CN117508954A - An automated library and system for accessing node instruments - Google Patents
An automated library and system for accessing node instruments Download PDFInfo
- Publication number
- CN117508954A CN117508954A CN202210909695.XA CN202210909695A CN117508954A CN 117508954 A CN117508954 A CN 117508954A CN 202210909695 A CN202210909695 A CN 202210909695A CN 117508954 A CN117508954 A CN 117508954A
- Authority
- CN
- China
- Prior art keywords
- truss
- node
- tray
- manipulator
- beams
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The application provides an automated material warehouse and system of access node instrument, include: the device comprises a joint buffer mechanism, a truss manipulator and a material warehouse which are assembled in sequence; the node caching mechanism comprises a first installation truss and a first power device fixedly arranged on the first installation truss, wherein the first power device is provided with a tray for accommodating node instruments; the truss manipulator comprises a second installation truss and a second power device fixedly arranged on the second installation truss, and the second power device is provided with a manipulator assembly; the automatic material warehouse provided by the invention replaces manual work to realize the functions of automatically storing, warehousing and ex-warehouse of the node instrument, and reduces the labor intensity of staff.
Description
Technical Field
The present application relates to the field of seismic exploration, and in particular, to an automated library and system for accessing node instruments.
Background
In the field of oil or gas exploration, node instrumentation has been widely used for the acquisition of seismic data. The node instrument is required to be taken out of a storehouse and laid in the field or taken out from a laying point and put back into the storehouse in the use process. In the face of a huge number of node instruments, workers are unavoidably careless and careless to maintain each node instrument. To achieve standardized management of a large number of node instruments requires the addition of hands and equipment, adding additional cost.
Therefore, the node instruments are still laid and recycled by workers in field construction operation at present, and the node instruments are usually piled in a warehouse and transported to a layout point in use, or piled on a transport vehicle after being taken out from the layout point and transported back to the warehouse for piling. The staff handles a large amount of node instruments, and intensity of labour is big, and the operating efficiency is low, and the demand of continuously rising to node instruments in the exploration is faced, is necessary to put forward a node instrument access arrangement who realizes automated storage, warehouse entry and play storehouse function.
Disclosure of Invention
Aiming at the problems, the invention provides an automatic stock warehouse for accessing node instruments, which replaces manual work to realize the functions of automatic storage, warehouse entry and warehouse exit of the node instruments, and reduces the labor intensity of staff.
The technical scheme of the invention is as follows:
an automated library for accessing node instruments, comprising: the device comprises a joint buffer mechanism, a truss manipulator and a material warehouse which are assembled in sequence; wherein,
the node caching mechanism comprises a first installation truss and a first power device fixedly arranged on the first installation truss, wherein the first power device is provided with a tray for accommodating node instruments and is used for driving the tray to move towards the truss manipulator;
The truss manipulator comprises a second installation truss and a second power device fixedly arranged on the second installation truss, the second power device is provided with a manipulator assembly, and the second power device is used for driving the manipulator assembly to move up and down along the height direction of the material warehouse; the manipulator assembly is used for transferring the node instrument between the stock bin and the tray when the manipulator assembly moves up and down;
the material warehouse comprises a third installation truss and a plurality of third power devices fixedly arranged on the third installation truss, wherein each third power device is provided with a material tray for storing the node instrument, the third power devices are used for driving the material tray to move to a designated position in the material warehouse along the depth direction of the material warehouse, and when the manipulator assembly moves up and down, the manipulator assembly moves the node instrument into and out of the material tray at the designated position.
Optionally, the third installation truss comprises a supporting frame and a plurality of groups of installation beams which are installed at intervals in the height direction of the supporting frame, each group of installation beams consists of two beams which are arranged in parallel relatively, and the two beams are respectively positioned on the opposite side walls of the supporting frame;
The plurality of third power devices are fixedly arranged on the plurality of groups of mounting cross beams in a one-to-one correspondence manner.
Optionally, the first mounting truss comprises two crossbeams which are relatively arranged in parallel, and the first power device comprises a first driving motor, two first chains, two first chain wheels and two first tail wheels; wherein,
the output shaft of the first driving motor horizontally penetrates through the same ends of the two cross beams, the inner sides of one ends of the two cross beams penetrating through the output shaft are respectively provided with the first chain wheels, the inner sides of one ends of the two cross beams far away from the output shaft are respectively provided with the first tail wheels, and the two first chains are respectively meshed with the first chain wheels and the first tail wheels which are positioned on the same cross beam;
wherein two ends of the tray are respectively and fixedly connected to the two first chains.
Optionally, the second installation truss comprises two vertical beams which are arranged relatively in parallel, and the second power device comprises a second driving motor, two second chains, two second chain wheels and two second tail wheels; wherein,
the output shafts of the second driving motors penetrate through the top ends of the two vertical beams, the second chain wheels are respectively sleeved on the inner sides of the top ends close to the two vertical beams, the second tail wheels are respectively mounted at the bottom ends of the two vertical beams, and the two second chains are respectively meshed with the second chain wheels and the second tail wheels on the same vertical beam;
The two ends of the manipulator assembly are respectively fixed on the two second chains.
Optionally, the manipulator assembly further comprises:
the two ends of the fourth installation truss are respectively connected to the two second chains so as to move up and down along the transmission direction of the second chains;
the mounting plate is arranged on one side of the fourth mounting truss, facing the node buffer structure, and is used for mounting and supporting a fourth power device;
the fourth power device comprises a fourth driving motor, a fourth chain wheel and a fourth tail wheel; the output shaft of the fourth driving motor penetrates through the fourth sprocket, and the fourth chain is meshed with the fourth sprocket and the fourth tail wheel;
and the manipulator is fixedly connected to the fourth chain and used for moving along the depth direction of the material warehouse under the drive of the fourth power device.
Optionally, the manipulator comprises a fifth driving motor, a clamping mechanism and clamping jaws which are sequentially connected from front to back along the depth direction of the warehouse; wherein,
The clamping mechanism comprises a compression spring;
the fifth driving motor is arranged at the bottom of the mounting plate and is connected with the clamping jaw through the compression spring;
the clamping jaw comprises a plurality of groups of clamping plates, each group of clamping plates consists of two oppositely arranged panels, a compression spring is arranged between the two oppositely arranged panels, and the fifth driving motor controls the length of the compression spring to enable the two panels of each group to be close to or far away from each other.
Optionally, the method further comprises:
the two supporting transverse plates are respectively connected to the two vertical beams to form a T-shaped structure, and sliding rails are embedded on the outer surfaces of the supporting transverse plates;
and the two sliding plates are connected with the fourth installation truss and are used for enabling the fourth installation truss to slide up and down simultaneously when the fourth installation truss moves up and down along with the second chain.
Optionally, each third power device comprises a third driving motor, two third chains, two third sprockets and two third tail wheels; wherein,
the output shaft of the third driving motor horizontally penetrates through the same ends of the two cross beams, the inner sides of one ends of the two cross beams penetrating through the output shaft are respectively sleeved with the third chain wheels, the inner sides of one ends far away from the output shaft are respectively provided with the third tail wheels, and the two third chains are respectively meshed with the third chain wheels and the third tail wheels which are positioned on the same cross beam;
Wherein two ends of the material tray are respectively and fixedly connected to the two third chains.
