CN219585285U - Cold chain transfer robot - Google Patents

Abstract

The utility model relates to the field of cold chain carrying, in particular to a cold chain carrying robot which comprises a frame, a multi-stage power sliding table and a mechanical arm, wherein the multi-stage power sliding table is connected to the upper end of the frame in a sliding manner, the multi-stage power sliding table comprises a top-stage sliding table and a plurality of bottom-stage sliding tables which are stacked from top to bottom and are connected in a sliding manner, pulleys are arranged at the lower ends of the top-stage sliding table and the bottom-stage sliding table, a sliding table sliding rail corresponding to the pulleys above the top-stage sliding table is arranged at the bottom-stage sliding table, a frame sliding rail corresponding to the pulleys above the bottom-stage sliding table is arranged at the upper end of the frame, the mechanical arm is arranged at the upper end of the top-stage sliding table, and clamping jaws are arranged at the tail ends of the mechanical arm. The robot disclosed by the utility model is not limited by the occupied area, and the robot has larger movable space, enlarges the operation range of the mechanical arm, can effectively improve the precision of the system, protects the driving device, and can effectively prevent dust from falling on the rack by the bottom sheet metal and the rack dust-proof plate, so that the protection performance on the rack is greatly improved, the maintenance frequency is reduced, and the working efficiency is improved.

Description

Cold chain transfer robot

Technical Field

The utility model relates to the field of cold chain conveying, in particular to a cold chain conveying robot.

Background

With the development of intelligent manufacturing technology worldwide, robots have been widely applied in cold chain logistics, and at present common cold chain transfer robots include multi-joint rotary transfer robots, stacking transfer robots, intelligent transfer robots and the like, but the operation ranges of the transfer robots are usually not very large, and are mostly used in the operation after cold chain products are transferred to a cold storage, but the transfer research of cold chain products in containers is less, at present, most of the cold chain transfer robots are still manual transfer, and a small part of the cold chain transfer robots are used for transfer, but the transfer robots in the prior art are mostly lifting tables, the transfer actions are not flexible enough, and the movable range is severely limited by the occupied area.

Disclosure of Invention

The utility model provides a cold chain transfer robot, which aims to solve the technical problems of large occupied area and small moving range of the transfer robot in the prior art.

The technical scheme adopted by the utility model for achieving the purpose is as follows: the utility model provides a cold chain transfer robot, includes frame 2, multistage power slip table, arm 6, multistage power slip table sliding connection is in the upper end of frame 2, multistage power slip table includes a top level slip table 5 and a plurality of bottom level slip tables of from the top down stack and sliding connection, top level slip table 5 and bottom level slip table lower extreme all are equipped with the pulley, bottom level slip table is equipped with the slip table slide rail rather than the pulley of top, the upper end of frame 2 is equipped with the frame slide rail 207 rather than the pulley of top, arm 6 establishes the upper end at top level slip table 5, arm 6 end is equipped with clamping jaw 7;

preferably, the multistage power sliding table comprises a top-stage sliding table 5, a second bottom-stage sliding table 4 and a first bottom-stage sliding table 3 which are stacked from top to bottom, a first pulley 309 is arranged at the lower end of the first bottom-stage sliding table 3, a first sliding table sliding rail 313 is arranged at the upper end of the first bottom-stage sliding table 3, a second pulley 408 is arranged at the lower end of the second bottom-stage sliding table 4, a second sliding table sliding rail 412 is arranged at the upper end of the second bottom-stage sliding table 4, a third pulley 503 is arranged at the lower end of the top-stage sliding table 5, two groups of first driving devices for driving the first bottom-stage sliding table 3 are arranged between the frame 2 and the first bottom-stage sliding table 3, two groups of second driving devices for driving the second bottom-stage sliding table 4 are arranged between the first bottom-stage sliding table 3 and the second bottom-stage sliding table 4, and a third driving device for driving the top-stage sliding table 5 is arranged between the second bottom-stage sliding table 4 and the top-stage sliding table 5;

