CN214520188U

CN214520188U - Automatic adjusting mechanical gripper for unmanned intensive intelligent storehouse

Info

Publication number: CN214520188U
Application number: CN202120431337.3U
Authority: CN
Inventors: 朱华鸣
Original assignee: NINGBO WANJIN MODERN SHEET METAL CO Ltd
Current assignee: Ningbo Wanjin Precision Technology Co ltd
Priority date: 2021-02-26
Filing date: 2021-02-26
Publication date: 2021-10-29
Anticipated expiration: 2031-02-26

Abstract

The utility model provides an automatically regulated machinery tongs for unmanned intensive wisdom storehouse: the device comprises a horizontal bracket, a vertical bracket, a first driving unit and a mechanical gripper; the first driving unit is arranged on the vertical bracket and used for driving the vertical bracket to slide along the length direction of the horizontal bracket; the mechanical gripper comprises a second driving unit and two clamping plates, wherein the second driving unit and the two clamping plates are arranged on the vertical support in opposite directions, and the second driving unit is used for driving the two clamping plates to move in opposite directions or move in opposite directions. The vertical support is driven to slide along the length direction of the horizontal support through the first driving unit, so that the mechanical gripper is inserted into the grid space to clamp the file box, the mechanical gripper does not need to be driven to move through a lifting mechanical arm, the positioning is accurate, the efficiency is high, and the use experience of a user is improved.

Description

Automatic adjusting mechanical gripper for unmanned intensive intelligent storehouse

Technical Field

The utility model relates to a mechanical tongs technical field specifically says that an automatically regulated mechanical tongs for unmanned intensive wisdom storehouse.

Background

The dense box has a large amount of grid spaces, can be used for storing a large amount of files, is convenient for users to search and store, and is widely applied to various file storehouses. An existing unmanned intensive intelligent storehouse usually comprises a dense box, a lifting mechanical arm and a mechanical gripper, when a user searches for a file, only the name of the file needs to be input on a control screen, the lifting mechanical arm moves to the front of the file to be searched and drives the mechanical gripper to descend to the position of the file to be searched, and then the lifting mechanical arm drives the mechanical gripper to be inserted into a grid space to clamp the file.

However, the motion amplitude of the existing lifting mechanical arm is slightly large, and the mechanical gripper is directly driven to be inserted into the grid space for clamping, so that inaccurate positioning can be caused, and the mechanical gripper cannot grab a wrong file or cannot grab the file; if the movement speed of the lifting mechanical arm is reduced, although the positioning accuracy can be ensured, the waiting time of the user is increased, and the use experience of the user is influenced.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is: the automatic adjusting mechanical gripper for the unmanned intensive intelligent storeroom is capable of automatically stretching and retracting and accurately positioning.

The technical solution of the utility model is that, an automatically regulated machinery tongs that is used for unmanned intensive wisdom storehouse that has following structure is provided: the device comprises a horizontal bracket, a vertical bracket, a first driving unit and a mechanical gripper; the first driving unit is arranged on the vertical bracket and used for driving the vertical bracket to slide along the length direction of the horizontal bracket; the mechanical gripper comprises a second driving unit arranged on the vertical support and two clamping plates arranged oppositely, and the second driving unit is used for driving the two clamping plates to move reversely or oppositely.

After the structure above the adoption, the utility model relates to an automatically regulated machinery tongs for unmanned intensive wisdom storehouse has following advantage:

the vertical support is driven to slide along the length direction of the horizontal support through the first driving unit, so that the mechanical gripper is inserted into the grid space to clamp the file box, the mechanical gripper does not need to be driven to move through a lifting mechanical arm, the positioning is accurate, the efficiency is high, and the use experience of a user is improved.

Preferably, the horizontal support is provided with a sliding groove, the vertical support is provided with a sliding plate extending along the horizontal direction, and the sliding plate is slidably connected in the sliding groove.

