CN116835193B - Intelligent manipulator for taking up stock - Google Patents
Intelligent manipulator for taking up stock Download PDFInfo
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- CN116835193B CN116835193B CN202310850620.3A CN202310850620A CN116835193B CN 116835193 B CN116835193 B CN 116835193B CN 202310850620 A CN202310850620 A CN 202310850620A CN 116835193 B CN116835193 B CN 116835193B
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 67
- 230000007246 mechanism Effects 0.000 claims description 66
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 238000005192 partition Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 11
- 239000006096 absorbing agent Substances 0.000 description 5
- 230000008602 contraction Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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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
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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Abstract
An intelligent manipulator for standing stock belongs to the technical field of manipulators, and aims to solve the problem that the distance between the existing manipulator and a shelf partition is not adapted when the existing manipulator faces different types of shelves; according to the invention, the main sucker is aligned to goods to be accessed, the main sucker is vacuumized by the main air pump, the goods are adsorbed and fixed by the adsorption force of the main sucker, in addition, the electric push rod H is extended, the auxiliary sucker is used for carrying out surface adsorption on the goods in the middle layer, and then the electric push rod H is retracted until the goods are retracted to be clamped by the clamping plate, so that the goods in different layers and goods in the goods shelves can be accessed in a full state by the two modes, and the convenience of the goods access of the vertical warehouse is greatly improved.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to an intelligent manipulator for taking up and taking up inventory.
Background
The automatic manipulator can simulate some action functions of a human hand and an arm, is an automatic operation device for grabbing and carrying objects or operating tools according to a fixed program, can replace heavy labor of people to realize mechanization and automation of production, is widely applied to departments such as mechanical manufacturing, light industry, atomic energy and the like, and is mainly composed of a goods shelf, a manipulator and a control system.
The present manipulator is getting the in-process to the goods clamp, usually, can carry out the centre gripping to four sides about to the goods and fix for asking for, can guarantee like this that the goods has sufficient stability, but when facing different spaced goods shelves, when the goods shelves interval is too little, the condition that the upper and lower fixed knot of manipulator constructs exists and stretches into, lead to dismantling upper and lower fixed knot constructs, just can accomplish the access to the goods, waste operating time, reduce work efficiency, in addition, the upper strata of goods shelves is not having the structure of capping, other layers of goods shelves all have the structure of capping, thereby make the manipulator when snatching and placing the commodity circulation goods, snatch the point and be inequality, when facing the upper strata goods that is just can accomplish the access, but when facing not being the upper strata goods, then need consider the interval between every layer goods shelves, generally, the point of snatching is the goods both sides, so will lead to changing the manipulator, thereby realize the mesh of snatching different layers goods, and when the goods are comparatively intensive, the clamping structure stretches out between the goods, also lead to seriously to having bad influence on the goods and has produced the storage and has been difficult to produce the storage and has bad effect on the goods.
For this reason, we propose an intelligent robot for taking up inventory.
Disclosure of Invention
The invention aims to provide an intelligent manipulator for taking up inventory, which solves the problem that the distance between the manipulator and a shelf partition plate is not adapted when the manipulator faces different types of shelves in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the intelligent manipulator for taking the standing stock comprises a supporting upright post, an adjusting mechanism arranged at the upper end of the supporting upright post, a concave clamping tube arranged at the upper end of the adjusting mechanism, and a power arm assembly arranged in a concave groove of the concave clamping tube, wherein one end of the power arm assembly is provided with a swinging mechanism for adjusting the storage and taking direction, and one end of the swinging mechanism is provided with a main adsorption mechanism for clamping goods;
the main adsorption mechanism comprises a main adsorption plate arranged at one end of the swing mechanism, a base plate arranged on the upper surface of the main adsorption plate, a main air pump, a distance measuring sensor A and a distance measuring sensor B arranged on the lower bottom surface of the main adsorption plate, and a main sucking disc arranged on the lower bottom surface of the main adsorption plate, wherein one end of the main air pump is provided with a connecting hose, one end of the connecting hose penetrates through the main adsorption plate to be connected with the main sucking disc, one side of the main adsorption plate is provided with a sliding groove, the inside of the sliding groove is provided with a sliding block and an electric push rod A, one end of the electric push rod A is connected with the sliding block, one side of the sliding block is provided with a caulking groove, a lifting rod is arranged in the caulking groove, and the sliding block is connected with the main sucking disc through the lifting rod.
