CN210456124U - Intelligent connected stereoscopic warehouse device based on internet of things technology - Google Patents
Intelligent connected stereoscopic warehouse device based on internet of things technology Download PDFInfo
- Publication number
- CN210456124U CN210456124U CN201921056777.4U CN201921056777U CN210456124U CN 210456124 U CN210456124 U CN 210456124U CN 201921056777 U CN201921056777 U CN 201921056777U CN 210456124 U CN210456124 U CN 210456124U
- Authority
- CN
- China
- Prior art keywords
- longitudinal
- grabbing
- screw rod
- rack
- internet
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Warehouses Or Storage Devices (AREA)
Abstract
The utility model discloses a stereoscopic warehouse device, in particular to an intelligent linked stereoscopic warehouse device based on the technology of the internet of things, which comprises a goods shelf structure, a tunnel type stacking hoisting mechanism and an in-out warehouse workbench, wherein the tunnel type stacking hoisting mechanism is arranged beside the goods shelf structure side by side, and the in-out warehouse workbench is arranged between the tunnel type stacking hoisting mechanism and the goods shelf structure; the method is characterized in that: and the roadway type stacking and hoisting mechanism is provided with a mechanical gripping device. The utility model has the characteristics of overall structure operates steadily, snatchs firmly, removes steadily and work efficiency height.
Description
Technical Field
The utility model relates to a stereoscopic warehouse device, concretely relates to allies oneself with changes stereoscopic warehouse device based on internet of things.
Background
The stereoscopic warehouse has high space utilization rate and strong warehousing and ex-warehousing capacity, and the stereoscopic warehouse can be convenient for enterprises to implement modern management by combining with a computer for control management, so that the stereoscopic warehouse becomes an indispensable warehousing technology for enterprise logistics and production management and is deeply valued by the enterprises.
The automatic stereoscopic warehouse is a complex automatic system consisting of stereoscopic goods shelves, a rail roadway stacker, a warehouse-in and warehouse-out tray conveyor system, a size detection bar code reading system, a communication system, an automatic control system, a computer monitoring system, a computer management system and other auxiliary equipment such as a wire and cable bridge distribution cabinet, trays, an adjusting platform, a steel structure platform and the like. The first-class integrated logistics concept is applied, advanced control, bus, communication and information technologies are adopted, and warehouse entry and exit operations are carried out through the coordination action of the devices. But current stereoscopic warehouse mainly still relies on conveyer or manual driving fork truck to the access of goods to realize, and its position that can not automatic adjustment goods, and fork truck or conveyer are more troublesome to the access of the goods that are located the eminence in product warehouse, influence the warehouse entry and exit efficiency of goods, therefore current stereoscopic warehouse's intellectuality and degree of automation still can not satisfy the demand of enterprise.
The Internet of things is an important component of a new generation of information technology and is also an important development stage of the 'informatization' era. As the name implies, the Internet of things is the Internet with connected objects. The method has two layers, namely, the core and the foundation of the Internet of things are still the Internet, and the Internet is an extended and expanded network on the basis of the Internet; and secondly, the user side extends and expands to any article to perform information exchange and communication, namely, the article information. The internet of things is widely applied to network fusion through communication perception technologies such as intelligent perception, identification technology and pervasive computing, and is also called as the third wave of development of the world information industry after computers and the internet. The communication technology such as local network or internet is utilized to connect the sensors, the controller, the machine, the personnel and the objects together in a new way to form a network which is connected with the people and the objects and realizes informatization, remote management control and intellectualization. The internet of things is an extension of the internet, and comprises the internet and all resources on the internet, and is compatible with all applications of the internet, but all elements (all devices, resources, communication and the like) in the internet of things are personalized and privatized.
With the rapid development of economy, modern enterprises put higher demands on management, and the thinking way of "managing benefits" has become the consensus of most modern enterprise managers. It is the inevitable trend of today to manage the goods through applying intelligent warehouse, consequently needs to develop a set of allied oneself with three-dimensional warehouse device based on internet of things to improve space utilization and work efficiency.
SUMMERY OF THE UTILITY MODEL
The utility model aims at prior art's defect, and provide one kind and have mechanical grabbing device and can snatch firmly, remove steadily, tunnel formula stack hoist mechanism removes steadily, accurately, and work efficiency is high allies oneself with three-dimensional warehouse device based on internet of things.
In order to achieve the purpose of the invention, the technical scheme adopted by the utility model is as follows:
an intelligent connected stereoscopic warehouse device based on the technology of the internet of things comprises a goods shelf structure, a roadway stacking and hoisting mechanism and an in-out warehouse workbench; a roadway type stacking and hoisting mechanism is arranged in the goods shelf structure in a matched manner, and a warehouse-in and warehouse-out workbench is arranged between the roadway type stacking and hoisting mechanism and the goods shelf structure;
a mechanical grabbing device is arranged on a moving platform of the roadway type stacking and hoisting mechanism;
the mechanical gripping device comprises:
the top of the fixed frame is provided with a guide piece, and the inner top surface of a sliding channel on the guide piece is provided with a longitudinal tail wing;
the longitudinal moving rod is provided with a longitudinal dovetail groove on the longitudinal top surface, and a translational rack on the longitudinal bottom surface, the longitudinal dovetail groove is mounted on the longitudinal tail wing in a matching manner, the translational rack is in meshing transmission connection with a longitudinal driving gear mounted below the translational rack, and the longitudinal driving gear is mounted on a longitudinal driving motor;
the grabbing support is fixedly arranged on the transverse end face of the longitudinal moving rod, a transverse tail wing I is arranged at one end of the grabbing support, and a transverse tail wing II is arranged at the other end of the grabbing support;
the top surface of the first grabbing arm is provided with a first dovetail groove, the bottom corresponding to the first dovetail groove is provided with a first rack, and the first dovetail groove is installed on the transverse tail wing I in a matching mode;
the top surface of the second grabbing arm is provided with a second rack, and the bottom corresponding to the second rack is provided with a second dovetail groove which is arranged on the transverse tail wing II in a matching way; the second rack is in meshing transmission connection with a transverse driving gear arranged above the second rack, and the top of the transverse driving gear is in meshing transmission connection with the first rack; and the transverse driving gear is fixedly arranged on a rotating shaft of the grabbing driving motor.
