CN214609618U

CN214609618U - A manipulator for equipment access

Info

Publication number: CN214609618U
Application number: CN202120532394.0U
Authority: CN
Inventors: 董青迅; 杨红权; 刘彦琴; 刘鑫; 胡祥胜; 谭智馨; 曾晓维; 蒋闵威
Original assignee: Chengdu Power Supply Co Of State Grid Sichuan Electric Power Corp
Current assignee: Chengdu Power Supply Co Of State Grid Sichuan Electric Power Corp
Priority date: 2021-03-15
Filing date: 2021-03-15
Publication date: 2021-11-05
Anticipated expiration: 2031-03-15

Abstract

The utility model discloses a manipulator for equipment access, relating to the technical field of goods access, comprising a base, a sliding component and a telescopic component, the sliding components are fixed at the two ends of the base, the telescopic components are arranged on the sliding components, the sliding component is perpendicular to the telescopic direction of the telescopic component along the sliding direction of the base, the telescopic component is provided with a clamping device, the clamping device is provided with a goods identification device which identifies goods, the clamping jaw on the clamping device positions the goods, the sliding component and the telescopic component drive the goods to move, after the goods identification device identifies the goods, the clamping device moves through the sliding component, fix the goods of corresponding goods shelves layer board position, flexible subassembly passes the goods shelves after removing and realizes depositing the goods, realizes accessing not the electric wire netting storage equipment of equidimension.

Description

A manipulator for equipment access

Technical Field

The utility model relates to a goods access technical field, concretely relates to manipulator for equipment access.

Background

Warehousing refers to the activities of warehousing, storing and taking out of various materials and related facilities and equipment by using a warehouse. Modern warehousing refers to the links of processing, sorting, packaging and the like in a warehouse on the basis of traditional warehousing, and warehousing is one of important links of production, manufacturing and commodity circulation and is also an important link of logistics activities.

The size difference to present electric wire netting storage equipment is great, and can not realize depositing and withdrawing to the goods of equidimension not, and electric wire netting storage equipment precision is higher, easily destroys after the collision, consequently needs a manipulator of being convenient for deposit and withdraw to all kinds of not equidimension electric wire netting equipment urgently.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims to provide a manipulator for equipment access fixes a position the not goods of equidimension through the clamping device with on the base, and the rethread slip subassembly cooperates with flexible subassembly and carries article to the layer board after, and the slip subassembly condensation is fixed, solves the equipment access problem that exists in the above-mentioned background.

The utility model discloses a following technical scheme realizes:

the utility model provides a manipulator for equipment access, includes base, slip subassembly and flexible subassembly, the slip subassembly is fixed in the setting the both ends of base, flexible unit mount in the slip subassembly, the slip subassembly is along the slip direction perpendicular to of base the flexible direction of flexible subassembly, flexible subassembly is equipped with clamping device, the last goods recognition device that is equipped with of clamping device, goods recognition device discernment goods, clamping device location goods, slip subassembly and flexible subassembly drive the goods and remove.

In this scheme, after goods identification device discernment goods, clamping device passes through the removal of slip subassembly, fixes the goods of corresponding goods shelves position, passes the depositing of goods shelves realization to the goods after the flexible subassembly removes.

Further, the sliding assembly comprises a sliding block, a guide rail, a stand column and a fixing plate, the telescopic assembly is movably connected with the sliding block, the sliding block fixing plate is fixedly connected with the sliding block and the base, the sliding block is movably connected with the guide rail, and the stand column is fixed with the telescopic assembly and the sliding block.

In this scheme, the slider is used for realizing the flexible subassembly width of adjustment both sides, and then realizes that the whole width adjustment of whole manipulator comes the clamp of being applied to not equidimension goods to get, and based on this, the slider slides the adjustment that realizes the manipulator width on the guide rail, and the installation of the flexible subassembly in both sides is realized to the stand.

Preferably, fork board and goods recognition device in the flexible subassembly includes fork board in first well fork board, the second, fork board and the third, fork board is fixed in the first on the sliding assembly, fork board and third in the second are along the perpendicular to respectively the sliding assembly is flexible in proper order along the slip direction of base, install clamping device in the third on the fork board, goods recognition device set up in fork inboard in the third.

In this scheme, fork board in first well fork board, the second, the setting of fork board can make this device can get farther goods on goods shelves in the third, realizes that the extension of device is flexible.

Furthermore, fork board swing joint has last fork board in the third, go up fork board moving direction perpendicular to the flexible direction of flexible subassembly realizes getting more stably to the clamp of the great goods of overall height.

Preferably, the outer side of the third middle fork plate is provided with an induction block, and the induction block identifies the extension and retraction of the first middle fork plate, the second middle fork plate and the third middle fork plate.

Preferably, the cargo identification device comprises a photoelectric bracket and a photoelectric switch, the photoelectric bracket is connected with the third middle fork plate, and the photoelectric bracket fixes the photoelectric switch.

