CN211882976U - A locker with a grabbing device - Google Patents

Abstract

The utility model discloses a storage cabinet with a grabbing device. The Y-axis translation unit of the grabbing device is slidably connected to the Z-axis translation unit, the Z-axis translation unit is fixed at the front end of the X-axis translation unit, and the X-axis translation unit is provided with It is placed on the top of the locker, and drives the Y-axis translation unit and the Z-axis translation unit to translate synchronously along the X-axis direction. The grasping device is fixedly connected to the Y-axis translation unit and moves synchronously with the Y-axis translation unit for picking and placing different positions. The control module intelligently controls the X-axis translation unit, the Y-axis translation unit, the Z-axis translation unit and the grabbing device to operate respectively, and the power module supplies power to the grabbing device. The utility model has both the functions of storage and auxiliary fetching. The grabbing device can control the electric grabbing of the target item through the control module, and can also use the ladder frame and the slide plate to manually take the target item by moving the ladder frame and the ladder. It is flexible, has various modes of use, saves time and effort, and can effectively assist the elderly to access the items in the locker.

Description

A locker with a grabbing device

technical field

The utility model belongs to the technical field of furniture, in particular to a storage cabinet with a grabbing device.

Background technique

Nowadays, with the aggravation of the aging phenomenon and the accelerated social process, the daily life and physical health of the elderly have become a very serious social problem. In order to improve or protect the quality of life of the elderly and solve the problem of inconvenient access and placement of items in the lockers that are too low or too high in the home life of the elderly, there are currently many robotic devices on the market that assist in grabbing items, but These robots have multiple motion dimensions or have a limited range of motion in a single dimension, which cannot well meet daily needs. Therefore, a locker with a grabbing device that can move in multiple dimensions and has a large range of motion, and can grab items at different positions in daily life, is designed. The two device functions will bring great convenience to the life of the elderly.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to aim at the above-mentioned deficiencies of the prior art, and provide a locker with a grabbing device. The grabbing device can realize a three-dimensional grabbing action through a three-dimensional motion mechanism to help users grab different At the same time, the controller can intelligently control the movement of the far three-dimensional motion mechanism, which is easy to operate, efficient and labor-saving.

In order to achieve the above technical purpose, the technical solution adopted by the present utility model is: a locker with a grabbing device, including a locker, a grabbing device is installed on the locker, and the grabbing device includes a space along a rectangular coordinate system. X-axis translation unit, Y-axis translation unit, Z-axis translation unit set in the direction of X-axis, Y-axis, Z-axis, as well as grasping device, control module and power supply module, Y-axis translation unit is slidably connected on Z-axis translation unit , the Z-axis translation unit is fixed at the front end of the X-axis translation unit, the X-axis translation unit is arranged on the top of the locker, and drives the Y-axis translation unit and the Z-axis translation unit to translate synchronously along the X-axis direction, and the Z-axis translation unit drives the Y-axis translation. The unit moves up and down, and the grasping device is fixedly connected to the Y-axis translation unit, and moves synchronously with the Y-axis translation unit to pick and place items at different positions. The control module intelligently controls the X-axis translation unit, the Y-axis translation unit, and the Z-axis translation unit. and the grabbing device are operated separately, and the power module supplies power to the grabbing device.

Further, the storage cabinet is a square storage cabinet, a plurality of storage compartments are opened in the square storage cabinet, and the top of the storage cabinet is horizontal.

Further, the X-axis translation unit includes an upper bracket and a rack-pinion transmission mechanism, and the rack-pinion transmission mechanism includes a first stepping motor, a gear, a rack and a sliding rail, and the sliding rail is fixed on the storage On the top of the locker, the bottom of the upper bracket is provided with a card slot, which is buckled on the slide rail through the card slot, the upper bracket is slidably connected with the slide rail, and the upper bracket extends along the Y-axis direction of the space rectangular coordinate system, The first step motor is installed on the upper bracket, the gear is fixed on the output shaft of the first step motor, the rack is arranged on the inner side of the slide rail, and the gear is meshed with the rack. The motor drives the gear to rotate, the gear meshes with the rack for transmission, and the gear drives the upper bracket to slide along the slide rail.

Further, the number of the card slots and the slide rails are both two, the two card slots are arranged in parallel at the bottom of the upper bracket, the two slide rails are parallelly fixed to the top of the locker along the X-axis direction of the space rectangular coordinate system, and the two The strip clip grooves are respectively buckled on the two sliding rails, and a rack is arranged inside one of the sliding rails, and the rack is meshed with the gears for transmission.

Further, the Z-axis translation unit includes a Z-axis ball screw mechanism, and the Z-axis ball screw mechanism includes a second stepper motor, a Z-axis screw and a Z-axis nut seat, and the second stepper motor is installed On the upper bracket, the Z-axis screw rod is vertically connected to the output shaft of the second stepping motor through the Z-axis coupling, the Z-axis nut is mounted on the Z-axis screw rod, and the Z-axis nut seat sleeve Connected to the Z-axis nut, the Z-axis screw support seat is fixed at the bottom of the Z-axis screw rod, the Z-axis screw support seat is rotatably connected to the Z-axis screw rod, and the bottom of the Z-axis screw rod support seat is fixed at the bottom on a skateboard.