As a further improvement of the present invention, the second dovetail groove penetrates the second grabbing arm. The distance that the second dovetail slided on horizontal fin II can be prolonged, the clearance between the first arm of snatching and the second arm of snatching can be increased, the demand of the different width of goods can be satisfied.
As a further improvement, the first arm and the second of snatching are provided with the folder on the below inside wall of arm separately, and align in opposite directions between these two folders. Can be favorable to improving the equilibrium and the steadiness of snatching the goods.
As a further improvement of the present invention, the clamping member includes a first movable jaw and a second movable jaw; one end of the first movable claw is provided with a notch, and the notch is provided with a shaft hole; one end of the second movable claw is provided with a connector; the connector is provided with a shaft hole at the position corresponding to the shaft hole of the notch; the connector is inserted into the notch and is hinged through the shaft hole. Adopt hinged joint to do benefit to first movable jaw and second movable jaw and be fan-shaped around the pin joint and open, can effectively snatch circular object.
As a further improvement of the utility model, a spring is also installed and connected between the first movable jaw and the second movable jaw; one end of the spring is fixedly arranged in the spring hole of the first movable claw, and the other end of the spring is fixedly arranged in the spring hole of the second movable claw corresponding to the spring hole of the first movable claw. The spring can facilitate the first movable claw and the second movable claw to automatically reset after being opened; simultaneously, can also play limiting displacement to first movable jaw and second movable jaw.
As a further improvement of the present invention, the first movable jaw and the second movable jaw are provided with toothed belts on corresponding sides thereof, respectively. The toothed belt can increase friction force, so that the goods can be grabbed more firmly, and the circular goods can be grabbed more conveniently.
As a further improvement, the grabbing driving motor is fixedly installed in the grabbing support. The space of the grabbing support is favorably utilized, the structure is compact, and the space occupied by the equipment is reduced.
As a further improvement of the utility model, the roadway stacking and hoisting mechanism comprises a mobile platform, a stacking rack, a longitudinal guide rail and a longitudinal screw rod; the moving platform is arranged in the stacking rack through a vertical polished rod, the top of the stacking rack is connected with the lower part of the guide rail in a sliding way through a guide rail support, and the lower part of the bottom of the stacking rack is connected with the longitudinal guide rail in a sliding way through a longitudinal guide rail bearing; the longitudinal screw rod is fixedly connected below the bottom of the stacker frame through a longitudinal screw rod support, the longitudinal screw rod penetrates through the longitudinal screw rod support, one end of the longitudinal screw rod is installed on the screw rod fixing support, and the other end of the longitudinal screw rod is rotatably connected with a longitudinal screw rod motor.
As a further improvement of the utility model, the connection between the vertical screw rod and the vertical screw rod support is a threaded connection.
The stacking rack can slide in the vertical direction through the longitudinal guide rail, the longitudinal screw rod motor is used for driving the longitudinal screw rod to rotate in situ when power is provided for pushing in the vertical direction, the longitudinal screw rod is in threaded connection with the longitudinal screw rod support, the longitudinal screw rod support moves in the vertical direction, the stacking rack is driven to move through the longitudinal screw rod support, accordingly, the stacking rack can realize displacement change in the vertical direction at a large distance, and the requirements of a stereoscopic warehouse are met.
As a further improvement of the present invention, the longitudinal rail includes two parallel guide rails, and the two ends of the guide rail are respectively fixed with the longitudinal rail support. The stacking rack can be effectively supported and slid, and is good in balance and stable in movement.
As a further improvement of the utility model, the guide rail top is fixedly arranged at the top of the goods shelf through a fixed transverse strip. The top of the stacker frame can realize the supporting function and the sliding function. The guide rail realizes the guide, support and sliding action on the stacking rack.
As a further improvement of the utility model, moving platform still is provided with elevating system, and this elevating system includes lead screw, T shape nut and lead screw motor, T shape nut is fixed in moving platform, and the one end and the T shape nut threaded connection of lead screw to run through T shape nut and be connected with the lead screw motor of moving platform below, its other end is smoothly fixed in stacker frame top.
The vertical polished rod enables the moving translation to slide vertically, and the screw rod motor and the screw rod can provide power for the moving translation to move vertically after being combined. The screw rod penetrates through a T-shaped nut fixedly installed on the moving platform, one end of the screw rod is fixed to the top of the stacker frame and can rotate around the central line of the screw rod, and the other end of the screw rod is rotatably connected with the screw rod motor. The screw rod motor drives the screw rod to vertically rotate in situ, the screw rod drives the T-shaped nut, the T-shaped nut is in threaded connection with the screw rod, and the screw rod is fixedly rotated, so that the T-shaped nut moves in the vertical direction under the driving action of the screw rod. The T-shaped nut is fixed on the moving translation, and then the T-shaped nut drives the moving translation to move vertically.
