CN216140673U - Manipulator and storage device - Google Patents
Manipulator and storage device Download PDFInfo
- Publication number
- CN216140673U CN216140673U CN202090000219.0U CN202090000219U CN216140673U CN 216140673 U CN216140673 U CN 216140673U CN 202090000219 U CN202090000219 U CN 202090000219U CN 216140673 U CN216140673 U CN 216140673U
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- China
- Prior art keywords
- storage drawer
- assembly
- power
- power member
- gear shaft
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- 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.)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
Abstract
A robot and storage device, the robot comprising: a frame; the first moving assembly is slidably connected to the rack and comprises a first power part and a connecting part arranged on the first power part, and the connecting part comprises a first connecting part and a second connecting part which are arranged at an included angle; the second motion assembly is slidably connected to the first connecting piece and comprises a second power piece and a moving piece arranged on the second power piece; and the third motion assembly is slidably connected onto the second connecting piece and comprises a third power piece and a manipulator body arranged on the third power piece.
Description
Technical Field
The present application relates to the field of storage technologies, and for example, to a storage device.
Background
Because be equipped with the storage drawer group that the multilayer storage drawer is constituteed in the cabinet, placed a plurality of standing grooves in every storage drawer, be equipped with a plurality of CDs of establishing of folding in every standing groove, because the cabinet is higher, when the CD that is located cabinet upper portion was taken, must be with the help of the ladder, it is extremely inconvenient to seek to take, only relies on the manual work to take the CD among the correlation technique, and the speed of taking is slower and causes the filth of CD very easily, damage and lose.
Disclosure of Invention
The application provides a manipulator need not to rely on the manual work CD of taking, and the speed of taking is very fast and be difficult to cause the dirty, damage and the loss of CD.
The application provides a storage device, and the speed of access treating the holder obtains great promotion, has reduced simultaneously and has treated that the holder is dirty, damage and the probability of losing.
An embodiment provides a robot arm including: a frame; the first motion assembly is slidably connected to the rack and comprises a first power part and a connecting part arranged on the first power part, the first power part can drive the connecting part to move along a first direction in which the storage drawers of the storage drawer group are stacked, and the connecting part comprises a first connecting part and a second connecting part which are arranged at an included angle; the second motion assembly is slidably connected to the first connecting piece and comprises a second power piece and a moving piece arranged on the second power piece, and the second power piece can drive the moving piece to drive one storage drawer to move along a second direction so that at least part of the storage drawer extends out of the storage drawer group; the third motion subassembly, but third motion subassembly sliding connection is in on the second connecting piece, the third motion subassembly includes third power spare and establishes manipulator body on the third power spare, the third power spare can drive the manipulator body removes so that the manipulator body can adsorb the holder of treating in the storage drawer or break away from with the holder of treating in the storage drawer, wherein, the first direction the second direction reaches the third direction is the contained angle setting.
Optionally, the manipulator further includes a fourth motion assembly, the fourth motion assembly is disposed on the moving member, the fourth motion assembly includes a fourth power member and a pushing assembly disposed on the fourth power member, the fourth power member can drive the pushing assembly to move toward a fourth direction close to or away from the storage drawer, and the fourth direction is the same as the third direction.
Optionally, the pushing assembly includes a link assembly and a pushing plate, one end of the link assembly is fixedly connected to the fourth power member, the other end of the link assembly is rotatably connected to the pushing plate, one end of the pushing plate connected to the link assembly can move in the fourth direction relative to the fourth power member, and the fourth power member can drive the link assembly to drive the pushing plate to move in the fourth direction when rotating.
Optionally, the first connecting piece is perpendicular to the second connecting piece.
Optionally, the first direction is a height direction of the storage drawer, the second direction is a width direction of the storage drawer, and the third direction is a length direction of the storage drawer.
Optionally, the first moving assembly includes a first gear shaft and a first rack engaged with the first gear shaft, the first gear shaft is disposed on the output end of the first power member, and the connecting member is disposed on the first rack.
Optionally, the second moving assembly includes a second gear shaft and a second rack engaged with the second gear shaft, the second gear shaft is disposed on the output end of the second power member, and the moving member is disposed on the second rack.
Optionally, the third moving assembly includes a third gear shaft and a third rack engaged with the third gear shaft, the third gear shaft is disposed on an output end of the third power member, and the manipulator body is disposed on the third rack.