Preferably, the clamping device is a clamping jaw, and the clamping jaw is movably connected with the third middle fork plate.

Preferably, the base is provided with a lower fork plate, and the lower fork plate is fixedly connected with the base at two ends.

Preferably, a supporting plate is fixedly connected to the base.

Compared with the prior art, the utility model, following advantage and beneficial effect have:

the utility model relates to a manipulator for equipment access, the flexible direction of the flexible subassembly of slip direction perpendicular to of slip subassembly edge base, flexible subassembly is equipped with clamping device, the last goods recognition device that is equipped with of clamping device, goods recognition device discernment goods, clamping device location goods, slip subassembly and flexible subassembly drive the goods and remove, after goods recognition device discernment goods, clamping device passes through the removal of slip subassembly, fix the goods of corresponding goods shelves position, pass the depositing of goods shelves realization to not equidimension goods after flexible subassembly removes.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

fig. 1 is a schematic structural diagram of a manipulator in an embodiment of the present invention;

fig. 2 is the schematic view of the overall structure of the manipulator in the embodiment of the present invention.

Reference numbers and corresponding part names:

1. a base; 2. a lower fork plate; 3. a support plate; 4. a slider; 5. a guide rail; 6. a column; 7. a fixing plate; 8. a first middle fork plate; 9. a second middle fork plate; 10. an induction block; 11. an upper fork plate; 12. a third middle fork plate; 13. a clamping jaw; 14. a photovoltaic mount; 15. a photoelectric switch; 16. and a bearing.

Detailed Description

To make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the following examples and drawings, and the exemplary embodiments and descriptions thereof of the present invention are only used for explaining the present invention, and are not intended as limitations of the present invention.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.

Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the present invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In the description of the present invention, it should be understood that the terms "front", "back", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but 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 scope of the present invention.

Examples

As shown in fig. 1 and 2, the utility model relates to a manipulator for equipment access, the on-line screen storage device comprises a base 1, slip subassembly and flexible subassembly, the slip subassembly is fixed in the both ends that set up base 1, flexible unit mount is in the slip subassembly, the slip subassembly is along the flexible direction of the flexible subassembly of base 1's slip direction perpendicular to, flexible subassembly is equipped with clamping device, the last goods recognition device that is equipped with of clamping device, goods recognition device discerns the goods, clamping device location goods, slip subassembly and flexible subassembly drive the goods and remove, clamping device passes through the removal of slip subassembly, fix the goods of corresponding goods shelves position, pass the depositing of goods shelves realization to the goods after flexible subassembly removes.

It should be noted that, when the sliding assembly and the telescopic assembly in the manipulator realize access, the sliding assembly and the telescopic assembly are composed of a motor, a chain wheel, a driving chain and a manipulator frame. The chain drives the chain wheel through the motor, the chain provides power for the power input shaft, three-stage differential transmission of the upper fork, the middle fork and the lower fork is realized through the meshing of the gear and the rack, the mechanical arm is made to stretch automatically, and the goods are stored and taken out. Meanwhile, a set of opening and closing mechanism is utilized to adapt to any material box.

As a preferred embodiment, as shown in fig. 1, the sliding assembly includes a slider 4, a guide rail 5, a column 6 and a fixing plate 7, the telescopic assembly is movably connected to the slider 4, the fixing plate 7 of the slider 4 is fixedly connected to the slider 4 and the base 1, the slider 4 is movably connected to the guide rail 5, and the column 6 is used for fixing the telescopic assembly and the slider 4, so that the slider 4 slides on the guide rail 5 to adjust the width of the manipulator, and the column 6 is used for installing the telescopic assemblies on two sides.

As a preferred embodiment, as shown in fig. 1 and fig. 2, the telescopic assembly includes a first middle fork plate 8, a second middle fork plate 9, a third middle fork plate 12 and a cargo identification device, the first middle fork plate 8 is fixed on the sliding assembly, the second middle fork plate 9 and the third middle fork plate 12 respectively extend and retract in sequence along a direction perpendicular to the sliding direction of the sliding assembly along the base 1, a clamping device is mounted on the third middle fork plate 12, and the cargo identification device is disposed inside the third middle fork plate 12, so as to achieve the extended extension and retraction of the device.

As a preferred embodiment, as shown in fig. 1, the third middle fork plate 12 is movably connected with the upper fork plate 11, and the moving direction of the upper fork plate 11 is perpendicular to the telescopic direction of the telescopic assembly, so that the goods with a large overall height can be more stably fixed after being contracted to the lower fork plate 2.

As a preferred example of the above embodiment, as shown in fig. 1, a sensing block 10 is mounted on the outer side of the third middle fork plate 12, and the sensing block 10 recognizes the extension and contraction of the first middle fork plate 8, the second middle fork plate 9, and the third middle fork plate 12.

As a preferable example of the above embodiment, as shown in fig. 1 and 2, the cargo recognition device includes a photoelectric bracket 14 and a photoelectric switch 15, the photoelectric bracket 14 is connected to the third middle fork 12, and the photoelectric switch 15 is fixed to the photoelectric bracket 14.