As a further improvement, the mobile platform is provided with a fixed pin, a fixed pin hole matching fixed connection is provided on the fixed pin and the fixing frame of the mechanical gripping device. The mechanical grabbing device is fixedly installed on the movable translation top surface through the tight fit and the matching of the fixing pins and the fixing pin openings.
As a further improvement of the utility model, the warehouse-in/out workbench comprises a conveyor belt, a conveyor belt motor and a roller seat, wherein rollers are arranged at two ends of the conveyor belt, the rollers are provided with rollers, and two ends of each roller are fixedly arranged on the roller seat; and one end of the conveying belt is provided with a conveying belt motor, and the conveying belt motor is in transmission connection with the roller at the end. Can steadily carry the goods to the goods shelves structure in, and once only carry the goods volume big, can do benefit to and improve work efficiency.
The utility model discloses a theory of operation does:
the warehouse entering and exiting workbench conveys the goods to the side of the goods shelf structure, then the roadway type stacking and hoisting mechanism is started to move to the upper side of the goods, and a mechanical grabbing device on the roadway type stacking and hoisting mechanism is started to grab the goods; the whole body is moved to a specified position where goods need to be placed through a roadway type stacking and hoisting mechanism, and the goods are adjusted and placed; the mechanical grabbing device resets, and the roadway type stacking and lifting mechanism enters the goods grabbing process of the next process.
The mechanical grabbing device comprises: the grabbing driving motor drives the transverse driving gear to transmit, and the top and the bottom of the transverse driving gear are respectively and correspondingly meshed with the first grabbing arm and the second grabbing arm in a transmission way; when the transverse driving gear drives the first grabbing arm and the second grabbing arm to move oppositely, and when the transverse driving gear drives the transverse driving gear clockwise, the first grabbing arm and the second grabbing arm move oppositely to realize grabbing operation; when the transverse driving gear is driven anticlockwise, the first grabbing arm and the second grabbing arm move away from each other, and placing operation is achieved; the longitudinal moving mechanism drives the longitudinal moving rod to reciprocate in the longitudinal direction, and the longitudinal moving rod is provided with a grabbing arm, so that the grabbing arm can also reciprocate in the longitudinal direction; position adjustment can be achieved.
The utility model discloses an equal accessible data connection of motor is to total control panel, realizes computer or panel control, embodies the application of internet of things.
Compared with the prior art, the utility model, the progress that gains:
1. the utility model discloses a constitute by goods shelves structure, tunnel formula stack hoisting mechanism, mechanical grabbing device and warehouse entry workstation, lead to mutually supporting of tunnel formula stack hoisting mechanism, mechanical grabbing device and warehouse entry workstation, realize the automatic fixed point access to the goods, improved the utilization to storage space greatly, reduce personnel's use, reduction in production cost has also improved production efficiency simultaneously.
2. The utility model adopts a longitudinal moving mechanism and a grabbing arm, wherein the grabbing arm is arranged at one end of a longitudinal moving rod on the longitudinal moving mechanism; the grabbing arm realizes grabbing and placing of goods; the longitudinal moving mechanism drives the longitudinal moving rod to reciprocate in the longitudinal direction, so that the grabbing arm arranged on the longitudinal moving rod also reciprocates in the longitudinal direction, and therefore longitudinal position adjustment is achieved, and goods can be grabbed and placed conveniently. And the utility model discloses can realize the adjustment of vertical direction height when installing on rail tunnel stacker, thereby make the utility model discloses realize vertical and vertical position adjustment.
3. The grabbing arm of the utility model adopts a first grabbing arm, a second grabbing arm and a grabbing driving motor; the top of a transverse driving gear on the grabbing driving motor is in meshed transmission connection with the first grabbing arm, and the bottom of the transverse driving gear is in meshed transmission connection with the second grabbing arm; the connection mode enables the moving directions of the first grabbing arm and the second grabbing arm to realize different moving directions; when the grabbing driving motor rotates clockwise, the first grabbing arm and the second grabbing arm move oppositely to realize grabbing operation; when snatching driving motor anticlockwise rotation, first snatch and be the motion that breaks away from between the arm with the second, realize putting the operation, be about to the goods and place the assigned position.
4. The utility model discloses a be connected through the cooperation of the vertical dovetail on the longitudinal movement pole between the longitudinal movement pole on the longitudinal movement mechanism and the longitudinal tail wing, this kind of connected mode is firm, can also play spacing effect, can do benefit to the longitudinal movement pole again and slide smoothly on the longitudinal tail wing.
5. The first grabbing arm and the second grabbing arm of the utility model are respectively connected with the transverse tail wing on the grabbing driving motor support in a matching way; the transverse tail wing achieves the limiting effect on the first grabbing arm and the second grabbing arm and can provide good guiding sliding effect for the first grabbing arm and the second grabbing arm; and the first grabbing arm and the second grabbing arm can be well meshed and connected with the transverse driving gear on the grabbing driving motor in a transmission manner.
6. The clamping pieces are arranged at the lower parts of the first grabbing arm and the second grabbing arm, so that the contact area between the clamping pieces and goods can be increased, and the stability and firmness of grabbing the goods are improved; the parallel supporting of the bottom surface of the goods can be realized, namely the clamping pieces are inserted from the gap between the conveying belt and the bottom of the goods, so that the goods can be stably supported. The clamp pieces are oppositely aligned, so that the stability and firmness for grabbing goods can be improved. The clamp comprises a first movable jaw and a second movable jaw which are connected by a hinge, so that the first movable jaw and the second movable jaw are opened in a fan shape below the first grabbing arm or the second grabbing arm, and the clamp is favorable for grabbing round goods; the first movable claw and the second movable claw are both straight sections at two ends and arc-shaped in the middle; after the first movable claw and the second movable claw are spliced, the arc shape is spliced into a large arc shape, and the arc shape is favorable for grabbing round goods; moreover, the first movable claw and the second movable claw are provided with toothed belts on the grabbing surface, so that the friction force can be increased, and the firmness and the stability of grabbing goods are improved.