An embodiment provides a storage device, including storage drawer group and above arbitrary scheme the manipulator, storage drawer group includes the multilayer and superposes the storage drawer of establishing in proper order, but storage drawer sliding connection just be equipped with on the storage drawer and place treat the standing groove of holder.
Optionally, the rack is provided with slide bars, the slide bars are arranged on the left side and the right side of the storage drawer, each storage drawer is slidably connected to two slide bars, and the ratio of the length of each slide bar to the width of each storage drawer is not less than 2.
The utility model discloses a manipulator makes second motion subassembly and third motion subassembly move along the first direction that the storage drawer was folded and is established through first motion subassembly, thereby reach the position of the storage drawer that will take or deposit, then the second motion subassembly removes a storage drawer along the second direction so that at least part should store the drawer and stretch out storage drawer group, then the manipulator body of third motion subassembly is taken from this storage drawer and is treated the holder or will treat the holder and place in the storage drawer, the quick access of treating the holder has been realized, the probability of treating the holder dirty, damage and losing has been reduced.
The storage device disclosed in the application can treat the holder by quick access, and reduces the probability of treating that the holder is dirty, damaged and lost.
Drawings
Fig. 1 is a schematic view of a robot removal housing, a first rack, a robot body, etc. provided in an embodiment of the present application in one orientation;
figure 2 is a schematic view of a robot removal bay, first rack, robot body, etc. provided in an embodiment of the present application, in another orientation;
fig. 3 is a schematic diagram of a storage device according to an embodiment of the present application.
In the figure:
1. a frame;
21. a first power member; 22. a connecting member; 221. a first connecting member; 222. a second connecting member; 23. a first gear shaft;
31. a second power member; 32. a moving member; 33. a second gear shaft; 34. a second rack;
41. a third power member; 42. a manipulator body; 43. a third gear shaft; 44. a third rack; 45. a connecting seat;
51. a fourth power member; 52. a pushing assembly; 521. a connecting rod assembly; 5211. a first connecting plate; 5212. a second connecting plate; 522. a push plate;
100. a storage drawer; 200. a slide bar; 300. a slide block.
Detailed Description
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "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 being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The present embodiment provides a manipulator for taking the optical disc stored in the storage drawer 100, and in other embodiments, other members to be clamped may be taken or stored, specifically according to actual requirements. As shown in fig. 1 to 3, the robot includes a frame 1, a first moving assembly, a second moving assembly, and a third moving assembly. The first motion assembly is slidably connected to the frame 1, the first motion assembly comprises a first power member 21 and a connecting member 22 arranged on the first power member 21, the first power member 21 is a rotating motor and a reducer, the first power member 21 can drive the connecting member 22 to move along a first direction in which the storage drawers 100 of the storage drawer group are stacked, the connecting member 22 comprises a first connecting member 221 and a second connecting member 222 which are arranged at an included angle, the second motion assembly is slidably connected to the first connecting member 221, the second motion assembly comprises a second power member 31 and a moving member 32 arranged on the second power member 31, the second power member 31 is a rotating motor and a reducer, the second power member 31 can drive the moving member 32 to drive one storage drawer 100 to move along a second direction so that at least part of the storage drawer 100 extends out of the storage drawer group, the third motion assembly is slidably connected to the second connecting member 222, the third moving assembly includes a third power member 41 and a manipulator body 42 disposed on the third power member 41, the third power member 41 is a rotating motor and a speed reducer, the third power member 41 can drive the manipulator body 42 to move along a third direction, so that the manipulator body 42 can adsorb the optical disc in the storage drawer 100 or separate from the optical disc in the storage drawer 100, wherein the first direction, the second direction and the third direction are disposed at an included angle.
For example, the first power member 21, the second power member 31 and the third power member 41 of the present embodiment may also be a structure of a cylinder, an electric push rod, a combination of a motor and a screw rod, or other driving mechanisms capable of moving along a straight line, which is specifically selected according to actual needs.
The manipulator provided by this embodiment moves the second motion assembly and the third motion assembly along the first direction in which the storage drawers 100 are stacked through the first motion assembly, so as to reach the position of the storage drawer 100 to be taken or stored, then the second motion assembly moves one storage drawer 100 along the second direction to make at least part of the storage drawer 100 extend out of the storage drawer group, and then the manipulator body 42 of the third motion assembly takes the optical disc from the storage drawer 100 or places the optical disc in the storage drawer 100, thereby realizing fast access of the optical disc, and reducing the probability of contamination, damage and loss of the optical disc.