Further, the Z-axis translation unit also includes a support rod and a ladder frame, the support rod is vertically fixed on the bottom of the upper bracket, and is located on the rear side of the Z-axis screw rod, and the upper and lower ends of the ladder frame are respectively fixed to the upper bracket. and the front end of the slide plate, and the whole is vertically arranged on the front side of the Z-axis screw rod. The Z-axis screw support seat is also installed at the connection between the Z-axis coupling and the Z-axis screw rod, where the Z-axis screw rod supports The seat is fixed on the ladder frame by spacers.

Further, the slide plate is a flat plate with a lockable universal wheel installed at the bottom, and the bottom of the ladder frame, the Z-axis screw support seat at the bottom of the Z-axis screw rod, and the bottom of the support rod are all fixed on the flat plate, and can The locked universal wheel is supported on the ground.

Further, the Y-axis translation unit includes a lower bracket, a fixing plate and a Y-axis ball screw mechanism, the Y-axis ball screw mechanism is fixed on the lower bracket, and the lower bracket is located on the ladder frame, the Z-axis screw and the support. On the right side of the rod, the fixing plate protrudes to the left at the bottom of the lower bracket and is located on the rear side of the ladder frame, the front end of the bottom of the fixing plate is fixed on the Z-axis nut seat, and the rear side of the bottom of the fixing plate is provided with a through hole, so A slip ring is installed in the through hole, the slip ring is sleeved on the support rod, the Z-axis nut seat drives the lower bracket to slide up and down along the support rod through the fixing plate, and the Y-axis ball screw mechanism includes a third stepping motor , Y-axis screw, Y-axis nut seat, connecting plate and limit rod, the third stepper motor is installed at the front end of the upper plate surface of the lower bracket, and the Y-axis screw is connected to the third through the Y-axis coupling. The output shaft of the stepping motor extends along the Y-axis direction of the space rectangular coordinate system. The Y-axis screw support seat is fixed at the connection between the Y-axis coupling and the Y-axis screw and the rear end of the Y-axis screw. The Y-axis screw support seat is rotatably connected with the Y-axis screw, the Y-axis screw support seat is fixed on the lower bracket, the Y-axis nut seat is sleeved on the Y-axis screw, and is screwed with the Y-axis screw. Transmission, the connecting plate is sleeved on the Y-axis screw rod and the limit rod and is fixedly connected with the Y-axis nut seat, and translates synchronously along the Y-axis screw rod with the Y-axis nut seat, and the limit rod is horizontal along the Y-axis direction It is fixed in the middle of the lower bracket, and the grabbing device is fixed on the connecting plate and moves synchronously with the connecting plate.

Further, the grasping device is a robotic arm, the robotic arm includes a robotic arm and a robotic claw, the robotic claw is fixed on the front end of the robotic arm, and the robotic arm includes a base plate, a first steering gear, a second steering gear, The first "H" type bracket, the third steering gear, the second "H" type bracket, the fourth steering gear, the fifth steering gear and the sixth steering gear, the mechanical arm is fixed on the connecting plate through the bottom plate, and the The first steering gear is installed on the base plate, the second steering gear is fixed on the front end of the output shaft of the first steering gear through a rotating disc, the rotating disc is rotatably connected to the chassis, and the chassis is supported and fixed on the base plate by a connecting rod , the uppermost layer of the chassis is an annular plate, the rotating disk is fixed at the front end of the output shaft of the first steering gear and is embedded in the annular plate, and drives the second steering gear to rotate synchronously with the output shaft of the first steering gear, the said The third steering gear is fixed to the front end of the second steering gear through the first "H" type bracket, and the two parallel plates at the lower part of the cross bar of the first "H" type bracket (5-5) are respectively fixed to the second steering gear through the indexing plate. Both ends of the output shaft of the steering gear are located on the left and right sides of the body of the second steering gear, and the two parallel plates on the upper part of the cross bar of the first "H" type bracket are respectively fixed on the two ends of the output shaft of the third steering gear through the indexing plate and are located at the two ends of the output shaft of the third steering gear. On the left and right sides of the body of the third steering gear, the fourth steering gear is fixed to the front end of the third steering gear through the second "H" type bracket, and the lower part of the cross bar of the second "H" type bracket is respectively fixed to the third steering gear On the left and right sides of the fuselage, the upper part of the cross bar of the second "H" type bracket is respectively fixed at both ends of the output shaft of the fourth steering gear through the indexing plate and is located on the left and right sides of the body of the fourth steering gear, and the fifth steering gear passes through the The third bracket is fixed on the front end of the fourth steering gear, and moves with the fourth steering gear in pitch. It is an alloy mechanical claw, including a meshing wheel, a gripper, a rocker and a manipulator frame. The rear part of the manipulator frame is fixed to rotate radially with the output shaft of the fifth steering gear, and the sixth steering gear is installed at the rear of the manipulator frame. The left and right meshing wheels are rotatably symmetrically installed on the manipulator frame, the meshing wheels are incomplete gears with wheel handles, the wheel handles are protruded on the toothless part of the incomplete gears, and the sixth steering gear is drivingly connected to the On the incomplete gear of the meshing wheel on one side, the meshing wheel on one side is driven to rotate synchronously with its output shaft, and the meshing wheel on the other side is driven to rotate in reverse through the toothed part of the incomplete gear. The rear ends of the left and right hand claws are respectively It is hinged on the outer end of the wheel handle of the left and right meshing wheels, the left and right rockers are symmetrically distributed, the rear ends of the left and right rockers are symmetrically hinged on the manipulator frame, and the front ends of the left and right rockers are respectively hinged on the middle of the left and right claws.