7. The bottom of the tunnel type stacking hoisting mechanism of the utility model is connected with the longitudinal guide rail in a sliding way through the longitudinal guide rail bearing, while the top is connected with the guide rail in a sliding way through the guide rail support, thereby providing convenience for the tunnel type stacking hoisting mechanism to realize longitudinal movement; the longitudinal guide rail bearing and the longitudinal guide rail slide stably and firmly; and the guide rail at the top can not only provide the supporting function for the top of the roadway stacking hoisting mechanism, but also play a role in guiding and sliding.
8. The utility model discloses a moving platform installs in tunnel formula stack hoist mechanism's stack frame to realize slip fixed connection through vertical polished rod and stack frame, and T shape nut on the moving platform carries out threaded connection through the lead screw, and the lead screw is by lead screw motor drive, and under lead screw motor drive, the lead screw is rotatory around its vertical center, and realizes the position with its threaded connection's T shape nut and remove, positive and negative commentaries on classics through lead screw motor, realizes moving platform's lift.
9. The utility model discloses an warehouse entry and exit workstation adopts the conveyer belt to convey the goods, and the conveyer belt conveying is steady, and the conveying capacity is big, can effectively improve work efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic front view of the present invention;
FIG. 3 is a partial structural view of the bottom of the overall structure of the present invention;
fig. 4 is a schematic structural view of the mechanical gripping device of the present invention;
FIG. 5 is a schematic structural view of the holder of FIG. 4;
FIG. 6 is a schematic structural diagram of a fixed pin arranged on a mobile platform;
FIG. 7 is a schematic view of the configuration of the grasping support and the longitudinal moving bar of FIG. 4 connected;
FIG. 8 is a schematic illustration of the coupling of a first moveable jaw and a second moveable jaw of FIG. 4;
fig. 9 is a schematic structural view of the bottom moving mechanism of the tunnel type stacking and hoisting mechanism of the present invention;
fig. 10 is a schematic structural view of the top of the tunnel type stacking and hoisting mechanism of the present invention;
fig. 11 is a schematic structural view of the installation connection between the fixing cross bar and the guide rail of the present invention;
FIG. 12 is a schematic view of the mounting and connecting structure of the guide rail and the guide rail support;
FIG. 13 is a schematic cross-sectional view of FIG. 12;
fig. 14 is a schematic structural view of the warehouse entry/exit table of the present invention;
fig. 15 is a schematic structural view of the shelf of the present invention;
element names and serial numbers in the drawings: the rack comprises a shelf 1, a fixed cross bar 2, a guide rail 3, a guide rail support 4, a longitudinal guide rail support 5, a longitudinal guide rail bearing 6, a longitudinal guide rail 7, a stacking rack 8, a screw rod motor 9, a vertical polished rod 10, a vertical bearing 11, a T-shaped nut 12, a screw rod 121, a moving platform 13, a fixed pin 14, a longitudinal driving motor support 15, a longitudinal driving motor 16, a fixed frame 17, a fixed pin opening 18, a longitudinal tail 108, a longitudinal driving gear 19, a translation bar 20, a translation rack 21, a longitudinal dovetail groove 22, a grabbing driving motor 23, a grabbing support 203, a transverse driving gear 24, a transverse tail 206, a first rack 25, a first dovetail groove 26, a first grabbing arm clamp 27, a first movable claw 281, a shaft hole 282, a spring 283, a second movable claw 284, a spring hole 285, a toothed belt, a notch 287, a connector 288, a second rack 29, a second dovetail groove 30 and a second grabbing arm 31, the automatic conveying device comprises a roller seat 33, a roller 34, a conveying belt 35, a motor base 36, a conveying belt motor 37, goods 38, a roller 39, a longitudinal screw rod motor 40, a longitudinal screw rod 41, a longitudinal screw rod support 42 and a screw rod fixing support 43.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
Referring to fig. 1 to 15, an intelligent linked stereoscopic warehouse device based on the internet of things technology includes a shelf structure, a roadway stacking and lifting mechanism, and an in-out warehouse workbench; a roadway type stacking and hoisting mechanism is arranged in the goods shelf structure in a matched manner, and a warehouse-in and warehouse-out workbench is arranged between the roadway type stacking and hoisting mechanism and the goods shelf structure; a mechanical gripping device is arranged on a moving platform 13 of the roadway type stacking and lifting mechanism; this mechanical grabbing device includes: the top of the fixed frame 17 is provided with a guide member 171, and the inner top surface of a sliding channel 173 on the guide member 171 is provided with a longitudinal tail 108; the longitudinal moving rod 20 is provided with a longitudinal dovetail groove 22 on the longitudinal top surface, and is provided with a translational rack 21 on the longitudinal bottom surface, the longitudinal dovetail groove 22 is matched and installed on a longitudinal tail wing 108, the translational rack 21 is in meshing transmission connection with a longitudinal driving gear 19 installed below the translational rack, and the longitudinal driving gear 19 is installed on a longitudinal driving motor 16; the grabbing support 203 is fixedly arranged on the transverse end surface of the longitudinal moving rod 20, a transverse tail wing I206 is arranged at one end of the grabbing support, and a transverse tail wing II 207 is arranged at the other end of the grabbing support; the top surface of the first grabbing arm 27 is provided with a first dovetail groove 26, the bottom corresponding to the first dovetail groove 26 is provided with a first rack 25, and the first dovetail groove 26 is matched and installed on the transverse tail I206; the top surface of the second grabbing arm 31 is provided with a second rack 29, the bottom corresponding to the second rack 29 is provided with a second dovetail groove 30, and the second dovetail groove 30 is installed on the transverse tail II 207 in a matching way; the second rack 29 is in meshing transmission connection with a transverse driving gear 24 arranged above the second rack, and the top of the transverse driving gear 24 is in meshing transmission connection with the first rack 25; and the traverse driving gear 24 is fixedly installed on the rotation shaft of the grasping driving motor 23.