Preferably, the horizontal bracket is provided with a screw rod bracket, and the screw rod bracket is provided with a screw rod parallel to the horizontal bracket; the first driving unit is a screw rod stepping motor, and the screw rod stepping motor is in meshing transmission with the screw rod and used for driving the vertical support to move. The cooperation of lead screw step motor and screw rod can guarantee that perpendicular support is at the uniform velocity steady motion, avoids unexpected.

Preferably, the second driving unit comprises a low-speed motor, an upper toothed plate and a lower toothed plate; the output shaft of the low-speed motor is connected with a transmission gear, and the upper toothed plate and the lower toothed plate are respectively horizontally arranged above and below the transmission gear and are in meshing transmission with the transmission gear; and the two clamping plates on the mechanical gripper are respectively connected with the upper toothed plate and the lower toothed plate. The transmission gear drives the upper toothed plate and the lower toothed plate to move oppositely or reversely, so as to drive the clamping plates on the upper toothed plate and the lower toothed plate to move oppositely or reversely.

Preferably, the lower end of the vertical support is provided with a supporting plate for supporting the bottom of the file box to be clamped.

Preferably, the bottom of the supporting plate is provided with a positioning camera for positioning the position of the file box to be clamped. Therefore, the bar code at the corresponding position can be scanned by the positioning camera, and whether the file box is clamped by the mechanical gripper is correct or not is further determined.

Preferably, the free ends of the supporting plate and the clamping plate are provided with inclined planes. After the file clamping device is arranged in this way, the free ends of the supporting plate and the clamping plate are both in the shape of being narrow outside and wide inside, so that the file box can be clamped conveniently.

Preferably, the lifting mechanical arm is connected with the lifting mechanical arm through a connecting rod, and the horizontal bracket is arranged on the mounting base.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic view of a partial structure of the present invention.

As shown in the figure:

1. horizontal support, 2, vertical support, 3, first drive unit, 4, second drive unit, 5, splint, 6, spout, 7, slide, 8, screw rod support, 9, screw rod, 10, go up the pinion rack, 11, lower pinion rack, 12, drive gear, 13, layer board, 14, location camera, 15, inclined plane, 16, installation base.

Detailed Description

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

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Meanwhile, the terms "first", "second", and the like are only used for distinguishing the names of the components, and have no primary and secondary relationship, so that the present invention is not limited.

As shown in fig. 1 and 2;

the utility model discloses an automatically regulated machinery tongs that is used for unmanned intensive wisdom storehouse with following structure: the device comprises a horizontal bracket 1, a vertical bracket 2, a first driving unit 3 and a mechanical gripper; the horizontal bracket 1 is provided with a sliding chute 6, the vertical bracket 2 is provided with a sliding plate 7 extending along the horizontal direction, and the sliding plate 7 is connected in the sliding chute 6 in a sliding manner; the first driving unit 3 is arranged on the vertical bracket 2 and is used for driving the vertical bracket 2 to slide along the length direction of the horizontal bracket 1; the mechanical hand grip comprises a second driving unit 4 arranged on the vertical bracket 2 and two clamping plates 5 arranged oppositely, wherein the second driving unit 4 is used for driving the two clamping plates 5 to move reversely or oppositely. Through the length direction slip of first drive unit 3 drive vertical stand 2 along horizontal stand 1 to make mechanical tongs insert the check space and press from both sides and get the file box, need not to drive the motion of mechanical tongs through lift robotic arm, the location is accurate, efficient, improves the user and uses experience.

A screw rod bracket 8 is arranged on the horizontal bracket 1, and a screw rod 9 parallel to the horizontal bracket 1 is arranged on the screw rod bracket 8; the first driving unit 3 is a screw rod stepping motor, and the screw rod stepping motor is in meshing transmission with the screw rod 9 and is used for driving the vertical support 2 to move. The cooperation of the screw rod stepping motor and the screw rod 9 can ensure that the vertical support 2 moves stably at a constant speed, and accidents are avoided.