Further, the grasping device can also be the commercially available Raspberry Pi robotic arm ArmPi. The robotic arm is visually synchronized with the ArmPi robotic arm through a mobile phone APP or a PC host computer, and the machine can be remotely controlled through the real-time images captured by the ArmPi robotic arm camera. The arm grabs and releases the target item.

Further, the control module is a motor controller, which drives each stepping motor and steering gear to start, stop, and rotate forward and reverse respectively through remote control or wire control.

The utility model has the following beneficial effects: the utility model comprises a locker and a grabbing device, which has both the functions of storage and auxiliary retrieval, and the grabbing device can control the electric grabbing of the target item through the control module, and can also use Ladder frame and slide plate, by pushing the ladder frame and climbing ladder to reach the target object, the slide rail of the X-axis translation unit is connected with the card slot, which can prevent the ladder frame from tipping over, no need to be supported during use, and the slide plate can be locked. The universal wheel can help the user to easily push the ladder frame when it is unlocked, and can stabilize the ladder frame when it is locked. The operation is flexible, the use mode is various, time-saving and labor-saving, safe and reliable, and effectively solves the inconvenience of the elderly to bend over or reach up. The problem.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present utility model;

Fig. 2 is the left side view of Fig. 1;

Fig. 3 is the right side view of Fig. 1;

4 is a partial cross-sectional view of the rack-pinion transmission mechanism of FIG. 1;

5 is a schematic structural diagram of the Z-axis translation unit of FIG. 1;

6 is a schematic structural diagram of the Y-axis translation unit of FIG. 1;

FIG. 7 is a schematic structural diagram of the grasping device of FIG. 1;

Fig. 8 is the top view of Fig. 7;

FIG. 9 is a schematic structural diagram of the mechanical claw of FIG. 7 .

The reference signs are: locker 1, X-axis translation unit 2, upper bracket 2-1, first step motor 2-2, gear 2-3, rack 2-4, slide rail 2-5, Card slot 2-6, Y-axis translation unit 3, lower bracket 3-1, fixed plate 3-2, slip ring 3-3, third stepper motor 3-4, Y-axis screw 3-5, Y-axis nut Seat 3-6, connecting plate 3-7, limit rod 3-8, Y-axis coupling 3-9, Y-axis screw support seat 3-10, Z-axis translation unit 4, second stepper motor 4- 1. Z-axis screw 4-2, Z-axis nut seat 4-3, Z-axis coupling 4-4, Z-axis screw support seat 4-5, slide plate 4-6, lockable universal wheel 4- 61. Flat plate 4-62, support rod 4-7, ladder frame 4-8, gasket 4-9, grabbing device 5, mechanical claw 5-1, meshing wheel 5-101, hand claw 5-102, rocker 5-103, manipulator frame 5-104, base plate 5-2, first steering gear 5-3, second steering gear 5-4, first "H" bracket 5-5, third steering gear 5-6, The second "H" type bracket 5-7, the fourth steering gear 5-8, the fifth steering gear 5-9, the sixth steering gear 5-10, the rotary disk 5-11, the chassis 5-12, the connecting rod 5- 13. Indexing plate 5-14, third bracket 5-15.