preferably, the first driving device includes a first rack 205, a first gear 301, a first planetary reducer, and a first driving motor 308, where the first driving motor 308 is connected to the first gear 301 through the first planetary reducer, the first driving motor 308 is fixed to the first bottom stage sliding table 3 through a first reducer mounting flange 310, the first gear 301 is disposed below the first bottom stage sliding table 3, the first rack 205 is disposed on the rack 2, and the first gear 301 is meshed with the first rack 205;

the second driving device comprises a second rack 305, a second gear 409, a second planetary reducer 403 and a second driving motor 406, wherein the second driving motor 406 is connected with the second gear 409 through the second planetary reducer 403, the second driving motor 406 is fixed on a second bottom stage sliding table 4 through a second reducer mounting flange 407, the second gear 409 is arranged below the second bottom stage sliding table 4, the second rack 305 is arranged on a first bottom stage sliding table 3, and the second gear 409 is meshed with the second rack 305;

the third driving device comprises a third rack 401, a third gear 501, a third planetary reducer and a third driving motor 504, wherein the third driving motor 504 is connected with the third gear 501 through the third planetary reducer, the third driving motor 504 is fixed on the top-stage sliding table 5 through a third reducer mounting flange 502, the third gear 501 is arranged below the top-stage sliding table 5, the third rack 401 is arranged on the second bottom-stage sliding table 4, and the third gear 501 is meshed with the third rack 401;

preferably, the rack 2 is further provided with a first rack dust-proof plate 206, a bottom sheet metal 204, a long-stroke drag chain 202 and a clamping groove 203, the bottom sheet metal 204 is arranged on the inner side of the rack 2, the first rack dust-proof plate 206 is arranged above the first rack 205, the clamping groove 203 is arranged on the inner side of the bottom sheet metal 204, the long-stroke drag chain 202 is arranged in the clamping groove 203, one end of the long-stroke drag chain 202 is fixed on the first bottom-stage sliding table 3 through a drag chain head supporting frame 311, both ends of the rack 2 are provided with a wire sealing plate 201 and a first limit switch 208, and the long-stroke drag chain 202 is used for deploying wires;

preferably, the second rack 305 is mounted on the first bottom stage sliding table 3 through a first rack mounting plate 304, a second rack dust-proof plate 306 is further arranged on the first bottom stage sliding table 3, the second rack dust-proof plate 306 is arranged above the second rack 305, a first anti-collision plate 312 is arranged at the left end of the first bottom stage sliding table 3, a first limit switch mounting plate 303 is arranged at the right end of the second rack 305, second limit switches 302 are arranged at the two ends of the second rack 305, wherein the left second limit switch 302 is arranged on the first anti-collision plate 312, and the right second limit switch 302 is arranged on the first limit switch mounting plate 303;

preferably, the third rack 401 is mounted on the second bottom stage sliding table 4 through a second rack mounting plate 410, a third rack dust-proof plate 402 is further arranged on the second bottom stage sliding table 4, the third rack dust-proof plate 402 is arranged above the third rack 401, a second anti-collision plate 411 is arranged at the left end of the second bottom stage sliding table 4, a second limit switch mounting plate 405 is arranged at the right end of the third rack 401, a third limit switch 404 is arranged at the two ends of the third rack 401, wherein a left third limit switch 404 is arranged on the second anti-collision plate 411, and a right third limit switch 404 is arranged on the second limit switch mounting plate 405;

preferably, the mechanical arm 6 is formed by sequentially connecting a base 601, a waist rotation 602, a shoulder rotation 603, a big arm 604, an elbow rotation 607, a small arm 606, a wrist rotation 605 and a clamping jaw connector 608, wherein the mechanical arm 6 is fixed on the top-stage sliding table 5 through the base 601, the mechanical arm 6 is connected with the clamping jaw 7 through the clamping jaw connector 608, and the waist rotation 602, the shoulder rotation 603, the elbow rotation 607 and the wrist rotation 605 are all provided with servo motors and gear sets for driving the servo motors and the gear sets to rotate;