Illustratively, as shown in fig. 1 to 3, the first connecting member 221 of the present embodiment is perpendicular to the second connecting member 222, the first direction is a height direction of the storage drawer 100, that is, the first moving member can drive the second moving assembly and the third moving assembly to move along the height direction of the storage drawer 100, the second direction is a width direction of the storage drawer 100, and the third direction is a length direction of the storage drawer 100, that is, the first direction, the second direction and the third direction are perpendicular to each other.
In order to facilitate pulling out the storage drawer 100 or pushing back the storage drawer 100, as shown in fig. 1, the manipulator of the present embodiment further includes a fourth moving assembly, the fourth moving assembly is disposed on the moving member 32, the moving member 32 is a moving plate, the fourth moving assembly includes a fourth power member 51 and a pushing assembly 52 disposed on the fourth power member 51, the fourth power member 51 is a rotating motor and a speed reducer, the fourth power member 51 can drive the pushing assembly 52 to move toward a fourth direction close to or away from the storage drawer 100, the fourth direction is the same as the third direction, that is, the fourth direction is the length direction of the storage drawer 100. Alternatively, as shown in fig. 1, the pushing assembly 52 includes a link assembly 521 and a pushing plate 522, one end of the link assembly 521 is fixedly connected to the fourth power member 51, and the other end of the link assembly 521 is rotatably connected to the pushing plate 522, one end of the pushing plate 522 connected to the link assembly 521 can move in a fourth direction relative to the fourth power member 51, and when the fourth power member 51 rotates, the link assembly 521 can be driven to drive the pushing plate 522 to move in the fourth direction.
Alternatively, as shown in fig. 1, the link assembly 521 includes a first connecting plate 5211 and a second connecting plate 5212 rotatably connected to the first connecting plate 5211, the first connecting plate 5211 is fixedly connected to the output end of the fourth power member 51, the second connecting plate 5212 is rotatably connected to the pushing plate 522, the pushing plate 522 is slidably connected to the fourth power member 51, and when the fourth power member 51 rotates, one end of the first connecting plate 5211 rotates along with the rotating first connecting plate 5211, so as to drive the second connecting plate 5212 and the pushing plate 522 to move toward the storage drawer 100 or away from the storage drawer 100. In other embodiments, the pushing plate 522 may be a telescopic plate, one end of which is fixed on the fourth power member 51 and the other end of which is rotatably connected to the second connecting plate 5212, and when the fourth power member 51 rotates, one end of the first connecting plate 5211 rotates, so that the telescopic plate extends or retracts to move the end of the telescopic plate toward or away from the storage drawer 100.
In other embodiments of the present application, the second motion assembly may directly drive the moving member 32 to drive one storage drawer 100 to move along the second direction, at this time, the storage drawer 100 is provided with a first matching plate and a second matching plate, and the moving member 32 is limited between the first matching plate and the second matching plate and is not in contact with the storage drawer 100. When the storage drawer 100 needs to be pulled out, the moving member 32 is driven by the second power member 31 to move towards the direction close to the first matching plate until the moving member 32 abuts against the first matching plate, so that the storage drawer 100 can move along with the moving member 32 towards the direction extending out of the storage drawer group; when the storage drawer 100 needs to be pushed back, the moving member 32 is driven by the second power member 31 to move towards the direction close to the second matching plate until the moving member 32 abuts against the second matching plate, so that the storage drawer 100 can move along with the moving member 32 towards the direction of pushing back the storage drawer group.
As shown in fig. 1, the first moving member of this embodiment includes a first gear shaft 23 and a first rack (not shown) engaged with the first gear shaft 23, the first gear shaft 23 is provided at the output end of the first power member 21, the coupling member 22 is provided on the first power member 21, when the first power member 21 rotates, the first gear shaft 23 rotates along with it, the first gear shaft 23 is engaged with the first rack, and the first power member 21 and the coupling member 22 move upward or downward. As shown in fig. 1, the second motion assembly includes a second gear shaft 33 and a second rack 34 engaged with the second gear shaft 33, the second gear shaft 33 is provided on the output end of the second power member 31, the moving member 32 is provided on the second power member 31, when the second power member 31 rotates, the second gear shaft 33 rotates therewith, the second gear shaft 33 is engaged with the second rack 34, and the second power member 31 and the moving member 32 move forward or backward. As shown in fig. 1, the third moving assembly includes a third gear shaft 43 and a third rack 44 engaged with the third gear shaft 43, the third gear shaft 43 is disposed on the output end of the third power member 41, as shown in fig. 2, a connecting seat 45 is disposed on the third power member 41, the connecting seat 45 is slidably connected with the second connecting member 222, the robot body 42 is fixedly mounted on the connecting seat 45, the robot body 42 is disposed on the third power member 41, when the third power member 41 rotates, the third gear shaft 43 rotates along with the third gear shaft, the third gear shaft 43 is engaged with the third rack 44, and the third power member 41, the connecting seat 45 and the robot body 42 move leftward or rightward.