Preferably, as shown in fig. 1, the clamping device is a clamping jaw, and the clamping jaw is movably connected with the third middle fork plate 12.

In addition, as shown in fig. 1, the base 1 is provided with a lower fork plate 2, and the lower fork plate 2 is fixedly connected with the bases 1 at two ends, so that the device is more stable.

In addition, a supporting plate is fixedly connected to the base 1.

The working process is as follows: in the process of delivering the manipulator out of a warehouse, the distance of the left and right telescopic assemblies is adjusted to any size of the box body through absolute positioning of a servo motor, the middle fork plate extends towards the direction of goods, the middle fork plate extends for a certain distance and then drives the upper fork plate 11 to continue to extend towards the goods taking position, the middle/upper fork plate 11 stops extending after the middle/upper fork plate extends to the size set by a program, the clamping jaw 13 is opened, the photoelectric sensor outputs a high-level signal after the clamping jaw 13 is in place, the clamping jaw 13 motor is closed, the distance of the left and right fork plates of the manipulator is adjusted through absolute positioning of the servo motor, the box body is clamped by the manipulator, the upper fork plate 11 retracts after the box body is clamped by the manipulator, the middle fork plate retracts after the upper fork plate 11 extends for a certain distance and then the upper fork plate 11/middle fork plate retracts to the zero position, and the box body is pulled to the box supporting plate by the clamping jaw 13 at the moment, so that the goods taking action is completed.

In the warehousing process, the upper fork plate 11 of the manipulator extends towards the goods placing position, the clamping jaws 13 arranged on the upper fork plate 11 push the box to move towards the goods placing position, after the upper fork plate 11 extends for a certain distance, the middle fork plate is driven to continue to extend towards the goods placing position and extend to the program setting, the middle/upper fork plate 11 of the manipulator stops extending, the clamping jaws 13 are opened, after the clamping jaws 13 are in place, the photoelectric sensor outputs a high-level signal, the motor of the clamping jaws 13 is turned off, the fork plates on the left side and the right side of the manipulator are loosened to the program setting distance, the upper fork plate 11 retracts, and after the upper fork plate 11 extends for a certain distance, the middle fork plate is driven to retract to the zero position.

The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a manipulator for equipment access, its characterized in that, includes base (1), slip subassembly and flexible subassembly, the slip subassembly is fixed in the setting the both ends of base (1), flexible unit mount in the slip subassembly, the slip direction perpendicular to of slip subassembly along base (1) the flexible direction of flexible subassembly, flexible subassembly is equipped with clamping device, the last goods recognition device that is equipped with of clamping device, goods recognition device discernment goods, clamping device location goods, slip subassembly and flexible subassembly drive the goods and remove.

2. The manipulator for equipment access according to claim 1, wherein the sliding assembly comprises a sliding block (4), a guide rail (5), a column (6) and a fixing plate (7), the telescopic assembly is movably connected to the sliding block (4), the sliding block (4) and the fixing plate (7) are fixedly connected to the sliding block (4) and the base (1), the sliding block (4) is movably connected to the guide rail (5), and the column (6) is used for fixing the telescopic assembly and the sliding block (4).

3. The manipulator for equipment access according to claim 1, wherein the telescopic assembly comprises a first middle fork plate (8), a second middle fork plate (9), a third middle fork plate (12) and a cargo identification device, the first middle fork plate (8) is fixed on the sliding assembly, the second middle fork plate (9) and the third middle fork plate (12) respectively extend and retract along the sliding direction of the sliding assembly along the base (1) in sequence, a clamping device is installed on the third middle fork plate (12), and the cargo identification device is arranged inside the third middle fork plate (12).

4. A manipulator for equipment access according to claim 3, characterized in that the third middle fork plate (12) is movably connected with an upper fork plate (11), and the moving direction of the upper fork plate (11) is perpendicular to the telescopic direction of the telescopic assembly.

5. A manipulator for equipment access according to claim 3, characterized in that the sensing block (10) is mounted on the outside of the third middle fork plate (12), and the sensing block (10) identifies the extension and retraction of the first middle fork plate (8), the second middle fork plate (9) and the third middle fork plate (12).

6. A manipulator for equipment access according to claim 3, characterized in that the goods identification means comprises a photoelectric support (14) and a photoelectric switch (15), the photoelectric support (14) is connected with the third middle fork plate (12), and the photoelectric support (14) fixes the photoelectric switch (15).

7. A manipulator for equipment storage and retrieval according to claim 3, wherein said gripping means are jaws, said jaws being movably connected to said third middle fork plate (12).

8. The manipulator for equipment access according to claim 1, characterized in that the base (1) is provided with a lower fork plate (2), and the lower fork plate (2) is fixedly connected with the base (1) at two ends.

9. The manipulator for equipment storage and retrieval of claim 1, wherein a pallet is fixedly attached to the base (1).