Further, the surface of main adsorption plate is last to have seted up and has run through the groove, runs through the inside in groove and is provided with the grip block, and the last fixed surface of main adsorption plate installs electric putter B, and one side of electric putter B is provided with connects the side lever, and the one end of connecting the side lever is connected with the grip block, runs through the groove and has seted up two sets of, and range sensor A and range sensor B all establish two sets of run through between the groove, the built-in groove has been seted up to the surface of grip block, and the inside in built-in groove is provided with electric putter C and interior splint, and electric putter C's one end is connected with interior splint.
Further, the adjusting mechanism comprises a rotating seat arranged at the upper end of the supporting upright post, a hydraulic pushing rod arranged on the upper surface of the rotating seat, the upper surface of the rotating seat is connected with the concave clamping pipe, and one end of the hydraulic pushing rod is connected with the power arm assembly.
Further, the power arm assembly comprises a main connecting plate arranged in the concave clamping tube, a rotating rod penetrating through the main connecting plate, and an external connecting plate arranged at one end of the main connecting plate, wherein two ends of the rotating rod are rotationally connected with the inner wall of the concave groove of the concave clamping tube, and one end of the external connecting plate is connected with the swing mechanism.
Further, the swing mechanism comprises a swing block arranged at one end of the external connection plate, a motor A arranged at the upper end of the swing block, an electric push rod D arranged at the output end of the motor A, and a swing rod arranged at one end of the electric push rod D, wherein a motor B is arranged on the upper surface of one end of the swing rod, the output end of the motor B is connected with a straight arm rod, and a camera is arranged on the outer surface of the straight arm rod.
Further, the side position groove has all been seted up to the upper surface both sides of main adsorption plate, main adsorption plate is connected with supplementary pushing mechanism through the side position groove, supplementary pushing mechanism is including setting up the accessory plate at main adsorption plate both ends, the external piece of setting on accessory plate one side, and the pushing plate of setting on the accessory plate surface, external piece card is established in the side position inslot portion, the heavy groove has been seted up on the surface of accessory plate, the inside of heavy groove is provided with electric putter E, electric putter E's one end is connected with the pushing plate, T type groove has been seted up to the surface of external piece, T type inslot portion is provided with T type piece and lifter, the one end and the T type piece of lifter are connected, T type piece and accessory plate fixed connection.
Further, fixedly mounted on the surface of the support column is a control part, a central control module is arranged in the control part, one side of the central control module is connected with a display module in a signal mode, the display module is connected with a camera in a signal mode, an electromechanical control module is further arranged in the control part, one side of the electromechanical control module is connected with a deviation rectifying module in a signal mode, the deviation rectifying module is connected with a distance measuring sensor A and a distance measuring sensor B in a signal mode, and the protruding amounts of the two groups of pushing plates are measured through the distance measuring sensor A and the distance measuring sensor B respectively.
Further, the limit groove has been seted up to one side of main adsorption plate, the inside in limit groove is provided with electric putter F, limit inslot swing joint has a back rest mechanism, back rest mechanism is including setting up the limit position piece in limit inslot portion, set up the lower pole of limit position piece one side, set up the electromechanical case on the lower pole surface, set up the rotation motor in electromechanical incasement portion, and set up the bottom stay plate at the lower pole lower extreme, the output of rotation motor is provided with the enhancement dwang, the enhancement dwang is with bottom stay plate fixed connection.
Further, be provided with the mounting groove on the surface of backing plate, the inside rotation of mounting groove is provided with the live-rollers, and one side of backing plate is provided with the drum, and the upper surface fixed mounting of main adsorption plate has the platen, and the upper end of platen is provided with the deposit power, and the lower extreme of platen is provided with electric putter G, and electric putter G's lower extreme is provided with the electromagnetic pillar, and electric putter G and drum setting are in same vertical plane and corresponding.