Detailed ways

The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

Example 1

As shown in Figures 1-8, a locker with a grab device includes a locker 1, the locker 1 is a square locker, and a plurality of storage compartments are opened in the square locker to store The top of the cabinet is horizontal, and a grabbing device is installed on the locker 1. The grabbing device includes an X-axis translation unit 2, a Y-axis translation unit 3, and a Z-axis respectively arranged along the X-axis, Y-axis, and Z-axis of the space rectangular coordinate system. The axis translation unit 4, as well as the grasping device 5, the control module and the power supply module, the X axis translation unit 2 is arranged on the top of the locker 1, and the X axis translation unit 2 includes an upper bracket 2-1 and a rack-pinion transmission mechanism. The rack-and-pinion transmission mechanism includes a first step motor 2-2, a gear 2-3, a rack 2-4 and a slide rail 2-5, and the number of the card slot 2-6 and the slide rail 2-5 is two. The two card slots 2-6 are arranged in parallel at the bottom of the upper bracket 2-1, and the two slide rails 2-5 are parallelly fixed on the top of the locker 1 along the X-axis direction of the space rectangular coordinate system, passing through the two card slots 2-6 The upper bracket 2-1 is slidably connected with the sliding rails 2-5, and the upper bracket 2-1 extends along the Y-axis direction of the space rectangular coordinate system. The first step is the motor 2 -2 is installed on the upper bracket 2-1, the gear 2-3 is fixed on the output shaft of the first stepping motor 2-2, the rack 2-4 is arranged on the inner side of a slide rail 2-5, the gear 2-3 It is meshed and connected with the rack 2-4. The first step motor 2-2 drives the gear 2-3 to rotate. The gear 2-3 meshes with the rack 2-4 for transmission. The gear 2-3 drives the upper bracket 2-1 to slide along the The rail 2-5 slides to drive the Y-axis translation unit 3 and the Z-axis translation unit 4 to translate synchronously along the X-axis direction. The Z-axis translation unit 4 is fixed to the front end of the upper bracket 2-1 of the X-axis translation unit 2, and the Z-axis translation unit 4 Including the Z-axis ball screw mechanism, the Z-axis ball screw mechanism includes the second stepper motor 4-1, the Z-axis screw 4-2 and the Z-axis nut seat 4-3, the second stepper motor 4-1 is installed On the upper bracket 2-1, the Z-axis screw 4-2 is vertically connected to the output shaft of the second stepper motor 4-1 through the Z-axis coupling 4-4, and the Z-axis nut seat 4-3 is socketed to Z On the shaft screw 4-2, it is screwed with the Z-axis screw 4-2. The support rod 4-7 is vertically fixed on the bottom of the upper bracket 2-1, and is located behind the Z-axis screw 4-2. The ladder frame 4 The upper and lower ends of -8 are respectively fixed to the upper bracket 2-1 and the front end of the sliding plate 4-6, and are vertically arranged on the front side of the Z-axis screw 4-2, the bottom of the Z-axis screw 4-2 and the Z-axis coupling A Z-axis screw support seat 4-5 is fixed at the connection between the shaft device 4-4 and the Z-axis screw 4-2, and the Z-axis screw support seat 4-5 is rotatably connected with the Z-axis screw 4-2. The Z-axis screw support seat 4-5 (the connection between the Z-axis coupling 4-4 and the Z-axis screw 4-2) is fixed on the ladder frame 4-8 through the gasket 4-9, and the slide plate 4-6 is A flat plate 4-62 that can lock the universal wheel 4-61 is installed at the bottom, the Z-axis screw support seat 4-5 at the bottom and the lower end of the ladder frame 4-8 (the bottom of the Z-axis screw 4-2) and the support rod 4 -7 The bottom is fixed on the flat plate 4-62 and supported on the ground by the lockable universal wheel 4-61 , the Y-axis translation unit 3 is slidably connected to the Z-axis translation unit 4, the Y-axis translation unit 3 includes a lower bracket 3-1, a fixing plate 3-2 and a Y-axis ball screw mechanism, and the Y-axis ball screw mechanism is fixed on the lower bracket 3-1 The upper and lower brackets 3-1 are located on the right side of the ladder frame 4-8, the Z-axis screw 4-2 and the support rod 4-7, and the fixing plate 3-2 is protruded to the left at the bottom of the lower bracket 3-1 and Located on the rear side of the ladder frame 4-8, the bottom front end of the fixing plate 3-2 is fixed on the Z-axis nut seat 4-3, the bottom rear side of the fixing plate 3-2 is provided with a through hole, and a slip ring 3-3 is installed in the through hole , the slip ring 3-3 is sleeved on the support rod 4-7, the Z-axis nut seat 4-3 drives the lower bracket 3-1 to slide up and down along the support rod 4-7 through the fixed plate 3-2, and the Y-axis ball screw mechanism Including the third stepping motor 3-4, the Y-axis screw 3-5, the Y-axis nut seat 3-6, the connecting plate 3-7 and the limit rod 3-8, the third stepping motor 3-4 is installed on the lower bracket At the front end of the upper plate surface of 3-1, the Y-axis screw 3-5 is connected to the output shaft of the third stepper motor 3-4 through the Y-axis coupling 3-9, extending along the Y-axis direction of the space rectangular coordinate system, Y-axis screw support seat 3-10 and Y-axis screw support seat 3-10 are fixed at the connection between Y-axis coupling 3-9 and Y-axis screw rod 3-5 and the rear end of Y-axis screw rod 3-5 It is rotatably connected with the Y-axis screw 3-5, the Y-axis screw support seat 3-10 is fixed on the lower bracket 3-1, the Y-axis nut seat 3-6 is sleeved on the Y-axis screw 3-5, and is connected with the Y-axis screw 3-5. Axis screw 3-5 screw drive, connecting plate 3-7 is sleeved on Y-axis screw 3-5 and limit rod 3-8 and fixedly connected with Y-axis nut seat 3-6, with Y-axis nut seat 3 -6 synchronously translate along the Y-axis screw 3-5, and the limit rod 3-8 is horizontally fixed in the middle of the lower bracket 3-1 along the Y-axis direction to ensure that the connecting plate 3-7 always maintains a vertical state and translates along the Y-axis direction. The grasping device 5 is a robotic arm, including a robotic arm and a robotic claw 5-1, the robotic claw 5-1 is fixed at the front end of the robotic arm, and the robotic arm includes a base plate 5-2, a first steering gear 5-3, and a second steering gear 5 -4. The first "H" type bracket 5-5, the third steering gear 5-6, the second "H" type bracket 5-7, the fourth steering gear 5-8, the fifth steering gear 5-9 and the third steering gear Six servos 5-10, the mechanical arm is fixed on the connecting plate 3-7 through the base plate 5-2, and translates synchronously with the connecting plate 3-7, the first servo 5-3 is installed on the base plate 5-2, the second servo The engine 5-4 is fixed on the front end of the output shaft of the first steering gear 5-3 through the rotating disk 5-11, the rotating disk 5-11 is rotatably connected to the chassis 5-12, and the chassis 5-12 is supported and fixed by the connecting rod 5-13 On the bottom plate 5-2, the uppermost layer of the chassis 5-12 is an annular plate, and the rotating disk 5-11 is fixed on the front end of the output shaft of the first steering gear 5-3 and embedded in the annular plate, and drives the second steering gear 5 -4 rotates synchronously with the output shaft of the first steering gear 5-3, the third steering gear 5-6 is fixed to the front end of the second steering gear 5-4 through the first "H" type bracket 5-5, the first "H" type The two parallel plates at the lower part of the cross bar of the bracket 5-5 are respectively fixed to the output of the second steering gear 5-4 through the indexing plate 5-14. Both ends of the shaft are located on the left and right sides of the body of the second steering gear 5-4, and the two parallel plates on the upper part of the cross bar of the first "H" type bracket 5-5 are respectively fixed on the third steering gear 5-14 through the indexing plate 5-14. 6. Both ends of the output shaft are located on the left and right sides of the body of the third steering gear 5-6. The fourth steering gear 5-8 is fixed to the front end of the third steering gear 5-6 through the second "H" type bracket The lower part of the cross bar of the second "H" type bracket 5-7 is respectively fixed on the left and right sides of the fuselage of the third steering gear 5-6, and the upper part of the cross bar of the second "H" type bracket 5-7 passes through the indexing plate 5-14 They are respectively fixed at both ends of the output shaft of the fourth steering gear 5-8 and located on the left and right sides of the body of the fourth steering gear 5-8. The fifth steering gear 5-9 is fixed on the fourth steering gear 5- 8 The front end moves with the pitching motion of the fourth steering gear 5-8. The rear part of the mechanical claw 5-1 is fixed at the front end of the output shaft of the fifth steering gear 5-9, and rotates radially with the output shaft of the fifth steering gear 5-9. 5-1 is the alloy mechanical claw, including the meshing wheel 5-101, the claw 5-102, the rocker 5-103 and the manipulator frame 5-104. The rear of the manipulator frame 5-104 is fixed on the fifth steering gear 5-9. The output shaft rotates radially, the sixth steering gear 5-10 is installed on the rear of the manipulator frame 5-104, the left and right meshing wheels 5-101 are rotatably symmetrically installed on the manipulator frame 5-104, and the meshing wheels 5-101 are belts The wheel handle is incomplete gear, the wheel handle is protruded on the toothless part of the incomplete gear, and the sixth steering gear 5-10 is driven and connected to the incomplete gear of one side meshing wheel 5-101, and drives the side meshing wheel 5-101 It rotates synchronously with its output shaft, and drives the meshing wheel 5-101 on the other side to rotate in the opposite direction through the toothed part of the incomplete gear. The outer end of the wheel handle, the left and right rockers 5-103 are symmetrically distributed, the rear ends of the left and right rockers 5-103 are symmetrically hinged on the manipulator frame 5-104, and the front ends of the left and right rockers 5-103 are hinged on the left and right sides respectively. In the middle of the gripper 5-102, the control module is a motor controller, which drives each stepper motor and steering gear to start, stop, forward and reverse motion through remote control or wire control, and the power module supplies power to the grabbing device.