Optionally, the method further comprises:
the base is fixedly provided with the node buffer mechanism, the truss manipulator and the material warehouse through a plurality of first fasteners, and the base can be detachably connected to the workbench through a plurality of second fasteners.
The invention also provides an automatic material library system for accessing the node instrument, which comprises a coding system, wherein the coding system comprises a plurality of groups of coding instructions arranged on the material library, the coding system controls the material library to be in a target working state corresponding to the target coding instructions, and the target working state is used for controlling the material tray to move to a target position.
Compared with the prior art, the application has the following advantages:
the invention provides an automatic material warehouse for accessing node instruments, which comprises the following components: the device comprises a joint buffer mechanism, a truss manipulator and a material warehouse which are assembled in sequence; the node caching mechanism comprises a first installation truss and a first power device fixedly arranged on the first installation truss, wherein the first power device is provided with a tray for accommodating node instruments, and the first power device is used for driving the tray to move towards the truss manipulator; the truss manipulator comprises a second installation truss and a second power device fixedly arranged on the second installation truss, the second power device is provided with a manipulator assembly, and the second power device is used for driving the manipulator assembly to move up and down along the height direction of the material warehouse; the manipulator assembly is used for transferring the node instrument between the stock bin and the tray when the manipulator assembly moves up and down; the material warehouse comprises a third installation truss and a plurality of third power devices fixedly arranged on the third installation truss, each third power device is provided with a material tray for storing node instruments, the third power devices are used for driving the material trays to move to a designated position in the material warehouse along the depth direction of the material warehouse, and when the manipulator assembly moves up and down, the manipulator assembly moves the node instruments in and out of the material trays positioned at the designated position.
According to the node buffer mechanism, the truss manipulator and the material warehouse which are matched with each other, wherein the node buffer mechanism is provided with the tray, a worker can orderly place a plurality of recovered node instruments into the tray, the tray provided with the node instruments is driven by the first power device to move to the position of the truss manipulator, the node instruments which move nearby are taken out from the tray by the manipulator component of the truss manipulator, and the node instruments are moved to the position of the material warehouse corresponding to the height by the second power device to be put down, so that the node instruments are transferred into the material warehouse from the tray, and the warehousing and storage functions of the node instruments are completed; the node instrument is transferred into the tray from the material warehouse by controlling the inversion of the first power device and the second power device, and the node caching mechanism is reversely far away from the truss manipulator to move the node instrument to the front of a worker, so that the function of delivering the node instrument out of the warehouse is completed. Through setting up the charging tray in the magazine, in truss manipulator can shift the node instrument in the tray to the charging tray, make node instrument whole process all neatly arrange in order, automatic realization is managed the planning scope of a large amount of node instruments, lightens staff's intensity of labour to improve the efficiency of field construction.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the description of the present application will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic diagram of the overall architecture of an automated library for access node instruments described herein;
FIG. 2 is a schematic view of a material warehouse according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a structure of a node cache mechanism according to another embodiment of the present application;
FIG. 4 is a schematic view of a truss manipulator according to yet another embodiment of the present disclosure;
fig. 5 is a schematic view of the overall structure of a base according to another embodiment of the present application.
Reference numerals illustrate:
1. a node caching mechanism; 2. truss manipulator; 3. a material warehouse; 4. a base; 5. a first driving motor; 6. a first chain; 7. a tray; 8. an output shaft of the first drive motor; 9. a tensioning structure; 10. a cross beam; 11. a second driving motor; 12. a second chain; 13. a supporting cross plate; 14. a fourth mounting truss; 15. an output shaft of the fourth driving motor; 16. a fourth driving motor; 17. a mounting plate; 18. a clamping jaw; 19. a support frame; 20. a third driving motor; 21. an output shaft of the third driving motor; 22. a third chain; 23. a material tray; 24. a baffle; 25. a control cabinet; 26. mounting a cross beam; 27. bolt holes; 28. a wire inserting groove; 29. a strip-shaped convex beam; 30. a special-shaped trapezoid convex beam; 31. lifting lugs; 32. an I-beam.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Embodiment one:
referring to fig. 1, fig. 1 is a schematic diagram illustrating the overall structure of an automated warehouse of an access node apparatus according to the present invention.
It is an object of the present invention to provide an automated magazine for access node instruments, comprising: the device comprises a joint buffer mechanism 1, a truss manipulator 2 and a material warehouse 3 which are assembled in a sequential mode; wherein,
the node buffer mechanism 1 comprises a first installation truss and a first power device fixedly arranged on the first installation truss, wherein the first power device is provided with a tray 7 for accommodating node instruments, and the first power device is used for driving the tray 7 to move towards the truss manipulator 2;
the truss manipulator 2 comprises a second installation truss and a second power device fixedly arranged on the second installation truss, wherein the second power device is provided with a manipulator assembly and is used for driving the manipulator assembly to move up and down along the height direction of the material warehouse 3; the manipulator assembly is used for transferring the node instrument between the magazine 3 and the tray 7 when the manipulator assembly moves up and down;
The material warehouse 3 comprises a third installation truss and a plurality of third power devices fixedly arranged on the third installation truss, wherein each third power device is provided with a material tray 23 for storing the node instrument, the third power devices are used for driving the material tray 23 to move to a designated position in the material warehouse 3 along the depth direction of the material warehouse 3, and when the manipulator assembly moves up and down, the manipulator assembly moves the node instrument in and out of the material tray 23 at the designated position.
Specifically, the automated warehouse is a structure formed by abutting a node buffer mechanism 1, a truss manipulator 2 and a warehouse 3 along the same direction, the node buffer structure, the truss manipulator 2 and the warehouse 3 are sequentially arranged from front to back by taking an X axis of a space coordinate system as a reference direction and taking a direction opposite to a human body as a front direction, and the node buffer structure, the truss manipulator 2 and the warehouse 3 are sequentially arranged from right to left by taking a Y axis of the space coordinate system as a reference direction and taking a direction opposite to the human body as a right direction. The present application will be fully and specifically described below by taking the X-axis as the front-back direction, the Y-axis as the left-right direction, and the Z-axis as the up-down direction as examples.
The node buffer mechanism 1 is a transport mechanism for completing the functions of delivering and warehousing of the node instruments, the truss manipulator 2 is an executing mechanism for completing the functions of delivering and warehousing of the node instruments, and the material warehouse 3 is a containing mechanism for completing the storage function of the node instruments. The node caching mechanism 1 conveys the node instrument to the truss manipulator 2, the truss manipulator 2 performs node instrument transfer between the material warehouse 3 and the node caching mechanism 1 in a clamping and loosening mode, and the material warehouse 3 receives the node instrument moved in from the node caching mechanism 1.
In this embodiment, the node buffer mechanism 1 is located below the truss manipulator 2, and the height of the first installation truss is smaller than the height of the truss manipulator 2, preferably, the height of the first installation truss is the height close to the height of the manipulator assembly when the truss manipulator 2 moves down to the bottom, so that redundant parts are reduced on the premise that the manipulator assembly transfers the node instrument, and the ornamental value and the flexibility of the device are enhanced.