Further, the lower connecting groove is formed in the outer surface of the lower connecting rod, the lower connecting block is connected inside the lower connecting groove in a sliding mode, the lifting rod is further arranged in the lower connecting groove, one end of the lifting rod is connected with the lower connecting block, the storage box is fixedly mounted on the outer surface of the lower connecting block, the electric push rod H is arranged in the storage box, the auxiliary sucker is arranged at one end of the electric push rod H, the auxiliary air pump is arranged in the storage box, the lengthening hose is arranged at one end of the auxiliary air pump, and one end of the lengthening hose is connected with the auxiliary sucker.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an intelligent manipulator for taking up a vertical warehouse, in the prior art, when facing different types of shelves, the manipulator is not matched with the spacing between shelf partition boards, the intelligent manipulator is characterized in that when the goods to be taken up are the uppermost layer of the shelves of the vertical warehouse, the intelligent manipulator moves a main adsorption mechanism to the upper part of the goods to be taken up through an adjusting mechanism and a swinging mechanism, the auxiliary plate moves upwards along a T-shaped groove through the expansion and contraction of a lifting rod, meanwhile, the clamping plate also moves upwards through the electric push rod B, at the moment, the electric push rod G is not spliced with a cylinder, the bottom support plate is rotated by a certain angle through a rotating motor to prevent the bottom support plate from blocking the goods to be adsorbed and fixed by the main adsorption plate, then the main adsorption plate is aligned with the goods to be taken up, the main adsorption plate is pumped to vacuum through a main air pump, the goods are adsorbed and fixed by utilizing the adsorption force of the main sucker, the auxiliary plate is downwards moved along the T-shaped groove by utilizing the lifting rod, the position of the goods adsorbed by the main sucker is adjusted by utilizing the two groups of pushing plates which are mutually close, the goods adsorbed by the main sucker are positioned under the main sucker according to the numerical values of the ranging sensor A and the ranging sensor B, on one hand, the adsorption stability is improved, on the other hand, when the goods on the uppermost layer of goods shelves are stacked, every two layers and more than the goods need to be staggered so as to provide enough stability, the goods can be quickly placed between the upper ends of two basic goods by adsorbing the goods under the adsorption plate, the work efficiency is improved, meanwhile, the stacking stability of the goods on the uppermost layer is also improved, when the goods to be accessed are the middle layer of the goods shelves of a vertical warehouse, the clamping plate is downwards moved by utilizing the electric pushing rod B, let the grip block have sufficient area to press from both sides the goods and get, also let electric putter G and drum peg graft fixedly simultaneously, this moment bottom stay plate can provide the holding power of certain degree, extend through electric putter H, utilize vice sucking disc to carry out the surface absorption to middle layer goods, make electric putter H again and withdraw until the goods is withdrawn and to can be held by the grip block, when needing to put down the goods, let bottom stay plate and ground contact, the grip block shift up, the goods falls on the bottom stay plate, wherein, a set of accessory plate is relative with the goods, the accessory plate of another group shifts up, utilize the pushing plate to push down the goods from bottom stay plate, the rotation of rotor can accelerate the removal of goods, thereby faster with the goods move subaerial or on the goods shelves, when middle layer goods is full state simultaneously, general clamping jaw does not find the clamp point, can take out the goods through vice sucking disc fast, can take out different level goods, and carry out the access when goods is full state, the convenience of goods storage and take out the goods, the storehouse has greatly improved.
Drawings
FIG. 1 is a diagram showing the whole structure of an intelligent manipulator for taking up inventory according to the invention;
FIG. 2 is a diagram showing a second overall structure of the intelligent robot for taking inventory;
FIG. 3 is a schematic diagram of a swing mechanism of an intelligent robot for taking up inventory according to the present invention;
FIG. 4 is a schematic diagram of the main adsorption mechanism, the auxiliary pushing mechanism, the clamping plate and the bottom support mechanism of the intelligent manipulator for taking the inventory;
FIG. 5 is a schematic diagram of an intelligent robot-assisted pushing mechanism for taking up inventory according to the present invention;
FIG. 6 is a schematic diagram of a main adsorption mechanism of the intelligent robot for taking inventory according to the present invention;
FIG. 7 is a schematic diagram II of a main adsorption mechanism of the intelligent robot for taking inventory;
FIG. 8 is a schematic diagram of a base support mechanism for an intelligent robot for inventory taking according to the present invention;
FIG. 9 is a schematic diagram II of a bottom support mechanism of the intelligent robot for taking inventory;
FIG. 10 is a schematic view of a structure of a clamping plate of an intelligent robot for taking up inventory according to the present invention;
FIG. 11 is a schematic diagram of the manner in which the intelligent robot for taking inventory of the present invention accesses the top-level shelf goods;
FIG. 12 is a schematic diagram of a method for storing and taking intermediate layer shelf goods by using an intelligent inventory taking manipulator according to the present invention;
fig. 13 is a flowchart of the control unit of the intelligent robot for standing stock according to the present invention.