As shown in fig. 3, the second dovetail groove 30 penetrates the bottom of the second catching arm 31. The sliding distance of the second dovetail groove 30 on the transverse tail wing II 207 can be prolonged, so that the gap between the first grabbing arm 27 and the second grabbing arm 31 can be increased, and the grabbing arms can meet the requirements of goods with different widths.
As shown in fig. 4, the grasping drive motor 23 is fixedly installed in the grasping support 203. The effective space of the grabbing support 203 is effectively utilized, and the space occupied by the equipment is reduced. The grabbing drive motor 23 can be stably installed.
As shown in fig. 1, in order to increase the contact area between the first and second gripper arms 27 and 31 and the goods, the clip members 28 are respectively disposed on the lower inner sidewalls of the first and second gripper arms 27 and 31, and the two clip members 28 are aligned with each other. The clamping member 28 is evenly stressed when the goods are grabbed.
As shown in fig. 4 and 8, clamp 28 includes a first movable jaw 281 and a second movable jaw 284; one end of the first movable jaw 281 is provided with a notch 287, and the notch 287 is provided with a shaft hole 282; one end of the second movable jaw 284 is provided with a connector 288; the coupling head 288 is provided with a shaft hole 282 at a position corresponding to the shaft hole 282 of the notch 287; connector 288 is inserted into slot 287 and is hingedly connected via axle hole 282. A notch 287 of the first movable jaw 281 and a connecting head 288 of the second movable jaw 284 are engaged, and the notch 287 and the connecting head 288 are aligned with each other and are sleeved on a connecting shaft arranged at the lower part of the first or second gripping arm 27 or 31, and the first movable jaw 281 and the second movable jaw 284 are limited against 360 degrees of rotation, i.e., the first movable jaw 281 and the second movable jaw 284 are limited. Not only can ensure that the clamping piece 28 works normally, but also can ensure that the stress is balanced when the goods are grabbed.
First movable jaw 281 and second movable jaw 284 are both straight at two ends and arc in the middle; after being spliced, the first movable claw 281 and the second movable claw 284 form a structure similar to an arch bridge, so that the stress balance can be facilitated; the goods are grabbed stably and firmly.
As shown in FIG. 8, a spring 283 is also mounted between first moveable jaw 281 and second moveable jaw 284; spring 283 has one end fixedly mounted within spring aperture 285 of first moveable jaw 281 and another end fixedly mounted within spring aperture 285 of second moveable jaw 284 that corresponds to spring aperture 285 of first moveable jaw 281. The mounting position of the spring 283 may be close to the connection position of the notch 287 and the connector 288. Spring 283 both acts as a stop for first moveable jaw 281 and second moveable jaw 284 and also acts as a resilient return between first moveable jaw 281 and second moveable jaw 284. Spring apertures 285 are located within first moveable jaw 281 and second moveable jaw 284 such that spring 283 is concealed within first moveable jaw 281 and second moveable jaw 284 when installed, thereby occupying no additional space. Spring 283 provides tension between first moveable jaw 281 and second moveable jaw 284 due to elastic deformation when first moveable jaw 281 and second moveable jaw 284 are fanned out, thereby providing additional tension for grasping a load.
As shown in FIG. 8, first movable jaw 281 and second movable jaw 284 are each provided with a toothed belt 286 on corresponding sides. Toothed belt 286 can increase the effect of frictional force, stability and fastness when improving and snatch the goods.
As shown in fig. 1, 2, 6 to 10, the roadway stacking and lifting mechanism comprises a moving platform 13, a stacking rack 8, a longitudinal guide rail 7 and a longitudinal screw rod 41; the moving platform 13 is installed in the stacking rack 8 through a vertical polished rod 10, the top of the stacking rack 8 is in sliding connection with the lower part of the guide rail 3 through the guide rail support 4, and the lower part of the bottom of the stacking rack is in sliding connection with the longitudinal guide rail 7 through the longitudinal guide rail bearing 6; the longitudinal screw 41 is fixedly connected to the lower part of the bottom of the stacking rack 8 through a longitudinal screw support 42, the longitudinal screw 41 penetrates through the longitudinal screw support 42, one end of the longitudinal screw is mounted on the screw fixing support 43, and the other end of the longitudinal screw is rotatably connected with the longitudinal screw motor 40.
The longitudinal screw rod 41 and the longitudinal screw rod support 42 are connected in a threaded manner. The longitudinal screw 41 is driven by the longitudinal screw motor 40 to rotate in place, and the longitudinal screw support 42 moves in the longitudinal direction under the driving action of the longitudinal screw 41. And the longitudinal guide rail 7 below the bottom of the stacking rack 8 comprises two guide rails which are arranged in parallel, and the two ends of the guide rails are respectively fixed with a longitudinal guide rail support 5. Namely, the two ends of each guide rail are fixedly provided with longitudinal guide rail supports 5, and the two ends of the two guide rails are aligned in parallel. The longitudinal guide rail 7 supports the roadway stacking lifting mechanism. Under the condition that the longitudinal screw rod 41 drives the longitudinal screw rod support 41, the longitudinal guide rail 7 realizes the guiding sliding effect on the roadway stacking lifting mechanism.