Specifically, the first mounting truss is a support beam formed by mechanically connecting rods, which can support a first power device, and the first power device can be an electric system for providing driving force, and the driving force provided by the electric system can enable the tray 7 to move backwards to the truss manipulator 2. Because the node instrument belongs to a precise medium-small device, the power source of the electric system can be a speed reducing motor, a servo motor, a stepping motor or other direct current motors. The tray 7 refers to a hole groove having a shape and a size to accommodate the node instrument, wherein the shape and the size of the hole groove can be matched with the shape and the size of the bottom of the housing of the node instrument to stably accommodate the node instrument in an embedded manner in the tray 7.
Wherein the width of the tray 7 is slightly larger than the width of the slot, and the length of the tray 7 can be slightly smaller than the length of the truss manipulator 2, so as to form the strip tray 7. The strip tray 7 which is close to the width of the hole groove occupies small space, and has light overall weight and simple appearance. A plurality of holes and grooves can be formed at intervals along the length direction of the tray 7, so that when one-time warehouse-in operation of the tray 7 is completed, one tray 7 can transport a plurality of node instruments, meanwhile, the length of the truss manipulator 2 is slightly longer than that of the tray 7, and the node instruments in the tray 7 positioned at the inner side of the truss manipulator 2 can be integrally transferred to complete warehouse-in of a plurality of nodes. Of course, the first power device may be provided with a plurality of trays 7, and when the plurality of trays 7 move along the truss manipulator 2 at the rear, and when the truss manipulator 2 performs the second storage after completing the one-time storage operation of one tray 7, the second tray 7 may just move to the vicinity of the truss manipulator 2 during that time. According to the warehouse-in speed of the truss manipulator 2 and the movement speed of the trays 7, a plurality of trays 7 with specific distances can be configured by using the time for completing one warehouse-in of the truss manipulator 2, and the number of the trays 7 is not limited in the application.
Specifically, the second installation truss is a supporting beam which can support the second power device and is formed by mechanically connecting rods, and the second power device and the first power device can be arranged in the same way. The second mounting truss is close to or flush with the height of the magazine 3 so that the second power means moves up and down relative to the magazine 3 as the second mounting truss moves up and down. Wherein the manipulator assembly is a structure that reciprocates between the magazine 3 and the tray 7 by rotating or moving the manipulator and implements gripping or lowering of the node instrument. Specifically, the structure of the manipulator assembly can be a gear transmission structure that a hydraulic cylinder drives a gear to complete opening and closing of the manipulator, or a crank structure that a hydraulic cylinder drives a connecting rod to complete opening and closing of the manipulator, or a hinge structure that a motor drives a piston to complete opening and closing of the manipulator, etc. The manipulator may be configured as a gripper arm having jaws that when closed secure the node instrument. The manipulator assembly achieves the transfer of the node instruments between the tray 7 and the material warehouse 3 in a one-by-one manner, for example, after the manipulator assembly clamps the node instruments, the manipulator assembly finishes the delivery of the node instruments when the node instruments are placed in the tray 7, and finishes the warehousing of the node instruments when the node instruments are placed in the material warehouse 3.
Specifically, the magazine 3 is a box-type structure having a large accommodation space, and may be a dome-type house structure or the like. The tray 23 is a storage tray structure for accommodating node instruments, and may be provided with a plurality of holes and slots in the tray 23, the holes and slots being the same as the tray 7. In this embodiment, the manipulator assembly transfers the node apparatus between the tray 23 and the tray 7, and after the node apparatus clamped in the tray 7 is put into the tray 23, the manipulator assembly completes one-time warehouse entry, and during the second warehouse entry, the node apparatus clamped in the tray 7 can be continuously put into the hole slots not yet filled in the tray 23, so that the node apparatuses are all stored in order.
Further, the magazine 3 is a box structure with multiple layers of accommodating spaces, each layer is the same structure with the trays 23, and multiple layers of trays 23 can be filled in a circulating manner when one layer of trays 23 is filled up through multiple warehouse-in.
Example two
When the device transfers the node instruments between the material tray 23 and the tray 7, the material warehouse 3 can be a mechanical box structure, and the movement of the truss manipulator 2 is used for completing the warehouse-in and warehouse-out of a plurality of node instruments. The magazine 3 therefore needs to reserve space for the movement of the robot assembly. Based on this, the present application improves the magazine 3, completing the automated storage function of the magazine 3.
Referring to fig. 2, fig. 2 is a schematic diagram of a magazine according to the present invention.
The material warehouse 3 comprises a third installation truss and a plurality of third power devices fixedly arranged on the third installation truss, wherein the third power devices are used for driving the material trays 23 to move to a designated position in the material warehouse 3 along the depth direction of the material warehouse 3; wherein,
the third installation truss comprises a support frame 19 and a plurality of groups of installation beams 26 which are installed at intervals in the height direction of the support frame 19, each group of installation beams 26 consists of two beams 10 which are arranged in parallel relatively, and the two beams 10 are respectively positioned on the opposite side walls of the support frame 19;
the third power devices are fixedly arranged on a plurality of groups of the mounting cross beams 26 in a one-to-one correspondence.
Specifically, the third installation truss is a supporting beam which can support the third power device and is formed by mechanically connecting rods, and the third power device and the first power device can be arranged in the same way. The material warehouse 3 is a box type structure with a plurality of layers of accommodating spaces, and the supporting frame 19 forms a square frame-shaped shell and is used for supporting the plurality of layers of accommodating spaces. The plurality of groups of mounting cross beams 26 are fixedly mounted on the upper and lower directions of the support frame 19 by a connecting structure, and two opposite cross beams 10 of each group of mounting cross beams 26 are respectively fixedly mounted on the left and right sides of the support frame 19 by a connecting structure. The connecting structure comprises, but is not limited to, threaded piece connection, bolt connection, clamping connection, welding and mortise and tenon embedding.
In this embodiment, the plurality of sets of mounting beams 26 are mounted at specific distance intervals, and the distance between two adjacent sets of mounting beams 26 is the height difference between the two sets, so that the height difference should be satisfied that the node instrument is not blocked from being placed vertically and stably in each set of mounting beams 26. The receiving space formed between the inner side walls of the two opposite beams 10 in each set of mounting beams 26 is used for accommodating the tray 23 to store the node instrument, and the distance between the two opposite beams 10 is the length of the receiving space or the length of the supporting frame 19. The length of the accommodating space is nearly equal to that of the tray 7, so that the holes and grooves of the tray 7 are in one-to-one correspondence with Kong Caoxing of the tray 23, and the manipulator assembly can finish the transfer of node instruments in the whole tray 7 at one time in a single warehouse-in action.
The multiple groups of mounting beams 26 are fixed with multiple third power devices one by one, one third power device is fixed for each group of mounting beams 26, and the multiple independent third power devices respectively drive the trays 23 on each group of mounting beams 26 to move. In which the tray 23 is moved in a cyclic manner in the depth direction of the magazine 3, that is to say from front to back to the rearmost of the magazine 3 and folded back in order to move from back to front to the foremost of the magazine 3. When the tray 23 is moved to the designated position. The tray 23 in the application can move to the forefront of the material warehouse 3, is matched with the truss manipulator 2 assembled in the proper position, and can realize the automatic storage function of the tray 23 without reserving the space of the truss manipulator 2 in the material warehouse 3.