In the figure: 1. a support column; 2. an adjusting mechanism; 21. a rotating seat; 22. a hydraulic push rod; 3. a concave clamping tube; 4. a power arm assembly; 41. a primary connection plate; 42. an outer connecting plate; 43. a rotating lever; 5. a control unit; 51. a central control module; 52. a display module; 53. an electromechanical control module; 54. a deviation rectifying module; 6. a swinging mechanism; 61. a straight arm lever; 62. a camera; 63. a swinging block; 64. an electric push rod D; 65. a motor A; 66. a swinging rod; 67. a motor B; 7. a main adsorption mechanism; 71. a main adsorption plate; 711. a side groove; 712. an electric push rod F; 713. a side slot; 714. a through groove; 715. a sliding groove; 72. a backing plate; 73. an electric push rod B; 731. connecting side rods; 74. a ranging sensor A; 75. a distance measuring sensor B; 76. a sliding block; 77. an electric push rod A; 78. a main suction cup; 79. a main air pump; 8. an auxiliary pushing mechanism; 81. an auxiliary plate; 811. sinking grooves; 82. an outer joint block; 83. a T-shaped groove; 84. a pushing plate; 85. an electric push rod E; 9. a clamping plate; 91. a built-in groove; 92. an inner clamping plate; 93. an electric push rod C; A. a bottom support mechanism; a1, an edge block; a2, a lower connecting rod; a21, a lower connecting groove; a22, a lower connecting block; a3, an electromechanical box; a4, rotating a motor; a5, a bottom support plate; a51, a mounting groove; a52, a cylinder; a6, rotating a roller; a7, a storage box; a71, an electric push rod H; a72, an auxiliary sucker; a73, lengthening the hose; a8, a bedplate; a81, saving a power supply; a82, an electric push rod G; a83, electromagnetic column.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
In order to solve the technical problem of how to rapidly store and fetch the goods on the uppermost layer of the goods shelf in the opposite warehouse, as shown in fig. 1-4, 11 and 13, the following preferable technical scheme is provided:
the intelligent manipulator for taking the standing stock comprises a supporting upright 1, an adjusting mechanism 2 arranged at the upper end of the supporting upright 1, a concave clamping tube 3 arranged at the upper end of the adjusting mechanism 2, and a power arm assembly 4 arranged in a concave groove of the concave clamping tube 3, wherein one end of the power arm assembly 4 is provided with a swinging mechanism 6 for adjusting the storage and taking direction, and one end of the swinging mechanism 6 is provided with a main adsorption mechanism 7 for clamping goods;
the main adsorption mechanism 7 comprises a main adsorption plate 71 arranged at one end of the swing mechanism 6, a base plate 72 and a main air pump 79 which are arranged on the upper surface of the main adsorption plate 71, a ranging sensor A74 and a ranging sensor B75 which are arranged on the lower bottom surface of the main adsorption plate 71, and a main sucking disc 78 which is arranged on the lower bottom surface of the main adsorption plate 71, wherein one end of the main air pump 79 is provided with a connecting hose, one end of the connecting hose penetrates through the main adsorption plate 71 and is connected with the main sucking disc 78, one side of the main adsorption plate 71 is provided with a sliding groove 715, the inside of the sliding groove 715 is provided with a sliding block 76 and an electric push rod A77, one end of the electric push rod A77 is connected with the sliding block 76, one side of the sliding block 76 is provided with a caulking groove, and the sliding block 76 is connected with the main sucking disc 78 through the elevating rod, so that the main sucking disc 78 is pumped to vacuum, and the main sucking disc 78 is fixed by the main sucking disc 78, the electric push rod A77 stretches out and draws the sliding block 76 along the sliding groove 715.
The outer surface of the support column 1 is fixedly provided with a control part 5, a central control module 51 is arranged in the control part 5, one side of the central control module 51 is connected with a display module 52 in a signal mode, the display module 52 is connected with a camera 62 in a signal mode, an electromechanical control module 53 is further arranged in the control part 5, one side of the electromechanical control module 53 is connected with a deviation correcting module 54 in a signal mode, the deviation correcting module 54 is connected with a distance measuring sensor A74 and a distance measuring sensor B75 in a signal mode, the two groups of protruding amounts of the pushing plates 84 are measured through the distance measuring sensor A74 and the distance measuring sensor B75 respectively, a picture of the camera 62 is transmitted to the control part 5 through the display module 52, the electromechanical control module 53 controls the working operation of the whole electromechanical structure, when data measured by the distance measuring sensor A74 and the distance measuring sensor B75 are different, the fact that the fixed goods are adsorbed by the main sucker 78 is not in the middle of the lower portion of the main adsorption plate 71, the two groups of electric push rods E85 are stretched or shortened through the deviation correcting module 54, the distance measuring sensor A74 and the distance measuring sensor B75 are the same in the middle of the lower portion of the main adsorption plate 71.