Optionally, the manipulator of this embodiment further includes a controller, the controller is electrically connected to the first power component 21, the second power component 31, the third power component 41, the manipulator body 42, and the fourth power component 51, the controller may be a centralized or distributed controller, for example, the controller may be an individual single chip microcomputer or may be formed by a plurality of distributed single chip microcomputers, and a control program may be run in the single chip microcomputer, so as to control the first power component 21, the second power component 31, the third power component 41, the manipulator body 42, and the fourth power component 51 to implement their functions.
The embodiment further provides a storage device, as shown in fig. 3, which includes a storage drawer set and the manipulator according to any one of the above schemes, where the storage drawer set includes a plurality of layers of storage drawers 100 stacked in sequence, the storage drawers 100 are slidably connected to the rack 1, and a placement slot for placing an optical disc is provided on the storage drawer 100. Be equipped with slide bar 200 on frame 1, slide bar 200 establishes the left and right sides at storage drawer 100, be equipped with two sliders 300 on every slide bar 200, storage drawer 100 fixed connection is on slider 300, slider 300 is located four corners departments of storage drawer 100, the slider 300 of this embodiment sets up with storage drawer 100 is integrative, push plate 522 is located between two sliders 300, every storage drawer 100 slidable connection is on two slide bars 200, the ratio of the length of slide bar 200 and the width of storage drawer 100 is not less than 2, in order to guarantee that storage drawer 100 can be pushed out completely, thereby be convenient for manipulator body 42 to take or deposit the CD.
Optionally, a semicircular groove avoiding the slide rod 200 is formed in the push plate 522, and when the fourth power member 51 drives the push plate 522 to move towards a direction close to the slide rod 200, the push plate 522 is not in contact with the slide rod 200, so that friction between the push plate 522 and the slide rod 200 is reduced, and the smoothness of movement of the push plate 522 is increased.
When the storage drawer 100 needs to be pulled out, firstly, the fourth power member 51 drives the pushing plate 522 to move towards the direction close to the sliding rod 200, and then the second power member 31 drives the fourth power assembly to move towards the direction close to one sliding block 300, so that the pushing plate 522 is abutted to the sliding block 300, and the storage drawer 100 is pulled out; when the storage drawer 100 needs to be pushed back, the fourth power member 51 drives the pushing plate 522 to move toward the sliding rod 200, and then the second power member 31 drives the fourth power assembly to move toward the other sliding block 300, so that the pushing plate 522 abuts against the sliding block 300, and the storage drawer 100 is pushed back.
The storage device provided by the embodiment can rapidly access the optical disc, and simultaneously reduces the probability of contamination, damage and loss of the optical disc.
Claims (10)
1. A manipulator, comprising:
a frame (1);
the first motion assembly is slidably connected to the rack (1), the first motion assembly comprises a first power part (21) and a connecting part (22) arranged on the first power part (21), the first power part (21) can drive the connecting part (22) to move along a first direction in which the storage drawers (100) of the storage drawer group are stacked, and the connecting part (22) comprises a first connecting part (221) and a second connecting part (222) which are arranged at an included angle;
a second motion assembly slidably coupled to the first coupling member (221), the second motion assembly including a second power member (31) and a moving member (32) disposed on the second power member (31), the second power member (31) being capable of driving the moving member (32) to move a storage drawer (100) in a second direction such that at least a portion of the storage drawer (100) extends out of the storage drawer set;
a third motion assembly slidably connected to the second connection member (222), wherein the third motion assembly comprises a third power member (41) and a manipulator body (42) arranged on the third power member (41), and the third power member (41) can drive the manipulator body (42) to move along a third direction so that the manipulator body (42) can adsorb or separate from the to-be-clamped member in the storage drawer (100);
the first direction, the second direction and the third direction are arranged at included angles.