Preferably, the tray 23 is formed by orderly arranging a plurality of trays 7 at intervals, and the intervals can be arbitrarily selected. In the present embodiment, the manipulator assembly transfers the node instrument between the tray 23 and the tray 7, one tray 7 in the tray 23 moves to the forefront under the drive of the third power device, and the node instrument clamped by the manipulator from the tray 7 in the node caching mechanism 1 is placed in the forefront tray 7, so that one-time warehouse-in work is completed. In the second warehouse entry, the tray 7 positioned at the forefront moves from front to back, and at the same time, the other tray 7 in the material tray 23 moves to the forefront in the moving direction, and the node instrument clamped by the manipulator from the tray 7 in the node caching mechanism 1 is placed in the other tray 7 positioned at the forefront.
The present embodiment is used to illustrate that each independent third power device of the present invention drives the trays 23 on each set of mounting beams 26 to move, and the automatic storage function of the trays 23 can be further achieved by the following technical measures;
each third power device comprises a third driving motor 20, two third chains 22, two third chain wheels and two third tail wheels; the output shaft 21 of the third driving motor horizontally penetrates through the same ends of the two cross beams 10, the inner sides of one ends of the two cross beams 10 penetrating through the output shaft are respectively sleeved with the third chain wheels, the inner sides of one ends far away from the output shaft are respectively provided with the third tail wheels, and the two third chains 22 are respectively meshed with the third chain wheels and the third tail wheels which are positioned on the same cross beam 10; wherein both ends of the tray 23 are fixedly connected to the two third chains 22, respectively.
Specifically, the third driving motor 20 is a gear motor, is located at one end of each set of the mounting beams 26, may be the left end or the right end of the mounting beam 26, and is located at the left end of the front side of the mounting beam 26. The output shaft 21 of the third driving motor penetrates the mounting cross member 26 horizontally, which means that the output motor penetrates the opposite two cross members 10 of the mounting cross member 26 from left to right, so that the output shaft is positioned at the front end in the accommodation space formed by the inner side walls of the opposite two cross members 10. Through setting up the third sprocket respectively in the front end of two crossbeams 10, set up the third tailwheel respectively in the rear end of two crossbeams 10, both ends all have third sprocket and third tailwheel around arbitrary crossbeam 10 promptly, and third driving motor's output shaft 21 is embedded in the third sprocket of the front end of two crossbeams 10, drives the rotation of third sprocket.
The third chain wheels and the third tail wheels which are positioned on the same cross beam 10 are connected in a transmission way through the third chain 22, so that a structure with the front and rear transmission of the chains is formed at the left end and the right end of the mounting cross beam 26, the left end and the right end of the material tray 23 are respectively overlapped on the left third chain 22 and the right third chain 22, and when the two third chains 22 move along the depth direction of the material warehouse 3, the material tray 23 is driven to automatically move to the forefront of the material warehouse 3.
It will be appreciated that the support frame 19 may be a plurality of support frames arranged in parallel to support multiple sets of mounting beams 26. A third driving motor 20 is fixed on one side of the mounting beam 26, a supporting frame 19 may be disposed at a position where the projection plane intersects with the projection plane of the third driving motor 20, and when the third driving motor 20 is fixed on the supporting frame 19 along with the mounting beam 26, a plurality of fixing blocks may be disposed on an outer wall of the supporting frame 19 to fix the third driving motor 20. The top-most mounting beam 26 is provided with a baffle 24, the baffle 24 being securable to the support frame 19 to protect the device from operation in a safe environment.
For example, fig. 1 and 2 show a four-layer box structure formed by four groups of mounting beams 26 mounted on the supporting beam 10 at intervals, four-layer accommodating spaces are formed by inner side walls of two opposite beams 10 of the four groups of mounting beams 26, third power driving motors are fixed at front ends of beams 10 at left ends of the four groups of mounting beams 26, third chain wheels are arranged at front ends of inner side wall surfaces of the two beams 10, third tail wheels are arranged at rear ends of the inner side wall surfaces of the two beams, two third chains 22 are respectively meshed with the third chain wheels and the third tail wheels of the same beam 10 to form a structure with front-rear transmission of the chains, two ends of a plurality of trays 7 are overlapped on the two third chains 22 to form an array-type formation structure, and a total of four third driving motors 20 respectively drive any tray 7 in the four-layer accommodating spaces to move to the forefront of the material warehouse 3.
Example III
The embodiment is used for explaining the automatic warehouse-in and warehouse-out functions of the node cache mechanism 1. Referring to fig. 3, fig. 3 is a schematic diagram illustrating a node cache mechanism according to the present application.
The first installation truss comprises two crossbeams 10 which are arranged in parallel relatively, and the first power device comprises a first driving motor 5, two first chains 6, two first chain wheels and two first tail wheels; the output shaft 8 of the first driving motor horizontally penetrates through the same ends of the two cross beams 10, the inner sides of one ends of the two cross beams 10 penetrating through the output shaft are respectively provided with the first chain wheels, the inner sides of one ends far away from the output shaft are respectively provided with the first tail wheels, and the two first chains 6 are respectively meshed with the first chain wheels and the first tail wheels which are positioned on the same cross beam 10;
wherein two ends of the tray 7 are respectively and fixedly connected to the two first chains 6.
Specifically, the first driving motor 5 is a gear motor, and is disposed at one end of any one of the beams 10, preferably at the front end of any one of the beams 10, so as to avoid interference with the position of the truss manipulator 2 at the rear end of the beam 10. The accommodating space formed between the inner side walls of the two opposite beams 10 in the first installation truss is used for accommodating the tray 7 to transport the node instrument, and the distance between the two opposite beams 10 is the length of the tray 7. Wherein the tray 7 is moved in a cyclic manner in the direction of the truss manipulator 2, that is to say from front to back to the position of the truss manipulator 2 and folded back in order to move from back to front towards the initial position.
The front ends of the two cross beams 10 are respectively provided with a first sprocket, and the rear ends of the two cross beams 10 are respectively provided with a first tail wheel, namely, the front end and the rear end of any cross beam 10 are respectively provided with the first sprocket and the first tail wheel. The output shaft 8 of the first driving motor is embedded in the first chain wheels at the front ends of the two cross beams 10 to drive the first chain wheels to rotate. The first chain wheels and the first tail wheels which are positioned on the same cross beam 10 are in transmission connection through the first chains 6, so that a structure with the front and rear transmission of the chains is formed at the left end and the right end of the first installation truss, the left end and the right end of the tray 7 are respectively overlapped on the left first chain 6 and the right first chain 6, when the two first chains 6 move along the rear direction, the node tray 7 is transported to the position of the truss manipulator 2, and the truss manipulator 2 realizes the transfer of the node instrument between the material warehouse 3 and the tray 7.
Optionally, when the output shaft 8 of the first driving motor penetrates through the two beams 10, a protective cover is sleeved at the position of the output shaft penetrating out of the beams 10, so that the exceeding output shaft is partially shielded, and the rotation in the external environment is avoided.
It should be noted that, when the tray 7 moves to the position of the truss manipulator 2, a position sensor is provided at a position where the truss manipulator 2 contacts with the first installation truss, and a position signal is output through the position sensor, at this time, the tray 7 stops driving, and the manipulator assembly is started to clamp the node instrument in the tray 7 or put the node instrument into the tray 7. The hole slots in the strip tray 7 are in one-to-one correspondence with Kong Caoxing of the tray 23, so that the manipulator assembly can finish the transfer of node instruments in the whole tray 7 at one time in a single warehouse-in or warehouse-out action.