The surface of main adsorption plate 71 has been seted up on the surface and has been run through groove 714, and the inside of running through groove 714 is provided with grip block 9, and the upper surface fixed mounting of main adsorption plate 71 has electric putter B73, and one side of electric putter B73 is provided with and connects side lever 731, and the one end of connecting side lever 731 is connected with grip block 9, and two sets of have been seted up to run through groove 714, and range sensor A74 and range sensor B75 all establish two sets of run through between groove 714, the surface of grip block 9 has been seted up built-in groove 91, and the inside of built-in groove 91 is provided with electric putter C93 and interior splint 92, and electric putter C93's one end is connected with interior splint 92, utilizes electric putter B73 can realize the effect that grip block 9 reciprocated along running through groove 714, utilizes two sets of interior splint 92 that are close to each other to carry out the centre gripping to the goods and fix.
The adjusting mechanism 2 comprises a rotating seat 21 arranged at the upper end of the supporting upright 1, a hydraulic pushing rod 22 arranged on the upper surface of the rotating seat 21, the upper surface of the rotating seat 21 is connected with the concave clamping tube 3, one end of the hydraulic pushing rod 22 is connected with the power arm assembly 4, and the power arm assembly 4 swings up and down around the concave clamping tube 3 through pushing of the hydraulic pushing rod 22.
The power arm assembly 4 comprises a main connecting plate 41 arranged inside the concave clamping tube 3, a rotating rod 43 penetrating through the main connecting plate 41, and an external connecting plate 42 arranged at one end of the main connecting plate 41, wherein two ends of the rotating rod 43 are rotationally connected with the inner wall of the concave groove of the concave clamping tube 3, and one end of the external connecting plate 42 is connected with the swinging mechanism 6.
The swinging mechanism 6 comprises a swinging block 63 arranged at one end of the outer connecting plate 42, a motor A65 arranged at the upper end of the swinging block 63, an electric push rod D64 arranged at the output end of the motor A65, and a swinging rod 66 arranged at one end of the electric push rod D64, wherein a motor B67 is arranged on the upper surface of one end of the swinging rod 66, the output end of the motor B67 is connected with a straight arm rod 61, a camera 62 is arranged on the outer surface of the straight arm rod 61, the motor A65 rotates to drive the electric push rod D64 to rotate, and meanwhile the electric push rod D64 can stretch and retract to enable the swinging rod 66 to move up and down, the motor B67 rotates to drive the straight arm rod 61 to rotate, so that the main adsorption mechanism 7 is further driven to rotate, and the camera 62 can record shooting working pictures.
Specifically, when the goods to be accessed are the uppermost layer of the vertical warehouse goods shelves, the main adsorption mechanism 7 is moved to the upper side of the goods to be accessed through the adjusting mechanism 2 and the swinging mechanism 6, the auxiliary plate 81 is moved upwards along the T-shaped groove 83 through the expansion and contraction of the lifting rod, meanwhile, the clamping plate 9 is also moved upwards by the electric push rod B73, at the moment, the electric push rod GA82 and the cylinder A52 are not inserted, the bottom supporting plate A5 is rotated by a certain angle by the rotating motor A4, the bottom supporting plate A5 is prevented from blocking the goods to be adsorbed and fixed by the main suction disc 78, the main suction disc 78 is aligned with the goods to be accessed, the main suction disc 78 is vacuumized by the main air pump 79, the goods are adsorbed and fixed by the adsorption force of the main suction disc 78, the auxiliary plate 81 is moved downwards along the T-shaped groove 83 by the lifting rod, the position of the goods adsorbed by the main suction disc 78 is adjusted by the aid of the two groups of pushing plates 84 which are mutually close to each other, the goods adsorbed by the main suction disc 78 are located under the main suction disc 71 according to the numerical values of the ranging sensor A74 and the ranging sensor B75, the goods adsorbed by the main suction disc 78, the adsorption plate is improved in adsorption stability, the goods are stacked on the uppermost layer, the two layers of goods can be stacked fast enough, and the goods can be stacked on the upper side of the two layers of goods can be stacked fast enough, and the high stability can be provided, and the goods can be simultaneously stacked on the upper and the upper layer of the goods can be stacked on the goods, and the goods can be fast and the high enough and the high stability.