The second driving unit 4 includes a low-speed motor (not shown in the figure), an upper toothed plate 10, and a lower toothed plate 11; the output shaft of the low-speed motor is connected with a transmission gear 12, and the upper toothed plate 10 and the lower toothed plate 11 are respectively horizontally arranged above and below the transmission gear 12 and are in meshed transmission with the transmission gear 12; and the two clamping plates 5 on the mechanical gripper are respectively connected with the upper toothed plate 10 and the lower toothed plate 11. The transmission gear 12 drives the upper toothed plate 10 and the lower toothed plate 11 to move oppositely or reversely, so as to drive the clamping plates 5 on the upper toothed plate 10 and the lower toothed plate 11 to move oppositely or reversely.

The clamping plates 5 are two pairs, so that the file clamping device is more stable in clamping files. The lower end of the vertical bracket 2 is provided with a supporting plate 13 for supporting the bottom of the file box to be clamped. The bottom of the supporting plate 13 is provided with a positioning camera 14 which is connected with an external controller, so that the bar code at the corresponding position can be scanned by the positioning camera 14, and whether the file box clamped by the mechanical gripper is the correct file box or not can be further determined. The free ends of the supporting plate 13 and the clamping plate 5 are both provided with inclined planes 15, so that the free ends of the supporting plate 13 and the clamping plate 5 are both in the shape of being narrow outside and wide inside, and the file box can be clamped conveniently. The utility model discloses a still including being used for the installation base 16 of being connected with lift robotic arm, horizontal stand 1 sets up on installation base 16.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are all covered by the protection scope of the present invention, therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. The utility model provides an automatically regulated machinery tongs for unmanned intensive wisdom storehouse which characterized in that: the device comprises a horizontal bracket (1), a vertical bracket (2), a first driving unit (3) and a mechanical gripper; the vertical support (2) is connected to the horizontal support (1) in a sliding mode, and the first driving unit (3) is installed on the vertical support (2) and used for driving the vertical support (2) to slide along the length direction of the horizontal support (1); the mechanical gripper comprises a second driving unit (4) arranged on the vertical support (2) and two clamping plates (5) arranged oppositely, and the second driving unit (4) is used for driving the two clamping plates (5) to move reversely or oppositely.

2. The robotic gripper of claim 1, wherein the robotic gripper comprises: the horizontal support (1) is provided with a sliding groove (6), the vertical support (2) is provided with a sliding plate (7) extending along the horizontal direction, and the sliding plate (7) is connected in the sliding groove (6) in a sliding mode.

3. The robotic gripper of claim 1, wherein the robotic gripper comprises: the horizontal support (1) is provided with a screw rod support (8), and a screw rod (9) parallel to the horizontal support (1) is arranged on the screw rod support (8); the first driving unit (3) is a screw rod stepping motor, and the screw rod stepping motor is in meshing transmission with the screw rod (9) and is used for driving the vertical support (2) to move.

4. The robotic gripper of claim 1, wherein the robotic gripper comprises: the second driving unit (4) comprises a low-speed motor, an upper toothed plate (10) and a lower toothed plate (11); the output shaft of the low-speed motor is connected with a transmission gear (12), and the upper toothed plate (10) and the lower toothed plate (11) are respectively horizontally arranged above and below the transmission gear (12) and are in meshing transmission with the transmission gear (12); and the two clamping plates (5) on the mechanical gripper are respectively connected with the upper toothed plate (10) and the lower toothed plate (11).

5. The robotic gripper of claim 1, wherein the robotic gripper comprises: the lower end of the vertical support (2) is provided with a supporting plate (13) used for supporting the bottom of the file box to be clamped.

6. The robotic gripper of claim 5, wherein the robotic gripper comprises: and a positioning camera (14) is arranged at the bottom of the supporting plate (13) and used for positioning the position of the file box to be clamped.

7. The robotic gripper of claim 5, wherein the robotic gripper comprises: the free ends of the supporting plate (13) and the clamping plate (5) are both provided with inclined planes (15).

8. The robotic gripper of claim 1, wherein the robotic gripper comprises: the lifting mechanical arm is characterized by further comprising a mounting base (16) connected with the lifting mechanical arm, and the horizontal support (1) is arranged on the mounting base (16).