In a preferred embodiment of the present embodiment, the cross beam 10 is of a stepped structure, specifically, the cross beam 10 includes a first cross plate, a connecting plate and a second cross plate, wherein the first cross plate, the connecting plate and the second cross plate are all thin plates with uniform height, the length direction of the connecting plate is consistent with the length direction of the tray 7, the first cross plate is vertically fixed at the left side edge of the connecting plate and extends along the front of the connecting plate, and the second cross plate is vertically fixed at the right side edge of the connecting plate and extends along the rear of the connecting plate, so that the stepped structure is presented. Wherein the inboard of first diaphragm is fixed with first sprocket, and the inboard of second diaphragm is fixed with first tailwheel, and first chain 6 meshes on first sprocket and first tailwheel. The second transverse plate is provided with a tensioning structure 9, specifically, the tensioning structure 9 is a bolt penetrating through the outer side of the connecting plate, and the periphery of the bolt is sleeved with a tensioning spring and is arranged on the first tail wheel structure in the second transverse plate. When the tension of the first chain 6 changes, the tensioning spring generates elastic acting force through elastic deformation so as to adjust the tension of the chain and prevent the tensioning spring from being meshed with the chain to be disengaged.
Further, driven gears are respectively arranged at two ends of the inner bottom of the first transverse plate, the first chain 6 is meshed with the first sprocket, the first tail wheel and the driven gears, and the driven gears are arranged to prescribe the action track of the first chain 6, so that the tray 7 is prevented from being blocked in the downward reverse folding process along with the movement of the first chain 6 to the position of the first tail wheel.
Still further, be provided with two backplate that shelter from first chain 6 respectively at the upper and lower both ends of first diaphragm, the backplate on top is used for preventing that first chain 6 exposes, guarantees the safe operation of node buffer memory mechanism 1, and the backplate of bottom still is used for being connected with the operation panel, fixes node buffer memory structure on the operation panel. The console referred to herein may be an existing or self-designed base 4.
It should be understood that the plurality of node buffer structures may also be fixedly combined by the support frame 19 in the magazine 3 of the present application.
For example, fig. 1 and 3 show a case of setting two trays 7, the front end of a beam 10 at the left end of the first installation truss is fixed with a first power driving motor, the front ends of inner side wall surfaces of the two beams 10 are provided with first sprockets, the rear ends are provided with first tail wheels, the first tail wheels face the position of the truss manipulator 2, the bottom ends are provided with two spaced driven gears, two first chains 6 are respectively meshed on the first sprockets, the first tail wheels and the two driven gears of the same beam 10 to form a structure of front-back transmission of the chains, and two ends of the two trays 7 are lapped on the two first chains 6 to replace a transmission node instrument.
Example IV
The embodiment is used for explaining the automatic warehouse-in and warehouse-out functions of the truss manipulator 2. Referring to fig. 4, fig. 4 shows a schematic structural view of the truss manipulator of the present application.
In the truss manipulator 2 of the present application: the second installation truss comprises two vertical beams which are arranged in parallel relatively, and the second power device comprises a second driving motor 11, two second chains 12, two second chain wheels and two second tail wheels; the output shaft of the second driving motor 11 penetrates through the top ends of the two vertical beams, the second chain wheels are respectively sleeved on the inner sides of the top ends of the two vertical beams, the second tail wheels are respectively installed at the bottom ends of the two vertical beams, and the two second chains 12 are respectively meshed with the second chain wheels and the second tail wheels on the same vertical beam;
wherein both ends of the manipulator assembly are respectively fixed to two of the second chains 12.
Specifically, the second driving motor 11 is a gear motor, and is provided at one end of any one of the vertical beams. The vertical beams are supporting beams with a certain height and are perpendicular to the cross beams 10 of the node buffer structure. And an accommodating space is formed between the inner side walls of the two opposite vertical beams in the second mounting truss and is used for fixing the manipulator assembly to transfer the node instrument. The length of the receiving space should be adapted to the length of the pallet 7, the height of the receiving space should be adapted to the height of the magazine 3, and the width of the receiving space should be larger than the width of the second chain 12.
The second chain wheels are respectively arranged at the top ends of the two vertical beams, and the second tail wheels are respectively arranged at the bottom ends of the two vertical beams, namely, the second chain wheels and the second tail wheels are respectively arranged at the upper end and the lower end of any one vertical beam. The output shaft of the second driving motor 11 is embedded in the second chain wheel at the top ends of the two vertical beams to drive the second chain wheel to rotate. The second chain wheels and the second tail wheels which are positioned on the same vertical beam are in transmission connection through the second chains 12, so that a structure that the left end and the right end of the second installation truss are respectively provided with chain up-down transmission is formed, the left end and the right end of the manipulator assembly are respectively overlapped on the left second chain 12 and the right second chain 12, when the two second chains 12 move up-down, the manipulator assembly is moved to a position with a specified height, the transfer of the node instrument from the tray 7 to the material warehouse 3 is performed, for example, when the node instrument moves down to the bottom end, the node instrument in the tray 7 is clamped, then the node instrument moves up, and the node instrument is put into a certain layer in the material warehouse 3.
In another embodiment, the present application provides for the transfer of node instruments within an entire tray 7 at a time by the truss robot 2 by arranging the trays 23 within the magazine 3 as several trays 7 of the same construction as the trays 7. In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
The manipulator assembly further comprises:
a fourth installation truss 14, wherein two ends of the fourth installation truss 14 are respectively connected to the two second chains 12 so as to move up and down along the transmission direction of the second chains 12;
a mounting plate 17, wherein the mounting plate 17 is arranged on one side of the fourth mounting truss 14 facing the node buffer structure and is used for mounting and supporting a fourth power device;
a fourth power device comprising a fourth drive motor 16, a fourth chain, a fourth sprocket and a fourth tail wheel; the fourth driving motor 16 and the fourth sprocket are fixed on one side of the mounting plate 17, the fourth tail wheel is fixed on the other side of the mounting plate, an output shaft 15 of the fourth driving motor penetrates through the fourth sprocket, and the fourth chain is meshed with the fourth sprocket and the fourth tail wheel;
and the manipulator is fixedly connected to the fourth chain and used for moving along the depth direction of the material warehouse 3 under the drive of the fourth power device.
Specifically, the fourth mounting truss 14 is fixed at both ends to the two second chains 12 and can support the support beams of the mounting plate 17. When the second chain 12 drives up and down, the fourth installation truss 14 is driven to move up and down, and the manipulator on the fourth installation truss 14 is indirectly driven to transfer the node instrument into the material warehouse 3 with specified height and depth in a mode of matching up and down movement and forward and backward movement. Specifically, the fourth mounting truss 14 is a panel vertically arranged on the two second chains 12, and the mounting plate 17 is fixed on the panel, so that the mounting plate 17 drives the fourth power device to execute the front-back action of the manipulator.