preferably, the clamping jaw 7 comprises a first connecting plate 701, an air cylinder 704, a first connecting rod 702, a connecting shaft 705, a second connecting rod 703, a second connecting plate 706, a claw 707, a spring 709 and a clamping plate 708, wherein the first connecting rod 702 is symmetrically arranged on the left side and the right side below the first connecting plate 701, the second connecting rod 703 is rotatably connected to the first connecting rod 702 through the connecting shaft 705, the second connecting plate 706 is arranged below the second connecting rod 703, two ends of the air cylinder 704 are hinged to the upper ends of the second connecting rod 703 on the left side and the right side, the claw 707 is arranged below the second connecting plate 706, the spring 709 is arranged in the middle of the lower side of the first connecting plate 701, the clamping plate 708 is arranged at the tail end of the spring 709, and the clamping jaw connector 608 is fixedly connected with the first connecting plate 701;

preferably, the top-level sliding table 5 is further provided with an air pump 8, the air pump 8 is connected with the air cylinder 704, a supporting table 1 is arranged below the frame 2, and the frame 2 is fixed on the supporting table 1 through a foundation 10;

preferably, the first bottom stage sliding table 3 is further provided with an electric cabinet 9 and an electric cabinet supporting frame 307, the electric cabinet 9 is arranged in the electric cabinet supporting frame 307, the electric cabinet supporting frame 307 is fixed on the first bottom stage sliding table 3, and the electric cabinet 9 is used for controlling the robot.

The utility model has the beneficial effects that: the multi-stage sliding table device is adopted, so that the moving space of the transfer robot is not limited by the occupied area, and the robot has larger moving space and expands the operation range of the mechanical arm with the same occupied area; the system can be effectively improved in precision by means of meshing of the gear and the rack, driving of the motor and the planetary reducer; through being provided with limit switch, when the speed reducer mounting flange board touched limit switch, the motor was cut off the power supply immediately, protection drive arrangement, bottom panel beating and rack dust guard can effectually block the dust to fall on the rack, very big improvement to the barrier property of rack, can reduce maintenance frequency, improve the efficiency of work.

Drawings

Fig. 1 is a schematic structural view of a cold chain transfer robot according to the present utility model.

Fig. 2 is a front view of a cold chain transfer robot of the present utility model.

Fig. 3 is a left side view of a cold chain transfer robot of the present utility model.

Fig. 4 is a schematic view of a frame structure of a cold chain transfer robot according to the present utility model.

Fig. 5 is a schematic structural diagram of a first bottom stage sliding table in the cold chain transfer robot.

Fig. 6 is a schematic structural diagram of a second bottom stage sliding table in the cold chain transfer robot.

Fig. 7 is a schematic diagram of a top stage sliding table structure in a cold chain transfer robot according to the present utility model.

Fig. 8 is a schematic view of a mechanical arm structure of a cold chain transfer robot according to the present utility model.

Figure 9 is a schematic view of a gripper structure in a cold chain transfer robot according to the present utility model,

fig. 10 is a partial enlarged view of a frame in a cold chain transfer robot according to the present utility model.

FIG. 11 is a partial enlarged view of a joint of a multistage power sliding table and a rack in a cold chain transfer robot.

Fig. 12 is a partial enlarged view of the right end of the multistage power sliding table in the cold chain transfer robot of the present utility model.

Fig. 13 is a schematic diagram of a connection relationship between a second motor, a second planetary reducer, a second gear and a second rack in the cold chain transfer robot of the present utility model.

Fig. 14 is a schematic view of a pulley structure in a cold chain transfer robot according to the present utility model.