The top of the guide rail 3 is fixedly arranged on the top of the goods shelf 1 through a fixed cross bar 2. The fixed horizontal bar 2 is fixedly arranged at the top of the goods shelf 1, the goods shelf 1 are arranged side by side, namely, two ends of the fixed horizontal bar 2 are respectively and correspondingly fixedly arranged at the top of the goods shelf 1. Thereby realizing the supporting and fixing function of the guide rail 3. The guide rail 3 performs a supporting and fixing function on the top of the stacking rack 8 and performs a sliding function on the top of the stacking rack 8.
The moving platform 13 is further provided with a lifting mechanism, the lifting mechanism comprises a screw rod 121, a T-shaped nut 12 and a screw rod motor 9, the T-shaped nut 12 is fixed on the moving platform 13, one end of the screw rod 121 is in threaded connection with the T-shaped nut 12 and penetrates through the T-shaped nut 12 to be connected with the screw rod motor 9 below the moving platform 13, and the other end of the screw rod is smoothly fixed at the top of the stacking rack 8.
In order to realize the stable up-and-down movement of the mobile platform 13, T-shaped nuts 12 and vertical bearings 11 are arranged at four corners of the mobile platform 13, and the T-shaped nuts 12 and the vertical bearings 11 are arranged side by side in the longitudinal direction. The vertical bearing 11 is penetrated through a vertical polished rod 10, one end of the vertical polished rod 10 is fixed at the top of the stacking rack 8, and the other end of the vertical polished rod is fixed at the bottom of the stacking rack 8. The T-shaped nut 12 is connected with the screw rod 121 in a penetrating way and is in threaded connection. One end of the screw rod 121 penetrates through the T-shaped nut 12 and then is connected with the screw rod motor 9, while the other end is connected with the top of the stacking rack 8, and the connection mode at the position is a light hole type connection or a connection with a rolling bearing, so that the screw rod 121 at the position can rotate around the vertical central line of the screw rod 121. Therefore, when the screw rod 121 is driven by the screw rod motor 9 to rotate, the T-nut 12 moves relative to the screw rod 121, and the T-nut 12 drives the moving platform 13 to vertically move up and down. Can meet the requirements of placing goods with different heights on the goods shelf 1. Moreover, the threaded connection can have a self-locking function, so that when the mobile platform 13 is in a suspended state, the lead screw 121 and the T-shaped nut 12 interact with each other, and a stable supporting effect can be realized on the mobile platform 13.
The movable platform 13 is provided with a fixed pin 14, and the fixed pin 14 is matched and fixedly connected with a fixed pin opening 18 arranged on a fixed frame 17 of the mechanical grabbing device. The fixing pin 14 can be used for conveniently installing the continuous grabbing device on the moving platform 13, and the fixing pin 14 and the fixing pin opening 18 are connected in a tight fit mode, so that the two groups have a good stabilizing effect.
As shown in fig. 11, the warehouse-in and warehouse-out workbench comprises a conveyor belt 35, a conveyor belt motor 37 and a roller seat 33, wherein rollers 39 are arranged at two ends of the conveyor belt 35, the rollers 39 are provided with rollers 34, and two ends of the rollers 34 are fixedly arranged on the roller seat 33; and a conveyor belt motor 37 is arranged at one end of the conveyor belt 35, and the conveyor belt motor 37 is in transmission connection with the roller 34 at the end. The conveyor belt motor 37 drives the roller 34 to rotate, the roller 34 drives the roller 39 to rotate, the roller 39 drives the conveyor belt 35 to rotate, and the conveyor belt 35 conveys the goods 38 on the conveyor belt 35.
The utility model discloses a concrete working method does:
The mechanical gripping device has the specific working modes that: starting the longitudinal driving motor 16, driving the longitudinal driving gear 19 to rotate by the longitudinal driving motor 16, driving the longitudinal moving rod 20 to generate displacement change by the longitudinal driving gear 19, driving the first grabbing arm 27 and the second grabbing arm 31 to be positioned right above the goods by the longitudinal moving rod 20, and stopping the longitudinal driving motor 16; starting the grabbing drive motor 23, driving the transverse drive gear 24 to rotate by the grabbing drive motor 23, driving the first grabbing arm 27 and the second grabbing arm 31 to move by the transverse drive gear 24, changing the gap between the first grabbing arm 27 and the second grabbing arm 31, further changing the gap between the clamping pieces 28 on the first grabbing arm 27 and the second grabbing arm 31, and stopping the grabbing drive motor 23 when the clamping pieces 28 are at a reasonable distance from the side where the goods are aligned; then, the heights of the first grabbing arm 27 and the second grabbing arm 31 are adjusted downwards, the grabbing points for grabbing the goods are adjusted, the grabbing driving motor 23 is driven, the distance between the first grabbing arm 27 and the second grabbing arm 31 is contracted, the gap between the clamping pieces 28 on the first grabbing arm 27 and the second grabbing arm 31 is driven to be contracted and reduced, after the goods 38 are grabbed, the grabbing driving motor 23 is stopped, and the grabbing driving motor 23 stably grabs the goods 38 under the self-locking function; starting the longitudinal driving motor 16 to drive the longitudinal moving rod 20, driving the longitudinal moving rod 20 to drive the first grabbing arm 27 and the second grabbing arm 31 which grab the goods 38 to move to the safe position, and stopping the longitudinal driving motor 16; the whole body is moved to the position where the goods 38 are placed, the longitudinal driving motor 16 is started/stopped to adjust the goods position, the goods are adjusted to the designated position, the height is adjusted downwards, after the goods 38 are well contacted with the goods placing supporting surface, the grabbing driving motor 23 is started, the first grabbing arm 27 and the second grabbing arm 31 are separated from the goods, and the clamping strips 28 on the first grabbing arm 27 and the second grabbing arm 31 are further driven to be separated from the goods 38; the whole body is adjusted and reset to a safe position, and the next grabbing procedure is carried out.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.