The mounting plate 17 is long frame shape along the depth direction of the stock house 3, a fourth driving motor 16 is fixed at the rear end of the mounting plate 17, the fourth driving motor 16 is a gear motor, a fourth tail wheel is arranged at the front end of the mounting plate 17, a fourth chain wheel is arranged at the rear end of the mounting plate 17, and an output shaft 15 of the fourth driving motor is embedded in the fourth chain wheel at the rear end of the mounting plate 17 to drive the fourth chain wheel to rotate. The front end and the rear end of the mounting plate 17 are respectively provided with a fourth sprocket and a fourth tail wheel so as to form a front-rear transmission structure when the fourth chain is meshed with the fourth sprocket and the fourth tail wheel, and the manipulator is driven to work front and rear. In this embodiment, the fourth driving motor 16 and the fourth sprocket are both disposed at the rear end of the mounting plate 17, that is, at the connection end of the mounting plate 17 and the fourth mounting truss 14, the stability of the mounting plate 17 is enhanced, and the space of the truss manipulator 2 in the width direction can be effectively utilized, so that the sight of the operator is not blocked when the tray 7 moves to the lower side of the truss manipulator 2.
Of course, the mounting plate 17 of this application can two or more, the fourth power device of fixing on every mounting plate 17 is the same to form two fourth sprocket rotations that are driven by the output shaft 15 of a fourth driving motor, two fourth chains mesh fourth sprocket and fourth tailwheel on same mounting plate 17 respectively, drive the fore-and-aft motion of manipulator through two fourth chains, with the stability and the fastness that the node instrument was got to the reinforcing manipulator front and back clamp, increase fourth power device simultaneously, still can improve the quantity of manipulator disposable transfer node instrument, improve work efficiency. When this application sets up the transmission around two fourth chains, the interval is provided with two backup pads between the inside wall face of two mounting panels 17 to stabilize the transmission of fourth chain.
In an embodiment, the manipulator comprises a fifth driving motor, a clamping mechanism and a clamping jaw 18 which are sequentially connected from front to back along the depth direction of the magazine 3; wherein the clamping mechanism comprises a compression spring; the fifth driving motor is arranged at the bottom of the mounting plate 17 and is connected with the clamping jaw 18 through the compression spring; the clamping jaw 18 comprises a plurality of groups of clamping plates, each group of clamping plates consists of two oppositely arranged panels, the compression springs are arranged between the two oppositely arranged panels, and the fifth driving motor controls the length of the compression springs to enable the two panels of each group to be close to or far away from each other.
Specifically, the fifth drive motor is a gear motor. Each set of jaws 18 consists of two panels sized to fit the size of the housing of a typical node instrument to securely grip it. In each group of clamping plates, one of the two oppositely arranged panels is provided with a right damping piece, and the other panel is provided with a left damping piece, so that the friction force of the clamping node instrument is increased.
Preferably, the number of clamping plates of each set of the present application can be matched with the number of holes in the tray 7, and when the tray 7 is provided with a plurality of holes for conveying a plurality of node instruments, the clamping jaw 18 of the present application is composed of a plurality of clamping plates of each set, and the space formed between the opposite two facing inner side walls of each set of clamping plates is used for fastening each node instrument. The clamping plates can be two relatively parallel panels with consistent shapes and sizes, wherein threads are arranged outside an output shaft of the fifth driving motor and are sleeved with compression springs, the other ends of the compression springs are connected with the tail end of each panel, one side, located in the panel, of the output shaft is provided with fastening nuts, when the output shaft of the fifth driving motor rotates positively, the fastening nuts compress the compression springs relative to the threads, the compression springs drive the clamping plates 18 of the groups to fold simultaneously, and when the fifth driving motor rotates reversely, the fastening nuts rotate to loosen the compression springs, and the clamping plates of the groups are loosened. When the two panels of each group are close to each other, the node instrument is clamped, and when the two panels are far away from each other, the node instrument is put down.
Wherein the fourth drive motor 16 and the fifth drive motor are both provided on the mounting plate 17, the mounting on opposite sides or adjacent sides of the mounting plate 17 is optional in view of the fact that the two motors do not block each other.
In an embodiment, two second chains 12 drive the fourth installation truss 14, the mounting plate 17, the fourth driving motor 16, the fourth chain, the fourth sprocket, the fourth tail wheel, the fifth driving motor and the multiple groups of clamping jaws 18 in the manipulator assembly simultaneously to move up and down, and the friction force of the front and back movements of the clamping jaws 18 needs to be overcome simultaneously.
In one embodiment, to reduce fatigue of the second chain 12, the present invention is further provided with:
the two supporting transverse plates 13 are respectively connected to the two vertical beams to form a T-shaped structure, and sliding rails are embedded on the outer surfaces of the supporting transverse plates 13;
and two sliding plates connected to the fourth mounting truss 14 for sliding the fourth mounting truss 14 up and down simultaneously when the fourth mounting truss 14 moves up and down along with the second chain 12, the two sliding plates being engaged with the sliding rails.
Specifically, the two supporting transverse plates 13 and the two sliding plates are both symmetrical structures, and taking a structure of one side as an example, the edges of the supporting transverse plates 13 and the vertical beams are mutually perpendicular to form a T-shaped structure, and a sliding rail is fixedly arranged right in front of the outer surface of the supporting transverse plates 13. The slide board is of a 7-shaped structure with mutually perpendicular edges, one free end of the 7-shaped structure is connected to the supporting transverse board 13, the other free end of the 7-shaped structure is integrally formed with the fourth mounting truss 14, so that structures such as a sliding block or a convex block are arranged at the position, opposite to the slide rail, of the structure to be matched with the slide rail, and when one end of the fourth mounting truss 14 moves up and down along with the second chain 12, the other end of the fourth mounting truss moves up and down in a sliding mode.
For example, fig. 1 and fig. 4 show the case of providing two mounting plates 17, taking the warehousing of the node instrument as an example, the manipulator assembly is located at the top of the second mounting truss, when the tray 7 moves below the truss manipulator 2, the second driving motor 11 is started, the second chain 12 drives the manipulator assembly to move downwards to a distance of one length of the node instrument above the tray 7, the fourth driving motor 16 is started, the fourth chain drives the manipulator to move from back to front to right above the node instrument located in the tray 7, the second chain 12 continues to drive the manipulator assembly to move downwards to each group of clamping jaws 18 of the manipulator to fall to two sides of the node instrument, and the fifth driving motor is started to drive each group of clamping jaws 18 to fold, so that two panels of each group of clamping jaws 18 are close to each other to clamp the node instrument. The node instrument is then returned to the foremost tray 7 of the magazine 3 in the reverse operation.
In another technical scheme, a reversed hook-shaped crawler belt is arranged on the outer side of the vertical beam, the crawler belt is regular in motor lines, sensor lines, data lines and the like, and when the manipulator assembly moves, the crawler belt moves along with the manipulator assembly, and a plurality of lines also move along with the same track.
Example five
Referring to fig. 5, fig. 5 is a schematic view of the whole structure of the base of the present application.
The invention also includes: the base 4, base 4 is through a plurality of first fastener fixed mounting have node buffer memory mechanism 1 truss manipulator 2 with the magazine 3, base 4 is through a plurality of second fastener detachable connection on the workstation.