2. The manipulator according to claim 1, further comprising a fourth kinematic assembly provided on the moving member (32), the fourth kinematic assembly comprising a fourth power member (51) and a pushing assembly (52) provided on the fourth power member (51), the fourth power member (51) being capable of driving the pushing assembly (52) to move towards a fourth direction approaching or moving away from the storage drawer (100), the fourth direction being the same as the third direction.
3. The manipulator as claimed in claim 2, wherein the pushing assembly (52) includes a link assembly (521) and a pushing plate (522), one end of the link assembly (521) is fixedly connected to the fourth power member (51), the other end of the link assembly is rotatably connected to the pushing plate (522), one end of the pushing plate (522) connected to the link assembly (521) is capable of moving in the fourth direction relative to the fourth power member (51), and the fourth power member (51) is capable of driving the link assembly (521) to drive the pushing plate (522) to move in the fourth direction when rotating.
4. The robot hand of claim 1, wherein the first connection (221) is perpendicular to the second connection (222).
5. The robot hand of claim 1, wherein the first direction is a height direction of the storage drawer (100), the second direction is a width direction of the storage drawer (100), and the third direction is a length direction of the storage drawer (100).
6. The robot hand according to claim 1, wherein the first moving assembly includes a first gear shaft (23) and a first rack gear engaged with the first gear shaft (23), the first gear shaft (23) is provided on an output end of the first power member (21), and the coupling member (22) is provided on the first rack gear.
7. The robot hand according to claim 1, wherein the second moving assembly comprises a second gear shaft (33) and a second rack gear (34) engaged with the second gear shaft (33), the second gear shaft (33) being provided on an output end of the second power member (31), the moving member (32) being provided on the second rack gear (34).
8. The robot hand according to claim 1, wherein the third motion assembly includes a third gear shaft (43) and a third rack gear (44) engaged with the third gear shaft (43), the third gear shaft (43) being provided on an output end of the third power member (41), the robot body (42) being provided on the third rack gear (44).
9. Storage equipment, comprising a storage drawer set and a manipulator according to any one of claims 1 to 8, wherein the storage drawer set comprises a plurality of layers of storage drawers (100) which are sequentially stacked, the storage drawers (100) are slidably connected to the rack (1) and a placing groove for placing the to-be-clamped piece is formed in each storage drawer (100).
10. The storage device according to claim 9, wherein a sliding bar (200) is arranged on the rack (1), the sliding bars (200) are arranged on the left side and the right side of the storage drawer (100), each storage drawer (100) is slidably connected to two sliding bars (200), and the ratio of the length of each sliding bar (200) to the width of each storage drawer (100) is not less than 2.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/089709 WO2021226812A1 (en) | 2020-05-12 | 2020-05-12 | Mechanical arm and storage device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216140673U true CN216140673U (en) | 2022-03-29 |
Family
ID=78525584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202090000219.0U Active CN216140673U (en) | 2020-05-12 | 2020-05-12 | Manipulator and storage device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN216140673U (en) |
| WO (1) | WO2021226812A1 (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4007204B2 (en) * | 2003-01-30 | 2007-11-14 | 松下電器産業株式会社 | Robot system |
| CN106477227B (en) * | 2016-12-13 | 2019-02-19 | 东莞市创丰科技发展有限公司 | A kind of fully automatic stereo warehousing system |
| CN107098100A (en) * | 2017-06-12 | 2017-08-29 | 深圳市中钞信达金融科技有限公司 | A kind of automatic access device |
| CN108016805A (en) * | 2017-12-28 | 2018-05-11 | 杭州博欣科技有限公司 | A kind of four shaft mechanical arms of intelligence and drawer tank bracket heparin tube storage system |
| CN109051597A (en) * | 2018-09-07 | 2018-12-21 | 刘逸麟 | A kind of CD automatic processing device |
| CN110525856B (en) * | 2019-08-23 | 2020-11-27 | 湖州达立智能设备制造有限公司 | Automatic get and put goods manipulator in warehouse |
-
2020
- 2020-05-12 WO PCT/CN2020/089709 patent/WO2021226812A1/en active Application Filing
- 2020-05-12 CN CN202090000219.0U patent/CN216140673U/en active Active
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| Publication number | Publication date |
|---|---|
| WO2021226812A1 (en) | 2021-11-18 |
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