Example two
In order to solve the technical problem of how to rapidly store and fetch the goods in the middle layer of the warehouse goods shelf, as shown in fig. 5-10 and 12, the following preferred technical scheme is provided:
the upper surface both sides of main adsorption plate 71 have all been seted up side position groove 713, main adsorption plate 71 is connected with supplementary pushing mechanism 8 through side position groove 713, supplementary pushing mechanism 8 is including setting up the accessory plate 81 at main adsorption plate 71 both ends, set up external piece 82 in accessory plate 81 one side, and set up the thrust plate 84 on the surface of accessory plate 81, external piece 82 card is established in side position groove 713 inside, the heavy groove 811 has been seted up on the surface of accessory plate 81, the inside of heavy groove 811 is provided with electric putter E85, electric putter E85's one end is connected with thrust plate 84, T type groove 83 has been seted up to external piece 82's surface, T type groove 83 inside is provided with T type piece and lifter, the one end and the T type piece of lifter are connected with T type piece, T type piece and accessory plate 81 fixed connection, through the expansion and contraction of lifter, make T type piece drive accessory plate 81 reciprocate along T type groove 83, through the expansion and contraction of electric putter E85, can release thrust plate 84 from groove 811 with, thrust plate 81 in the heavy in the process, thrust plate 84 and accessory plate 84 are in the distance measuring device's the distance measuring and carrier 74, the load is in the two sides of the sensor 74 a pair of absorber and the side of the absorber, when the load and the accessory plate are located at two sides of the absorber 74A, and the absorber is fixed to the two sides of the absorber 74.
The side slot 711 has been seted up to one side of main adsorption plate 71, the inside in side slot 711 is provided with electric putter F712, swing joint has bottom support mechanism A in the side slot 711, bottom support mechanism A is including setting up the border piece A1 in side slot 711 inside, lower pole A2 of setting in border piece A1 one side, electromechanical case A3 on the lower pole A2 surface, set up the rotation motor A4 in electromechanical case A3 inside, and the bottom support plate A5 of setting in lower pole A2 lower extreme, the output of rotation motor A4 is provided with the reinforcing swivelling lever, reinforcing swivelling lever and bottom support plate A5 fixed connection, electric putter F712's one end is connected with border piece A1, along with electric putter F712's flexible, make border piece A1 drive bottom support plate A5 along the side slot 711 orientation, rotation motor A4 makes bottom support plate A5 rotate through the reinforcing swivelling lever, lower pole A2 and bottom support plate A5 are provided with two sets of, the bottom support plate A5 of two sets provides holding power for the goods.
The outer surface of the bottom supporting plate A5 is provided with a mounting groove A51, a rotating roller A6 is arranged in the mounting groove A51 in a rotating mode, one side of the bottom supporting plate A5 is provided with a cylinder A52, the upper surface of the main adsorption plate 71 is fixedly provided with a bedplate A8, the upper end of the bedplate A8 is provided with a storage power supply A81, the lower end of the bedplate A8 is provided with an electric push rod GA82, the lower end of the electric push rod GA82 is provided with an electromagnetic column A83, the electric push rod GA82 and the cylinder A52 are arranged in the same vertical plane and correspond to each other, the electromagnetic column A83 is electrically connected with the storage power supply A81, the electromagnetic column A83 is attached with magnetism through the storage power supply A81, and when the electromagnetic column A83 is provided with magnetism, the electromagnetic column A83 is magnetically connected with the cylinder A52.
The outer surface of the lower connecting rod A2 is provided with a lower connecting groove A21, a lower connecting block A22 is connected inside the lower connecting groove A21 in a sliding manner, a lifting rod is further arranged in the lower connecting groove A21, one end of the lifting rod is connected with the lower connecting block A22, the outer surface of the lower connecting block A22 is fixedly provided with a storage box A7, the inside of the storage box A7 is provided with an electric push rod HA71, one end of the electric push rod HA71 is provided with an auxiliary sucker A72, an auxiliary air pump is arranged inside the storage box A7, one end of the auxiliary air pump is provided with an extension hose A73, one end of the extension hose A73 is connected with the auxiliary sucker A72, the storage box A7 moves up and down along the lower connecting groove A21 through the lifting rod, the auxiliary sucker A72 is enabled to absorb goods in vacuum through the auxiliary air pump, and goods are pulled and are achieved by means of expansion and contraction of the electric push rod HA 71.