Specifically, the first and second fasteners may be bolts, and a plurality of bolt holes 27 are provided in the base 4. For example, a first cross member 10 of the two cross members 10 of the node buffer mechanism 1 is provided with a plurality of identical bolt holes 27, and bolts pass through the base 4 and the bolt holes 27 of the first cross member and are fixed by nuts outside the first cross member, thereby fixing the node buffer mechanism 1 to the base 4. In this embodiment, the truss manipulator 2 and the material warehouse 3 are fixed on the base 4 by means of bolt and nut matching, and will not be described in detail.
A plurality of different convex beams are arranged on the base 4, and a plurality of bolt holes 27 are arranged on the convex beams. A wire insertion slot 28 is further formed in the protruding beam of the fixed material warehouse 3, so that a plurality of data wire power supply wires for controlling the movement of the truss manipulator 2 and the movement of the material warehouse 3 pass through the wire insertion slot 28. Wherein the protruding beam of the fixed stock house 3 is of a special-shaped structure to be adapted to a special-shaped control cabinet 25, and the special-shaped control cabinet 25 controls an automatic execution program of the stock house 3.
The base 4 is detachably connected with the workbench through a second fastener, and the base 4 bearing the automatic node caching mechanism 1, the truss manipulator 2 and the material warehouse 3 can be transferred to different working scenes for workers to use. Optionally, independent i-beams 32 are welded to bottom walls of four corners of the base 4, and the i-beams 32 support the base 4 on a workbench through second fasteners so as to improve the flexibility of the device. The lifting lugs 31 are welded on the tops of the four corners of the base 4, so that the device can be conveniently transferred at any time by using machines such as a crane and the like, and can be applied to different working scenes, such as being transferred to a transport vehicle, transported to a field construction site, and automatically loaded and stored in the field.
Illustratively, fig. 1 and 5 show the structure of the base 4, in which four square protruding beams are sequentially disposed from front to back to fit the robot chassis, two elongated protruding beams 29 to fit the first transverse plate of the node buffer mechanism 1, part of the protruding beams in the two shaped trapezoidal protruding beams 30 to fit the vertical beams of the truss manipulator 2, the other part of the protruding beams in the two shaped trapezoidal protruding beams 30, and the two block protruding beams to fit the supporting frame 19 and the control cabinet 25 of the material warehouse 3. The step of placing the node instruments into the tray 7 can be completed by combining an industrial robot, so that the functions of storing, warehousing and delivering a large number of node instruments can be realized fully automatically.
Another object of the present invention is to provide an automated magazine system for accessing node instruments, comprising a coding system comprising a plurality of sets of coding instructions provided on a magazine 3 as described above, said coding system controlling said magazine 3 to be in a target operating state corresponding to target coding instructions, said target operating state being used to control the movement of said trays 23 to a target position.
Specifically, the encoding system is applied to the control cabinet 25 to perform the third power driving motor to drive the tray 23 to move to a specified position within the magazine 3 in the depth direction of the magazine 3. In this structure, the magazine 3 is controlled by the coding system to control the rotation of the output shaft 21 of the third drive motor of a certain layer, so that a specified certain tray 23 is moved to the forefront end of the layer by the third chain 22, and the truss manipulator 2 operates after the operation is finished.
The second driving motor 11 of the truss manipulator 2 works, the second chain 12 is controlled by the output shaft of the second driving motor 11 to drive the manipulator assembly to reach the corresponding tray 7, the fourth driving motor 16 of the mounting plate 17 arranged at the bottom of the second chain 12 is controlled by the fourth chain to drive the manipulator to reach the position right above the tray 7, and at the moment, the clamping jaw 18 on the fifth driving motor is controlled by the clamping structure to be closed, so that the node instrument is clamped. After the node instrument is clamped, the output shaft 15 of the fourth driving motor reversely moves to withdraw from the tray 7, the second driving motor 11 upwards moves to the appointed tray 23 to convey the node instrument into the appointed tray 23, the clamping jaw 18 is loosened, the output shaft of the second driving motor 11 returns to the top of the vertical beam, the above-mentioned one-time node warehousing action is completed, and otherwise, the node ex-warehouse action can be completed. Through the structure, the automatic storage and clamping of the nodes are realized, corresponding operation is completed instead of manual operation, the construction time is shortened, and the construction efficiency is improved.
Various embodiments in this specification are described in a progressive manner, each embodiment focusing on differences from other embodiments. Based on the foregoing examples one to five, the present application provides examples of some specific embodiments, where each example is not a separate embodiment, and the embodiments are arbitrarily combined and interacted with each other without contradiction to form an automated library of access node apparatuses of the present application.
It should be understood that while the present specification has described preferred embodiments of the present embodiments, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the present application.
The foregoing has described in detail an automated library and system of access node instruments provided herein, and specific examples have been presented herein to illustrate the principles and implementations of the present application, the above examples being provided only to assist in understanding the methods of the present application and their core ideas; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (10)
1. An automated magazine for access node instruments, comprising: the device comprises a joint buffer mechanism, a truss manipulator and a material warehouse which are assembled in sequence; wherein,
the node caching mechanism comprises a first installation truss and a first power device fixedly arranged on the first installation truss, wherein the first power device is provided with a tray for accommodating node instruments and is used for driving the tray to move towards the truss manipulator;
the truss manipulator comprises a second installation truss and a second power device fixedly arranged on the second installation truss, the second power device is provided with a manipulator assembly, and the second power device is used for driving the manipulator assembly to move up and down along the height direction of the material warehouse; the manipulator assembly is used for transferring the node instrument between the stock bin and the tray when the manipulator assembly moves up and down;
the material warehouse comprises a third installation truss and a plurality of third power devices fixedly arranged on the third installation truss, wherein each third power device is provided with a material tray for storing the node instrument, the third power devices are used for driving the material tray to move to a designated position in the material warehouse along the depth direction of the material warehouse, and when the manipulator assembly moves up and down, the manipulator assembly moves the node instrument into and out of the material tray at the designated position.
2. An automated warehouse for access node instruments according to claim 1, wherein the third mounting truss comprises a support frame and a plurality of sets of mounting beams mounted at intervals in the height direction of the support frame, each set of mounting beams consisting of two beams arranged in opposed parallel, the two beams being located on opposed side walls of the support frame, respectively;
the plurality of third power devices are fixedly arranged on the plurality of groups of mounting cross beams in a one-to-one correspondence manner.
3. An automated warehouse for access node equipment as defined in claim 1, wherein,
the first mounting truss comprises two cross beams which are arranged in parallel relatively, and the first power device comprises a first driving motor, two first chains, two first chain wheels and two first tail wheels; wherein,
the output shaft of the first driving motor horizontally penetrates through the same ends of the two cross beams, the inner sides of one ends of the two cross beams penetrating through the output shaft are respectively provided with the first chain wheels, the inner sides of one ends of the two cross beams far away from the output shaft are respectively provided with the first tail wheels, and the two first chains are respectively meshed with the first chain wheels and the first tail wheels which are positioned on the same cross beam;
Wherein two ends of the tray are respectively and fixedly connected to the two first chains.
4. The automated warehouse for access node instruments of claim 1, wherein the second mounting truss comprises two vertical beams disposed in opposing parallel, and the second power device comprises a second drive motor, two second chains, two second sprockets, and two second tail wheels; wherein,
the output shafts of the second driving motors penetrate through the top ends of the two vertical beams, the second chain wheels are respectively sleeved on the inner sides of the top ends close to the two vertical beams, the second tail wheels are respectively mounted at the bottom ends of the two vertical beams, and the two second chains are respectively meshed with the second chain wheels and the second tail wheels on the same vertical beam;
the two ends of the manipulator assembly are respectively fixed on the two second chains.