Claims (10)
1. An intelligent connected stereoscopic warehouse device based on the technology of the internet of things comprises a goods shelf structure, a roadway stacking and hoisting mechanism and an in-out warehouse workbench; a roadway type stacking and hoisting mechanism is arranged in the goods shelf structure in a matched manner, and a warehouse-in and warehouse-out workbench is arranged between the roadway type stacking and hoisting mechanism and the goods shelf structure; it is characterized in that the preparation method is characterized in that,
a mechanical grabbing device is arranged on a moving platform (13) of the roadway type stacking and lifting mechanism;
the mechanical gripping device comprises:
the device comprises a fixed frame (17), a longitudinal moving rod (20), a grabbing support (203), a first grabbing arm (27) and a second grabbing arm (31);
the longitudinal moving rod (20) is provided with a longitudinal dovetail groove (22) on the longitudinal top surface, and a translational rack (21) on the longitudinal bottom surface, the longitudinal dovetail groove (22) is installed in the fixed frame (17) in a matching way, the translational rack (21) is in meshed transmission connection with a longitudinal driving gear (19) installed below the translational rack, and the longitudinal driving gear (19) is installed on the longitudinal driving motor (16);
the grabbing support (203) is fixedly arranged on the transverse end surface of the longitudinal moving rod (20), a transverse tail wing I (206) is arranged at one end of the grabbing support, and a transverse tail wing II (207) is arranged at the other end of the grabbing support;
the top surface of the first grabbing arm (27) is provided with a first dovetail groove (26), the bottom corresponding to the first dovetail groove (26) is provided with a first rack (25), and the first dovetail groove (26) is mounted on the transverse tail wing I (206) in a matching mode;
a second grabbing arm (31), the top surface of which is provided with a second rack (29), the bottom corresponding to the second rack (29) is provided with a second dovetail groove (30), and the second dovetail groove (30) is matched and installed on the transverse tail wing II (207); the second rack (29) is in meshing transmission connection with a transverse driving gear (24) arranged above the second rack, and the top of the transverse driving gear (24) is in meshing transmission connection with the first rack (25); and the transverse driving gear (24) is fixedly arranged on the rotating shaft of the grabbing driving motor (23).
2. The internet-of-things-technology-based intelligent stereoscopic warehouse device according to claim 1, wherein: a guide part (171) is arranged at the top of the fixed frame (17), a sliding channel (173) on the guide part (171), and a longitudinal tail wing (108) is arranged on the inner top surface of the sliding channel (173); the longitudinal tail wing (108) is matched and connected with a longitudinal dovetail groove (22) on the longitudinal moving rod (20).
3. The internet-of-things-technology-based intelligent stereoscopic warehouse device according to claim 1, wherein: clamping pieces (28) are respectively arranged on the inner side walls below the first grabbing arm (27) and the second grabbing arm (31), and the two clamping pieces (28) are aligned oppositely.
4. The internet-of-things-technology-based intelligent stereoscopic warehouse device according to claim 3, wherein: said clamp (28) comprising a first movable jaw (281) and a second movable jaw (284);
one end of the first movable claw (281) is provided with a notch (287), and the notch (287) is provided with a shaft hole (282);
one end of the second movable jaw (284) is provided with a connector (288); the connecting head (288) is provided with a shaft hole (282) at a position corresponding to the shaft hole (282) of the notch (287);
the connector (288) is inserted into the notch (287) and is hinged through the shaft hole (282).
5. The internet-of-things-technology-based intelligent stereoscopic warehouse device according to claim 4, wherein: a spring (283) is also installed and connected between the first movable jaw (281) and the second movable jaw (284); one end of the spring (283) is fixedly mounted in a spring hole (285) of the first moveable jaw (281), and the other end thereof is fixedly mounted in a spring hole (285) of the second moveable jaw (284) corresponding to the spring hole (285) of the first moveable jaw (281).
6. The internet-of-things-technology-based intelligent stereoscopic warehouse device according to claim 1, wherein: the roadway type stacking and lifting mechanism comprises a moving platform (13), a stacking rack (8), a longitudinal guide rail (7) and a longitudinal screw rod (41);
the moving platform (13) is installed in the stacking rack (8) through a vertical polished rod (10), the top of the stacking rack (8) is in sliding connection with the lower part of the guide rail (3) through a guide rail support (4), and the lower part of the bottom of the stacking rack is in sliding connection with the longitudinal guide rail (7) through a longitudinal guide rail bearing (6);
the longitudinal screw rod (41) is fixedly connected to the lower portion of the bottom of the stacking rack (8) through a longitudinal screw rod support (42), the longitudinal screw rod (41) penetrates through the longitudinal screw rod support (42), one end of the longitudinal screw rod (41) is installed on a screw rod fixing support (43), and the other end of the longitudinal screw rod (41) is rotatably connected with a longitudinal screw rod motor (40).