In the figure: 1: a support table; 2: a frame; 201: a line sealing plate; 202: a long travel drag chain; 203: a clamping groove; 204: bottom sheet metal; 205: a first rack; 206: a first rack dust guard; 207: a rack slide rail; 208: a first limit switch; 3: a first bottom stage slipway; 301: a first gear; 302: a second limit switch; 303: a first limit switch mounting plate; 304: a first rack mounting plate; 305: a second rack; 306: a second rack dust guard; 307: an electric cabinet support frame; 308: a first motor; 309: a first pulley; 310: a first reducer mounting flange; 311: a drag chain head support; 312: a first bump guard; 313: the first sliding table slide rail; 4: a second bottom stage slipway; 401: a third rack; 402: a third rack dust guard; 403: a second planetary reducer; 404: a third limit switch; 405: a second limit switch mounting plate; 406: a second motor; 407: a second reducer mounting flange; 408: a second pulley; 409: a second gear; 410: a second rack mounting plate; 411: a second bump guard; 412: the second sliding table slide rail; 5: a top-level sliding table; 501: a third gear; 502: a third reducer mounting flange; 503: a third pulley; 504: a third driving motor; 6: a mechanical arm; 601: a base; 602: waist rotation; 603: the shoulder rotates; 604: a large arm; 605: the wrist rotates; 606: a forearm; 607: elbow rotation; 608: a jaw connector; 7: a clamping jaw; 701: a first connection plate; 702: a first connecting rod; 703: a second connecting rod; 704: a cylinder; 705: a connecting shaft; 706: a second connecting plate; 707: a claw; 708: a clamping plate; 709: a spring; 8: an air pump; 9: an electric cabinet; 10: and (3) a foot margin.

Detailed Description

Embodiments of the present utility model are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the utility model but are not intended to limit the scope of the utility model.

In the description of the present utility model, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "left", "right", "front", "rear", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the term "connected" should be interpreted broadly, and for example, it may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

The utility model provides a cold chain transfer robot, including frame 2, multistage power slip table, arm 6, multistage power slip table sliding connection is in the upper end of frame 2, multistage power slip table includes that from the top down stacks and a sliding connection's a top level slip table 5 and a plurality of end level slip table, top level slip table 5 and end level slip table lower extreme all are equipped with the pulley, end level slip table is equipped with the slip table slide rail that corresponds rather than the top pulley, the upper end of frame 2 is equipped with the frame slide rail 207 that corresponds rather than the top pulley, arm 6 establishes the upper end at top level slip table 5, arm 6 end is equipped with clamping jaw 7.

As shown in fig. 1-14, a cold chain carrying robot comprises a supporting table 1, a frame 2, a multi-stage power sliding table, a mechanical arm 6 and a clamping jaw 7, wherein the multi-stage power sliding table comprises a top-stage sliding table 5, a second bottom-stage sliding table 4 and a first bottom-stage sliding table 3 which are stacked from top to bottom, a first pulley 309 is arranged at the lower end of the first bottom-stage sliding table 3, a first sliding table sliding rail 313 is arranged at the upper end of the first bottom-stage sliding table, a second pulley 408 is arranged at the lower end of the second bottom-stage sliding table 4, a second sliding table sliding rail 412 is arranged at the upper end of the second bottom-stage sliding table, a third pulley 503 is arranged at the lower end of the top-stage sliding table 5, the frame 2 is arranged on the supporting table 1 through a foundation 10, a frame sliding rail 207 is arranged on the frame 2, the first bottom-stage sliding table 3 is in sliding connection with the frame 2 through the first pulley 309, the second bottom-stage sliding table 4 is in sliding connection with the first bottom-stage sliding table 3 through the second pulley 408, and the top-stage sliding table 5 is in sliding connection with the second bottom-stage 4 through the third pulley 503.