Use process: store daily items in each storage compartment of locker 1, turn on the power module, and power on the grabbing device. When you need to take the items in a storage compartment of locker 1, control the control module The first step motor 2-2 rotates, and the gear 2-3 meshes with the rack 2-4 for transmission. The gear 2-3 moves along the rack 2-4 and drives the upper bracket 2-1 to synchronously translate to the space corresponding to the target item At the X coordinate, the first stepper motor 2-2 is controlled to stop running, and then the control module controls the second stepper motor 4-1 to rotate and screw the Z-axis nut seat 4-3, and the Z-axis nut seat 4-3 along the Z axis The screw 4-2 moves in a straight line, and the Z-axis nut seat 4-3 drives the lower bracket 3-1 and the grabbing device 5 fixed on the lower bracket 3-1 through the fixing plate 3-2 to move up and down synchronously to the space Z corresponding to the target item At the coordinates, the second stepper motor 4-1 is controlled to stop running, and the third stepper motor 3-4 is controlled by the control module to rotate and screw the Y-axis nut seat 3-6, and the Y-axis nut seat 3-6 along the Y-axis wire The rod 3-5 moves in a straight line, and the Y-axis nut seat 3-6 drives the grabbing device 5 through the connecting plate 3-7 to synchronously translate to the space Z coordinate corresponding to the target item from the connecting plate 3-7 to control the third step The motor 3-4 stops running, and the control module controls the first steering gear 5-3, the second steering gear 5-4, the third steering gear 5-6, the fourth steering gear 5-8, and the fifth steering gear 5- 9 and the sixth steering gear 5-10 rotate clockwise and counterclockwise, the mechanical claw 5-1 controls the gripper 5-102 to release or clamp the object through the sixth steering gear 5-10, and the mechanical arm passes through the first steering gear 5- 3. The second steering gear 5-4, the third steering gear 5-6, the fourth steering gear 5-8, the fifth steering gear 5-9 and the sixth steering gear 5-10 drive the mechanical claw 5-1 with multiple degrees of freedom The movement is to adjust the distance by a small amount and adjust the gripping posture to stably grip the target item. After the target item is gripped, analogous to the above operation, the control module controls the first step motor 2-2 to drive the Y-axis translation unit 3 and the Z-axis. The translation unit 4 translates along the X-axis direction, controls the second stepper motor 4-1 to drive the Y-axis translation unit 3 and the grasping device 5 to move up and down along the Z axis, and controls the third stepper motor 3-4 to drive the grasping device 5 to move along the Z axis. The Y axis moves forward and backward to move the target item to the place where the person is, and then control the rotation of the sixth steering gear 5-10 to make the mechanical claw 5-1 release the item to realize the pick and place of the target item; the storage device with the grabbing device The locker not only has the storage function of the cabinet, but also the grasping device can electronically control the items in different positions of the locker, saving time and effort;