7. The internet-of-things-technology-based intelligent stereoscopic warehouse device according to claim 6, wherein: the top of the guide rail (3) is fixedly arranged on the top of the goods shelf (1) through the fixed cross bar (2).
8. The internet-of-things-technology-based intelligent stereoscopic warehouse device according to claim 6, wherein: the movable platform (13) is further provided with a lifting mechanism, the lifting mechanism comprises a screw rod (121), a T-shaped nut (12) and a screw rod motor (9), the T-shaped nut (12) is fixed on the movable platform (13), one end of the screw rod (121) is in threaded connection with the T-shaped nut (12) and penetrates through the T-shaped nut (12) to be connected with the screw rod motor (9) below the movable platform (13), and the other end of the screw rod is smoothly fixed at the top of the stacking rack (8).
9. The internet-of-things-technology-based intelligent stereoscopic warehouse device according to claim 6 or 8, wherein: the moving platform (13) is provided with a fixing pin (14), and the fixing pin (14) is matched and fixedly connected with a fixing pin hole (18) arranged on a fixing frame (17) of the mechanical grabbing device.
10. The internet-of-things-technology-based intelligent stereoscopic warehouse device according to claim 1, wherein: the warehouse-in and warehouse-out workbench comprises a conveyor belt (35), a conveyor belt motor (37) and a roller seat (33), wherein rollers (39) are arranged at two ends of the conveyor belt (35), rollers (34) are arranged on the rollers (39), and two ends of each roller (34) are fixedly arranged on the roller seat (33); and one end of the conveyor belt (35) is provided with a conveyor belt motor (37), and a rotating shaft of the conveyor belt motor (37) is in transmission connection with the roller (34) on the end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921056777.4U CN210456124U (en) | 2019-07-08 | 2019-07-08 | Intelligent connected stereoscopic warehouse device based on internet of things technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921056777.4U CN210456124U (en) | 2019-07-08 | 2019-07-08 | Intelligent connected stereoscopic warehouse device based on internet of things technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210456124U true CN210456124U (en) | 2020-05-05 |
Family
ID=70444302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921056777.4U Expired - Fee Related CN210456124U (en) | 2019-07-08 | 2019-07-08 | Intelligent connected stereoscopic warehouse device based on internet of things technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210456124U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406873A (en) * | 2019-07-08 | 2019-11-05 | 广西科技大学 | A kind of intelligence connectionization tiered warehouse facility device based on technology of Internet of things |
| CN112009928A (en) * | 2020-08-17 | 2020-12-01 | 王玉卓 | Goods circulation device in goods van based on commodity circulation box |
| CN113830486A (en) * | 2021-09-25 | 2021-12-24 | 浙江立镖机器人有限公司 | Bidirectional cargo handling device and equipment thereof |
-
2019
- 2019-07-08 CN CN201921056777.4U patent/CN210456124U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406873A (en) * | 2019-07-08 | 2019-11-05 | 广西科技大学 | A kind of intelligence connectionization tiered warehouse facility device based on technology of Internet of things |
| CN112009928A (en) * | 2020-08-17 | 2020-12-01 | 王玉卓 | Goods circulation device in goods van based on commodity circulation box |
| CN112009928B (en) * | 2020-08-17 | 2021-11-23 | 山东工业职业学院 | Goods circulation device in goods van based on commodity circulation box |
| CN113830486A (en) * | 2021-09-25 | 2021-12-24 | 浙江立镖机器人有限公司 | Bidirectional cargo handling device and equipment thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210456124U (en) | Intelligent connected stereoscopic warehouse device based on internet of things technology | |
| CN110406873A (en) | A kind of intelligence connectionization tiered warehouse facility device based on technology of Internet of things | |
| CN110526155A (en) | A kind of lifting device for road electromechanics | |
| CN112497242A (en) | Grabbing device of mechanical hand of commodity circulation transport | |
| CN216332116U (en) | Mechanical equipment transports mobile device | |
| CN111820626A (en) | Book storing and taking device based on horizontal conveying type book grabbing mechanical arm and control method thereof | |
| CN215591997U (en) | Be suitable for charging equipment of multiple tray size | |
| CN110744576A (en) | Gantry type stacking lifting structure | |
| CN206998917U (en) | Side hanging manipulator | |
| CN210456122U (en) | Gripping device | |
| CN204185060U (en) | Rolling wheel guide rails mechanism | |
| CN219009277U (en) | Magnetic wheel is charging tray stack supply mechanism for conveyer belt | |
| CN110255204B (en) | Unstacking, stacking and feeding system | |
| CN114014216A (en) | Automatic equipment of stacking of slender section bar electromagnetism hoist and mount | |
| CN212355457U (en) | Translation device of steel reticular structure | |
| CN210968928U (en) | Gantry type grabbing lifting structure | |
| CN216512437U (en) | Large-span heavy-duty lifting mechanical arm device | |
| CN219545191U (en) | A clamping jaw that changes type for server vanning | |
| CN220617870U (en) | Continuous plaiting machine | |
| CN216336404U (en) | Automatic equipment of stacking of slender section bar electromagnetism hoist and mount | |
| CN219636081U (en) | High-speed elevator and automatic stereoscopic warehouse | |
| CN213569087U (en) | Lifting appliance device with low cost and high control precision | |
| CN217102331U (en) | Emergency mobile reel changing device | |
| CN220563753U (en) | Tray truss robot | |
| CN220811107U (en) | Duplex position straight line pile up neatly machine people |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200505 Termination date: 20210708 |