As shown in fig. 4-5 and 10, two groups of first driving devices for driving the first bottom sliding table 3 are arranged between the frame 2 and the first bottom sliding table 3, the first driving devices comprise a first rack 205, a first gear 301, a first planetary reducer and a first driving motor 308, the first driving motor 308 is connected with the first gear 301 through the first planetary reducer, the first driving motor 308 is fixed on the first bottom sliding table 3 through a first reducer mounting flange 310, the first gear 301 is arranged below the first bottom sliding table 3, the first rack 205 is arranged on the frame 2, the first gear 301 is meshed with the first rack 205, a first rack dust-proof plate 206, a bottom sheet metal 204, a long-stroke drag chain 202 and a clamping groove 203 are also arranged on the frame 2, the first rack dust guard 206 is arranged above the first rack 205, the bottom metal plate 204 is arranged on the inner side of the frame 2, the clamping groove 203 is arranged on the inner side of the bottom metal plate 204, the long-stroke drag chain 202 is arranged in the clamping groove 203, one end of the long-stroke drag chain 202 is fixed on the first bottom-stage sliding table 3 through the drag chain head supporting frame 311, the other end of the long-stroke drag chain 202 is fixed in the clamping groove 203, wire sealing plates 201 and first limit switches 208 are arranged at two ends of the frame 2, the long-stroke drag chain 202 is used for deploying wires, the first driving motor 308 drives the first gear 301 to rotate and moves on the first rack 205 to drive the first bottom-stage sliding table 3 to move on the frame 2, and if the first speed reducer mounting flange 310 touches the first limit switches 208, the first driving motor 308 stops running.

As shown in fig. 5-6 and 11-13, two groups of second driving devices for driving the second bottom stage sliding table 4 are arranged between the first bottom stage sliding table 3 and the second bottom stage sliding table 4, each second driving device comprises a second rack 305, a second gear 409, a second planetary reducer 403 and a second driving motor 406, the second driving motor 406 is connected with the second gear 409 through the second planetary reducer 403, the second driving motor 406 is fixed on the second bottom stage sliding table 4 through a second reducer mounting flange 407, the second gear 409 is arranged below the second bottom stage sliding table 4, the second rack 305 is mounted on the first bottom stage sliding table 3 through a first rack mounting plate 304, the second gear 409 is meshed with the second rack 305, a second rack dust-proof plate 306 is further arranged on the first bottom stage sliding table 3, the second rack dust-proof plate 306 is arranged above the second rack 305, a first anti-collision plate 312 is arranged at the left end of the first bottom stage sliding table 3, the right end of the second rack 305 is provided with a first limit switch mounting plate 303, two ends of the second rack 305 are provided with second limit switches 302, wherein the left second limit switch 302 is arranged on the first anti-collision plate 312, the right second limit switch 302 is arranged on the first limit switch mounting plate 303, the second driving motor 406 drives the second gear 409 to rotate and move on the second rack 305, the second bottom sliding table 4 is driven to move on the first bottom sliding table 3, if the second speed reducer mounting flange 407 contacts the second limit switch 302, the second driving motor 406 stops running, the first bottom sliding table 3 is also provided with an electric cabinet 9 and an electric cabinet supporting frame 307, the electric cabinet 9 is fixed in the electric cabinet supporting frame 307 and used for ensuring that the electric cabinet 9 does not shake during operation, the electric cabinet 9 is used for controlling the action of a robot, and the first bottom sliding table 3 is also provided with a wire slot.

As shown in fig. 6-7, a third driving device is arranged between the second bottom stage sliding table 4 and the top stage sliding table 5, the third driving device comprises a third rack 401, a third gear 501, a third planetary reducer and a third driving motor 504, the third driving motor 504 is connected with the third gear 501 through the third planetary reducer, the third driving motor 504 is fixed on the top stage sliding table 5 through a third reducer mounting flange 502, the third gear 501 is arranged below the top stage sliding table 5, the third rack 401 is arranged on the second bottom stage sliding table 4 through a second rack mounting plate 410, the third gear 501 is meshed with the third rack 401, a third rack dust-proof plate 402 is further arranged on the second bottom stage sliding table 4, the third rack dust-proof plate 402 is arranged above the third rack 401, the left end of the second bottom stage sliding table 4 is provided with a second anti-collision plate 411, the right end of the third rack 401 is provided with a second limit switch mounting plate 405, the two ends of the third rack 401 are provided with third limit switches 404, wherein the left side third limit switches 404 are arranged on the second anti-collision plate 411, the right side third limit switches are arranged on the third rack mounting plate 405, the third rack mounting plate is meshed with the third rack 401, the third rack mounting plate is driven by the third drive motor 404 to move, and if the third rack is driven by the third rack mounting plate 404 to move on the third rack 401, and the third rack is driven by the third limit switches 404 to move on the third stage 4, and the third rack mounting plate is driven by the third speed down stage 4.