Specifically, when the goods to be stored and taken out are middle layers of the goods shelves in the vertical warehouse, according to the design of the vertical warehouse, each layer of spacing of the goods shelves is different, if one manipulator is used, the problem that the manipulator does not extend into the space between the goods shelves exists, the main adsorption mechanism 7 is integrally positioned at a proper position through the rotation of the motor A65 and the motor B67, the goods are fixed through the electric push rod HA71 and the auxiliary sucker A72, the electric push rod HA71 is retracted, the goods can be pulled out from the goods shelves, when the goods are pulled out to the position right above the bottom supporting plate A5, the electric push rod C93 stretches, the two groups of inner clamping plates 92 are mutually close to clamp the goods, so that the goods can be taken out, the goods can be selectively placed on the ground, the bottom supporting plate A5 can be contacted with the ground, the clamping plate 9 moves upwards, the goods fall onto the bottom supporting plate A5, one group of auxiliary plates 81 are opposite to the goods, the other group of auxiliary plates 81 move upwards, the goods are pushed down from the bottom supporting plate A5 by the pushing plate 84, the rotation of the rotating roller A6 can accelerate the movement of the goods, when the goods are required to be placed on the goods shelf, when the goods are different from the uppermost goods shelf, the middle goods shelf cannot be directly put down from the position right above the goods shelf, at the moment, the whole adsorbing mechanism 7 is rotated to enable the narrow side of the main adsorbing plate 71 to be opposite to the goods shelf, one side of the bottom supporting plate A5 is close to the surface of the goods shelf, at the moment, the adsorbing plate 71 is inserted between the goods shelf intervals, the auxiliary pushing mechanism 8 and the clamping plate 9 close to the goods shelf are moved upwards to provide a goods outlet, and the clamping plate 9 of the other group is also moved upwards, at the moment, the goods are pushed up from the bottom supporting plate A5 to the goods shelf by the pushing plate 84 to finish the storage of the goods, at the moment, when the goods are full of the goods shelf, the goods can not be adsorbed and fixed by the extending electric pushing rod HA71 and the auxiliary sucking disc A72, then the clamping plate 9 is used for fixing the goods, so that the goods can be taken out quickly when the goods are full.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should be covered by the protection scope of the present invention by making equivalents and modifications to the technical solution and the inventive concept thereof.
Claims (7)
1. The utility model provides an immediately, intelligent manipulator is taken in inventory, includes support column (1), sets up adjustment mechanism (2) in support column (1) upper end, sets up concave clamp pipe (3) in adjustment mechanism (2) upper end to and set up power arm subassembly (4) inside concave groove of concave clamp pipe (3), its characterized in that: one end of the power arm assembly (4) is provided with a swinging mechanism (6) for adjusting the storage and taking direction, and one end of the swinging mechanism (6) is provided with a main adsorption mechanism (7) for clamping cargoes;
the main adsorption mechanism (7) comprises a main adsorption plate (71) arranged at one end of the swing mechanism (6), a base plate (72) and a main air pump (79) which are arranged on the upper surface of the main adsorption plate (71), a ranging sensor A (74) and a ranging sensor B (75) which are arranged on the lower bottom surface of the main adsorption plate (71), and a main suction cup (78) which is arranged on the lower bottom surface of the main adsorption plate (71), wherein one end of the main air pump (79) is provided with a connecting hose, one end of the connecting hose penetrates through the main adsorption plate (71) to be connected with the main suction cup (78), one side of the main adsorption plate (71) is provided with a sliding groove (715), the inside of the sliding groove (715) is provided with a sliding block (76) and an electric push rod A (77), one side of the sliding block (76) is provided with a caulking groove, a lifting rod is arranged in the caulking groove, and the sliding block (76) is connected with the main suction cup (78) through the lifting rod;
a side groove (711) is formed in one side of the main adsorption plate (71), an electric push rod F (712) is arranged in the side groove (711), a bottom support mechanism (A) is movably connected in the side groove (711), the bottom support mechanism (A) comprises a side block (A1) arranged in the side groove (711), a lower connecting rod (A2) arranged on one side of the side block (A1), an electromechanical box (A3) arranged on the outer surface of the lower connecting rod (A2), a rotating motor (A4) arranged in the electromechanical box (A3) and a bottom support plate (A5) arranged at the lower end of the lower connecting rod (A2), and a reinforcing rotating rod is arranged at the output end of the rotating motor (A4) and fixedly connected with the bottom support plate (A5);
the outer surface of the bottom supporting plate (A5) is provided with a mounting groove (A51), a rotating roller (A6) is arranged in the mounting groove (A51) in a rotating way, one side of the bottom supporting plate (A5) is provided with a cylinder (A52), the upper surface of the main adsorption plate (71) is fixedly provided with a bedplate (A8), the upper end of the bedplate (A8) is provided with a storage power supply (A81), the lower end of the bedplate (A8) is provided with an electric push rod G (A82), the lower end of the electric push rod G (A82) is provided with an electromagnetic column (A83), and the electric push rod G (A82) and the cylinder (A52) are arranged in the same vertical plane and correspond to each other;
connect groove (A21) under having seted up on the surface of lower extension rod (A2), connect groove (A21) inside sliding connection under connect piece (A22) under, still be provided with the lifter in connect groove (A21) under, the one end of lifter is connected with connect piece (A22) under, fixed mounting has containing box (A7) on the surface of lower connect piece (A22), the inside of containing box (A7) is provided with electric putter H (A71), electric putter H (A71) one end is provided with auxiliary suction cup (A72), the inside of containing box (A7) is equipped with auxiliary air pump, the one end of auxiliary air pump is equipped with extension hose (A73), the one end of extension hose (A73) is connected with auxiliary suction cup (A72).