For users who are easy to move at home, they can also directly use the ladder frame 4-8 and the slide plate 4-6 to pick up and place items in different positions, specifically: unlocking the lockable universal wheel 4-61, and artificially pushing the ladder frame 4-8 to Near the target item, then people climb onto the ladder frame 4-8 and reach for the target item. Because the slide rail and the card slot are locked together, the ladder frame 4-8 is limited to a certain extent, which can effectively prevent the ladder frame 4-8. 8. Dumping, no need to be supported during use, the bottom of the skateboard 4-6 can be locked. The universal wheel 4-61 can help push the ladder frame 4-8 easily, saving manpower, and it can be locked when the grabbing device moves to the target position. The universal wheel 4-61 can further maintain the stability of the grabbing device, which is safe and practical, and has various use modes.

Example 2

The difference from Example 1 is that the grasping device 5 is the commercially available Raspberry Pi robotic arm ArmPi, which is visually synchronized with the ArmPi robotic arm through the mobile phone APP or PC host computer, and can be captured by the ArmPi robotic arm camera in real time. The screen remotely controls the robotic arm to grab and place the target item.

The above are only the preferred embodiments of the present utility model, and the protection scope of the present utility model is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present utility model belong to the protection scope of the present utility model. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims (10)

1. A storage cabinet with a gripping device comprises a storage cabinet (1) and is characterized in that the storage cabinet (1) is provided with the gripping device, the gripping device comprises an X-axis translation unit (2), a Y-axis translation unit (3), a Z-axis translation unit (4), a gripping device (5), a control module and a power module, the X-axis translation unit (3) is arranged along the X-axis, Y-axis and Z-axis directions of a space rectangular coordinate system respectively, the Y-axis translation unit (3) is connected to the Z-axis translation unit (4) in a sliding manner, the Z-axis translation unit (4) is fixed at the front end of the X-axis translation unit (2), the X-axis translation unit (2) is arranged at the top of the storage cabinet (1) and drives the Y-axis translation unit (3) and the Z-axis translation unit (4) to synchronously translate along the X-axis direction, and the Z-axis translation unit (4) drives the Y-axis, grabbing device (5) fixed connection is on Y axle translation unit (3), along with Y axle translation unit (3) synchronous motion for grab put different position article, control module intelligent control X axle translation unit (2), Y axle translation unit (3), Z axle translation unit (4) and grabbing device (5) operate respectively, power module power supply grabbing device.

2. The storage cabinet of claim 1, wherein: the storage cabinet (1) is a square storage cabinet, a plurality of storage grids are arranged in the square storage cabinet, and the top of the storage cabinet is horizontal.