As shown in fig. 8, the mechanical arm 6 is formed by sequentially connecting a base 601, a waist rotation 602, a shoulder rotation 603, a big arm 604, an elbow rotation 607, a small arm 606, a wrist rotation 605 and a clamping jaw connector 608, wherein the mechanical arm 6 is fixed on the top-level sliding table 5 through the base 601, the mechanical arm 6 is connected with the clamping jaw 7 through the clamping jaw connector 608, and the waist rotation 602, the shoulder rotation 603, the elbow rotation 607 and the wrist rotation 605 are respectively provided with a servo motor and a gear set for driving the servo motor and the gear set to rotate.

As shown in fig. 9, the clamping jaw 7 comprises a first connecting plate 701, an air cylinder 704, a first connecting rod 702, a connecting shaft 705, a second connecting rod 703, a second connecting plate 706, a claw 707, a spring 709 and a clamping plate 708, wherein two groups of first connecting rods 702 are symmetrically arranged at the left side and the right side below the first connecting plate 701, the two groups of second connecting rods 703 are rotationally connected with the two groups of first connecting rods 702 at the left side through the connecting shaft 705, the two groups of second connecting rods 703 are rotationally connected with the two groups of second connecting rods 702 at the right side through the connecting shaft 705, a left second connecting plate 706 and a right second connecting plate 706 are arranged below the second connecting rods 703 at the left side and the right side, two air cylinders 704 are arranged at the front side and the rear side of the clamping jaw 7, two ends of the two air cylinders 704 are hinged with the upper ends of the second connecting rods 703 at the left side and the right side, wherein the driving ends of the front air cylinders 704 are hinged with the upper ends of the second connecting rods 703 at the left side, the tail end of the front side cylinder 704 is hinged with the upper end of the right side second connecting rod 703, the driving end of the rear side cylinder 704 is hinged with the upper end of the right side second connecting rod 703, the tail end of the rear side cylinder is hinged with the upper end of the left side second connecting rod 703, the cylinders 704 on the front side and the rear side are reversely symmetrical, claws 707 on the left side and the right side are arranged below the second connecting plates 706 on the left side and the right side, a spring 709 is arranged in the middle of the lower side of the first connecting plate 701, a clamping plate 708 is arranged at the tail end of the spring 709, the clamping plate 608 is fixedly connected with the first connecting plate 701, the second connecting plates 706 and the connecting shafts 705 are arranged in parallel.

As shown in fig. 14, the first pulley 309, the second pulley 408 and the third pulley 503 each include two wheels in a vertical direction and one wheel in a horizontal direction, the lower side of the upper wheel in the vertical direction is tangent to the upper side of the slide rail, the upper side of the lower wheel in the vertical direction is tangent to the lower side of the slide rail, and the wheels in the horizontal direction are tangent to the side of the slide rail, so as to ensure stability during sliding.

Working principle: the first motor 308 drives the first bottom-stage sliding table 3 to slide on the frame 2, the second motor 406 drives the second bottom-stage sliding table 4 to slide on the first bottom-stage sliding table 3, the third driving motor 504 drives the top-stage sliding table 5 to slide on the second bottom-stage sliding table 4, thereby driving the mechanical arm 6 on the top-stage sliding table 5 to move in the horizontal direction, the mechanical arm 6 drives the clamping jaw 7 to carry, the clamping and loosening of the clamping jaw 7 are realized by driving the air cylinder 704 connected with the clamping jaw 7 through the air pump 8 on the top-stage sliding table 5, and limit switches on the frame 2, the first bottom-stage sliding table 3 and the second bottom-stage sliding table 4 are respectively electrically connected with motors of the sliding tables above, when a speed reducer mounting flange touches the limit switch, the motors stop working.