2. An intelligent robot for taking up inventory as in claim 1, wherein: a penetrating groove (714) is formed in the outer surface of the main adsorption plate (71), a clamping plate (9) is arranged in the penetrating groove (714), an electric push rod B (73) is fixedly arranged on the upper surface of the main adsorption plate (71), a connecting side rod (731) is arranged on one side of the electric push rod B (73), one end of the connecting side rod (731) is connected with the clamping plate (9), two groups of distance measuring sensors A (74) and B (75) are arranged between the penetrating grooves (714), a built-in groove (91) is formed in the outer surface of the clamping plate (9), an electric push rod C (93) and an inner clamping plate (92) are arranged in the built-in groove (91), and one end of the electric push rod C (93) is connected with the inner clamping plate (92).
3. An intelligent robot for taking up inventory as in claim 2, wherein: the adjusting mechanism (2) comprises a rotating seat (21) arranged at the upper end of the supporting upright post (1), a hydraulic pushing rod (22) arranged on the upper surface of the rotating seat (21), the upper surface of the rotating seat (21) is connected with the concave clamping pipe (3), and one end of the hydraulic pushing rod (22) is connected with the power arm assembly (4).
4. An intelligent robot for taking up inventory as in claim 3, wherein: the power arm assembly (4) comprises a main connecting plate (41) arranged inside the concave clamping pipe (3), a rotating rod (43) penetrating through the main connecting plate (41) and an external connecting plate (42) arranged at one end of the main connecting plate (41), wherein two ends of the rotating rod (43) are rotationally connected with the inner wall of the concave groove of the concave clamping pipe (3), and one end of the external connecting plate (42) is connected with the swinging mechanism (6).
5. An intelligent robot for taking up inventory as in claim 4, wherein: the swing mechanism (6) comprises a swing block (63) arranged at one end of the external connection plate (42), a motor A (65) arranged at the upper end of the swing block (63), an electric push rod D (64) arranged at the output end of the motor A (65), and a swing rod (66) arranged at one end of the electric push rod D (64), wherein a motor B (67) is arranged on the upper surface of one end of the swing rod (66), the output end of the motor B (67) is connected with a straight arm rod (61), and a camera (62) is arranged on the outer surface of the straight arm rod (61).
6. An intelligent robot for taking up inventory as in claim 5, wherein: the upper surface both sides of main adsorption plate (71) have all been seted up side position groove (713), main adsorption plate (71) are connected with supplementary pushing mechanism (8) through side position groove (713), supplementary pushing mechanism (8) are including setting up auxiliary plate (81) at main adsorption plate (71) both ends, external piece (82) of setting in auxiliary plate (81) one side, and push plate (84) of setting on auxiliary plate (81) surface, external piece (82) card is established inside side position groove (713), sinking groove (811) have been seted up on the surface of auxiliary plate (81), the inside of sinking groove (811) is provided with electric putter E (85), the one end and the push plate (84) of electric putter E (85) are connected, T type groove (83) have been seted up to the surface of external piece (82), T type groove (83) inside is provided with T type piece and lifter, the one end and the T type piece of lifter are connected, T type piece and auxiliary plate (81) fixed connection.
7. The intelligent robot for taking inventory as in claim 6, wherein: the outer surface of the support upright post (1) is fixedly provided with a control part (5), the inside of the control part (5) is provided with a central control module (51), one side of the central control module (51) is connected with a display module (52) in a signal mode, the display module (52) is connected with a camera (62) in a signal mode, an electromechanical control module (53) is further arranged in the control part (5), one side of the electromechanical control module (53) is connected with a deviation rectifying module (54), the deviation rectifying module (54) is connected with a ranging sensor A (74) and a ranging sensor B (75) in a signal mode, and the two groups of stretching out amounts of the pushing plate (84) are measured through the ranging sensor A (74) and the ranging sensor B (75) respectively.
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| CN202310850620.3A CN116835193B (en) | 2023-07-12 | 2023-07-12 | Intelligent manipulator for taking up stock |
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| CN202310850620.3A CN116835193B (en) | 2023-07-12 | 2023-07-12 | Intelligent manipulator for taking up stock |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117104881B (en) * | 2023-10-25 | 2024-01-23 | 江苏汉印机电科技股份有限公司 | Chip module encapsulation spouts seal with material loading manipulator |
| CN117533689B (en) * | 2024-01-09 | 2024-03-22 | 山西怡顺行冷链物流有限公司 | Box-type cargo stacking device for cold chain logistics storage |
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