3. The storage cabinet of claim 2, wherein: the X-axis translation unit (2) comprises an upper support (2-1) and a rack-and-pinion transmission mechanism, the rack-and-pinion transmission mechanism comprises a first stepping motor (2-2), a gear (2-3), a rack (2-4) and a sliding rail (2-5), the sliding rail (2-5) is fixed at the top of the storage cabinet (1), a clamping groove (2-6) is formed in the bottom of the upper support (2-1) and clamped on the sliding rail (2-5) through the clamping groove (2-6), the upper support (2-1) is connected with the sliding rail (2-5) in a sliding mode, the upper support (2-1) extends along the Y-axis direction of a space rectangular coordinate system, the first stepping motor (2-2) is installed on the upper support (2-1), the gear (2-3) is fixed on an output shaft of the first stepping motor (2-2), the rack (2-4) is arranged on the inner side of the sliding rail (2-5), the gear (2-3) is meshed with the rack (2-4) and is driven to rotate by the first stepping motor (2-2), the gear (2-3) is meshed with the rack (2-4) for transmission, and the gear (2-3) drives the upper support (2-1) to slide along the sliding rail (2-5).

4. The storage cabinet of claim 3, wherein: the number of the clamping grooves (2-6) and the number of the sliding rails (2-5) are two, the two clamping grooves (2-6) are arranged at the bottom of the upper support (2-1) in parallel, the two sliding rails (2-5) are fixed at the top of the storage cabinet (1) in parallel along the X-axis direction of a space rectangular coordinate system, the two clamping grooves (2-6) are respectively buckled on the two sliding rails (2-5), a rack (2-4) is arranged on the inner side of one sliding rail (2-5), and the rack (2-4) is in meshing transmission with the gear (2-3).

5. The storage cabinet of claim 4, wherein: the Z-axis translation unit (4) comprises a Z-axis ball screw mechanism, the Z-axis ball screw mechanism comprises a second stepping motor (4-1), a Z-axis screw (4-2) and a Z-axis nut seat (4-3), the second stepping motor (4-1) is arranged on the upper bracket (2-1), the Z-axis screw rod (4-2) is vertically connected to an output shaft of the second stepping motor (4-1) through a Z-axis coupler (4-4), the Z-axis nut seat (4-3) is sleeved on the Z-axis screw rod (4-2) and is in spiral transmission with the Z-axis screw rod (4-2), a Z-axis screw rod supporting seat (4-5) is fixed at the bottom of the Z-axis screw rod (4-2), the bottom of the Z-axis screw rod supporting seat (4-5) is fixed on the sliding plate (4-6).

6. The storage cabinet of claim 5, wherein: the Z-axis translation unit (4) further comprises a support rod (4-7) and a ladder frame (4-8), the support rod (4-7) is vertically fixed at the bottom of the upper support (2-1) and located on the rear side of the Z-axis lead screw (4-2), the upper end and the lower end of the ladder frame (4-8) are respectively fixed at the front ends of the upper support (2-1) and the sliding plate (4-6), the whole body is vertically arranged on the front side of the Z-axis lead screw (4-2), a Z-axis lead screw support seat (4-5) is also installed at the joint of the Z-axis coupler (4-4) and the Z-axis lead screw (4-2), and the Z-axis lead screw support seat (4-5) is fixed on the ladder frame (4-8) through a gasket (4-9).

7. The storage cabinet of claim 6, wherein: the sliding plate (4-6) is a flat plate (4-62) with the bottom provided with lockable universal wheels (4-61), and the bottoms of the Z-axis lead screw supporting seat (4-5) and the supporting rod (4-7) at the bottom of the ladder frame (4-8) and the bottom of the Z-axis lead screw (4-2) are fixed on the flat plate (4-62) and supported on the ground through the lockable universal wheels (4-61).

8. The storage cabinet of claim 7, wherein: the Y-axis translation unit (3) comprises a lower support (3-1), a fixed plate (3-2) and a Y-axis ball screw mechanism, the Y-axis ball screw mechanism is fixed on the lower support (3-1), the lower support (3-1) is positioned on the right side of a ladder frame (4-8), a Z-axis screw (4-2) and a support rod (4-7), the fixed plate (3-2) is arranged at the bottom of the lower support (3-1) in a protruding mode leftwards and positioned on the rear side of the ladder frame (4-8), the front end of the bottom of the fixed plate (3-2) is fixed on the Z-axis nut seat (4-3), a through hole is formed in the rear side of the bottom of the fixed plate (3-2), a sliding ring (3-3) is installed in the through hole, the sliding ring (3-3) is sleeved on the support rod (4-7), the Z-axis nut seat (4-3) drives the lower support (3-1) to slide up and down along the support rod (4-7) through the fixing plate (3-2), the Y-axis ball screw mechanism comprises a third stepping motor (3-4), a Y-axis screw (3-5), a Y-axis nut seat (3-6), a connecting plate (3-7) and a limiting rod (3-8), the third stepping motor (3-4) is installed at the front end of the upper plate surface of the lower support (3-1), the Y-axis screw (3-5) is connected to an output shaft of the third stepping motor (3-4) through a Y-axis coupler (3-9) and extends along the Y-axis direction of a space rectangular coordinate system, a Y-axis screw support seat (3-10) is fixed at the connection part of the Y-axis coupler (3-9) and the Y-axis screw (3-5) and at the rear end of the Y-axis screw (3-5), the Y-axis screw rod supporting seat (3-10) is fixed on the lower support (3-1), the Y-axis nut seat (3-6) is sleeved on the Y-axis screw rod (3-5) and is in spiral transmission with the Y-axis screw rod (3-5), the connecting plate (3-7) is sleeved on the Y-axis screw rod (3-5) and the limiting rod (3-8) and is fixedly connected with the Y-axis nut seat (3-6), the limiting rod (3-8) is horizontally fixed in the middle of the lower support (3-1) along the Y-axis direction and synchronously translates along with the connecting plate (3-7) along with the Y-axis nut seat (3-6), and the grabbing device (5) is fixed on the connecting plate (3-7).