5. The automated warehouse for access node instruments as claimed in claim 4, wherein the robotic assembly further comprises:
the two ends of the fourth installation truss are respectively connected to the two second chains so as to move up and down along the transmission direction of the second chains;
The mounting plate is arranged on one side of the fourth mounting truss, facing the node buffer structure, and is used for mounting and supporting a fourth power device;
the fourth power device comprises a fourth driving motor, a fourth chain wheel and a fourth tail wheel; the output shaft of the fourth driving motor penetrates through the fourth sprocket, and the fourth chain is meshed with the fourth sprocket and the fourth tail wheel;
and the manipulator is fixedly connected to the fourth chain and used for moving along the depth direction of the material warehouse under the drive of the fourth power device.
6. An automated magazine for access node instruments according to claim 5, wherein the manipulator comprises a fifth drive motor, clamping mechanism and jaws connected sequentially from front to back in the depth direction of the magazine; wherein,
the clamping mechanism comprises a compression spring;
the fifth driving motor is arranged at the bottom of the mounting plate and is connected with the clamping jaw through the compression spring;
The clamping jaw comprises a plurality of groups of clamping plates, each group of clamping plates consists of two oppositely arranged panels, a compression spring is arranged between the two oppositely arranged panels, and the fifth driving motor controls the length of the compression spring to enable the two panels of each group to be close to or far away from each other.
7. An automated warehouse for access node instruments as claimed in claim 5, further comprising:
the two supporting transverse plates are respectively connected to the two vertical beams to form a T-shaped structure, and sliding rails are embedded on the outer surfaces of the supporting transverse plates;
and the two sliding plates are connected with the fourth installation truss and are used for enabling the fourth installation truss to slide up and down simultaneously when the fourth installation truss moves up and down along with the second chain.
8. An automated store of access node instruments according to claim 2, wherein each of the third power devices comprises a third drive motor, two third chains, two third sprockets and two third tail wheels; wherein,
the output shaft of the third driving motor horizontally penetrates through the same ends of the two cross beams, the inner sides of one ends of the two cross beams penetrating through the output shaft are respectively sleeved with the third chain wheels, the inner sides of one ends far away from the output shaft are respectively provided with the third tail wheels, and the two third chains are respectively meshed with the third chain wheels and the third tail wheels which are positioned on the same cross beam;
Wherein two ends of the material tray are respectively and fixedly connected to the two third chains.
9. An automated warehouse for access node equipment as defined in claim 1, further comprising:
the base is fixedly installed with the node caching mechanism, the truss manipulator and the material warehouse through a plurality of first fasteners, and the base is detachably connected to the workbench through a plurality of second fasteners.
10. An automated magazine system for accessing node instruments, comprising a coding system comprising a plurality of sets of coded instructions disposed on a magazine as claimed in any one of claims 1 to 9, the coding system controlling the magazine to be in a target operational state corresponding to a target coded instruction, the target operational state being used to control movement of the trays to a target position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210909695.XA CN117508954A (en) | 2022-07-29 | 2022-07-29 | An automated library and system for accessing node instruments |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210909695.XA CN117508954A (en) | 2022-07-29 | 2022-07-29 | An automated library and system for accessing node instruments |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117508954A true CN117508954A (en) | 2024-02-06 |
Family
ID=89751866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210909695.XA Pending CN117508954A (en) | 2022-07-29 | 2022-07-29 | An automated library and system for accessing node instruments |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117508954A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108373002A (en) * | 2018-02-22 | 2018-08-07 | 安徽江淮汽车集团股份有限公司 | What a kind of material was classified automatically goes out Input System |
| CN210312006U (en) * | 2019-05-08 | 2020-04-14 | 江苏金猫机器人科技有限公司 | Automatic plate storage robot suitable for conveying line |
| CN211870432U (en) * | 2020-03-18 | 2020-11-06 | 无锡比益特科技有限公司 | Transfer three-dimensional warehouse |
| CN113023189A (en) * | 2019-12-25 | 2021-06-25 | 沈阳新松机器人自动化股份有限公司 | Automatic transport storage system |
-
2022
- 2022-07-29 CN CN202210909695.XA patent/CN117508954A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108373002A (en) * | 2018-02-22 | 2018-08-07 | 安徽江淮汽车集团股份有限公司 | What a kind of material was classified automatically goes out Input System |
| CN210312006U (en) * | 2019-05-08 | 2020-04-14 | 江苏金猫机器人科技有限公司 | Automatic plate storage robot suitable for conveying line |
| CN113023189A (en) * | 2019-12-25 | 2021-06-25 | 沈阳新松机器人自动化股份有限公司 | Automatic transport storage system |
| CN211870432U (en) * | 2020-03-18 | 2020-11-06 | 无锡比益特科技有限公司 | Transfer three-dimensional warehouse |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3419918B1 (en) | Storage and retrieval device for parallel operation of a high-bay warehouse and operating method therefor | |
| EP3325395B2 (en) | Automated mounting device for performing installation operations in a lift shaft of a lift assembly | |
| US9353519B2 (en) | Automated apparatus for constructing assemblies of building components | |
| CN108883910B (en) | Device for producing a support structure for a people mover | |
| CN108910382B (en) | Reversing and jacking integrated shuttle for taking and placing goods in intensive warehouse | |
| KR102848223B1 (en) | Storage racks with improved capacity | |
| DE112009001363T5 (en) | Apparatus and methods used to load, move and deposit packages in an automated warehouse | |
| CN107600862B (en) | A kind of storage and take object space method | |
| US20150038307A1 (en) | Automatic tool storing mechanism | |
| KR102869912B1 (en) | How to secure a climbing route | |
| CN113443308A (en) | Three-dimensional goods shelf storage system provided with scrambleable guide transport vehicle | |
| JP5835834B2 (en) | Load transfer method in automated warehouse | |
| DE112014002846B4 (en) | Tape drive with overlapping operation | |
| CN104100117A (en) | Multilayer vertical lifting comb-tooth type three-dimensional parking equipment and vehicle storing and taking method | |
| WO2020187378A1 (en) | Assembly machine and a method for manufacturing reinforcement structures | |
| US9388566B2 (en) | Method of erecting a building with wooden panels | |
| CN116493852B (en) | Welding production line for front auxiliary frame of automobile and production method for front auxiliary frame of automobile | |
| CN220224967U (en) | Box girder web binding device | |
| JP2012006578A (en) | System for moving crates for storing objects in warehouse | |
| CN113371374A (en) | Logistics storage intelligent robot based on LANDMAK order planning system | |
| Jing et al. | Mechanism Design and Motion Analysis of Heavy⁃ Load Transfer Robot with Parallel Four⁃ Bar Mechanism. | |
| CN117550021A (en) | An assembled large-scale walking floating gantry that moves vertically and horizontally | |
| CN222388273U (en) | Track carrier vehicle frame convenient for maintaining track | |
| CN105858036A (en) | Material access system and control method | |
| CN221342457U (en) | Gantry transplanting mechanism for cabinet production |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |