration house |
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| CN112659095A true CN112659095A (en) | 2021-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011525123.9A Pending CN112659095A (en) | 2020-12-22 | 2020-12-22 | Overhead loading ceiling manipulator for low-temperature refrigeration house |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115256444A (en) * | 2022-07-21 | 2022-11-01 | 王鹏 | Multi-joint manipulator and mechanical arm |
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| EP0846529A1 (en) * | 1996-04-24 | 1998-06-10 | Fanuc Ltd | Robot with servo tool at front end of wrist |
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Application publication date: 20210416 |