9. The storage cabinet of claim 8, wherein: the grabbing device (5) is a mechanical arm, the mechanical arm comprises a mechanical arm and a mechanical claw (5-1), the mechanical claw (5-1) is fixed at the front end of the mechanical arm, the mechanical arm comprises a bottom plate (5-2), a first steering engine (5-3), a second steering engine (5-4), a first H-shaped support (5-5), a third steering engine (5-6), a second H-shaped support (5-7), a fourth steering engine (5-8), a fifth steering engine (5-9) and a sixth steering engine (5-10), the mechanical arm is fixed on a connecting plate (3-7) through the bottom plate (5-2), the first steering engine (5-3) is installed on the bottom plate (5-2), the second steering engine (5-4) is fixed at the front end of an output shaft of the first steering engine (5-3) through a rotating disk (5-11), the rotary plate (5-11) is rotatably connected to a chassis (5-12), the chassis (5-12) is supported and fixed on a bottom plate (5-2) through a connecting rod (5-13), the uppermost layer of the chassis (5-12) is an annular plate, the rotary plate (5-11) is fixed at the front end of an output shaft of a first steering engine (5-3) and embedded in the annular plate and drives a second steering engine (5-4) to synchronously rotate along with the output shaft of the first steering engine (5-3), a third steering engine (5-6) is fixed at the front end of a second steering engine (5-4) through a first H-shaped support (5-5), two parallel plates at the lower part of a cross rod of the first H-shaped support (5-5) are respectively fixed at two ends of the output shaft of the second steering engine (5-4) through index plates (5-14) and are positioned at the left side and the right side of the engine body of the second steering engine (5-4), the upper parts of the cross rods of the first H-shaped supports (5-5) are respectively fixed at two ends of an output shaft of a third steering engine (5-6) through index plates (5-14) and positioned on the left and right sides of the body of the third steering engine (5-6), the fourth steering engine (5-8) is fixed at the front end of the third steering engine (5-6) through a second H-shaped support (5-7), the lower parts of the cross rods of the second H-shaped supports (5-7) are respectively fixed at the left and right sides of the body of the third steering engine (5-6), the upper parts of the cross rods of the second H-shaped supports (5-7) are respectively fixed at two ends of an output shaft of the fourth steering engine (5-8) through index plates (5-14) and positioned at the left and right sides of the body of the fourth steering engine (5-8), the fifth steering engine (5-9) is fixed at the front end of the fourth steering engine (5-8) through a third support (5-15), along with the pitching motion of a fourth steering engine (5-8), the rear part of a mechanical claw (5-1) is fixed at the front end of an output shaft of a fifth steering engine (5-9) and rotates along with the radial direction of the output shaft of the fifth steering engine (5-9), the mechanical claw (5-1) is an alloy mechanical claw and comprises meshing wheels (5-101), a hand claw (5-102), a rocker (5-103) and a mechanical arm frame (5-104), the rear part of the mechanical arm frame (5-104) is fixed and rotates along with the radial direction of the output shaft of the fifth steering engine (5-9), a sixth steering engine (5-10) is installed at the rear part of the mechanical arm frame (5-104), left and right meshing wheels (5-101) are rotatably and symmetrically installed on the mechanical arm frame (5-104), and the meshing wheels (5-101) are incomplete gears with belt wheel handles, the wheel handle is convexly arranged on a toothless part of the incomplete gear, the sixth steering engine (5-10) is in driving connection with the incomplete gear of the meshing wheel (5-101) on one side to drive the meshing wheel (5-101) on the side to synchronously rotate along with an output shaft of the meshing wheel, the meshing wheel (5-101) on the other side is in meshing transmission through the toothed part of the incomplete gear to reversely rotate, the rear ends of the left and right hand claws (5-102) are respectively hinged to the outer ends of the wheel handles of the left and right meshing wheels (5-101), the left and right rocking rods (5-103) are symmetrically distributed, the rear ends of the left and right rocking rods (5-103) are symmetrically hinged to the mechanical hand frames (5-104), and the front ends of the left and right rocking rods (5-103) are respectively hinged to the middle parts of the left and right hand claws.

10. The storage cabinet of claim 9, wherein: the control module is a motor controller and respectively drives the stepping motors and the steering engine to start, stop and rotate forward and backward in a remote control or wire control mode.

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