The multi-stage sliding table device is adopted in the embodiment, so that the moving space of the transfer robot is not limited by the occupied area, and the robot has larger moving space and expands the operation range of the mechanical arm with the same occupied area; the system can be effectively improved in precision by means of meshing of the gear and the rack, driving of the motor and the planetary reducer; through being provided with limit switch, when the speed reducer mounting flange board touched limit switch, the motor was cut off the power supply immediately, protection drive arrangement, bottom panel beating and rack dust guard can effectually block the dust to fall on the rack, very big improvement to the barrier property of rack, can reduce maintenance frequency, improve the efficiency of work.

The embodiments of the utility model have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the utility model in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, and to enable others of ordinary skill in the art to understand the utility model for various embodiments with various modifications as are suited to the particular use contemplated.

Claims (10)

1. The utility model provides a cold chain transfer robot, its characterized in that, includes frame (2), multistage power slip table, arm (6), multistage power slip table sliding connection is in the upper end of frame (2), multistage power slip table includes a top-level slip table (5) and a plurality of end-level slip tables of from the top down stack and sliding connection, top-level slip table (5) and end-level slip table lower extreme all are equipped with the pulley, end-level slip table is equipped with the slip table slide rail that corresponds rather than the top pulley, the upper end of frame (2) is equipped with frame slide rail (207) that corresponds rather than the top pulley, the upper end at top-level slip table (5) is established to arm (6), arm (6) end is equipped with clamping jaw (7).

2. The cold chain transfer robot according to claim 1, wherein the multi-stage power sliding table comprises a top-stage sliding table (5), a second bottom-stage sliding table (4) and a first bottom-stage sliding table (3) stacked from top to bottom, a first pulley (309) is arranged at the lower end of the first bottom-stage sliding table (3), a first sliding table sliding rail (313) is arranged at the upper end of the first bottom-stage sliding table, a second pulley (408) is arranged at the lower end of the second bottom-stage sliding table (4), a second sliding table sliding rail (412) is arranged at the upper end of the second bottom-stage sliding table, a third pulley (503) is arranged at the lower end of the top-stage sliding table (5), two groups of first driving devices for driving the first bottom-stage sliding table (3) are arranged between the frame (2) and the first bottom-stage sliding table (3), two groups of second driving devices for driving the second bottom-stage sliding table (4) are arranged between the first bottom-stage sliding table (3) and the second bottom-stage sliding table (5).

3. The cold chain transfer robot according to claim 2, wherein the first driving device comprises a first rack (205), a first gear (301), a first planetary reducer and a first driving motor (308), the first driving motor (308) is connected with the first gear (301) through the first planetary reducer, the first driving motor (308) is fixed on the first bottom stage sliding table (3) through a first reducer mounting flange (310), the first gear (301) is arranged below the first bottom stage sliding table (3), the first rack (205) is arranged on the frame (2), and the first gear (301) is meshed with the first rack (205);

the second driving device comprises a second rack (305), a second gear (409), a second planetary reducer (403) and a second driving motor (406), wherein the second driving motor (406) is connected with the second gear (409) through the second planetary reducer (403), the second driving motor (406) is fixed on a second bottom-stage sliding table (4) through a second reducer mounting flange (407), the second gear (409) is arranged below the second bottom-stage sliding table (4), the second rack (305) is arranged on a first bottom-stage sliding table (3), and the second gear (409) is meshed with the second rack (305);

the third driving device comprises a third rack (401), a third gear (501), a third planetary reducer and a third driving motor (504), wherein the third driving motor (504) is connected with the third gear (501) through the third planetary reducer, the third driving motor (504) is fixed on the top-level sliding table (5) through a third reducer mounting flange (502), the third gear (501) is arranged below the top-level sliding table (5), the third rack (401) is arranged on the second bottom-level sliding table (4), and the third gear (501) is meshed with the third rack (401).

4. The cold chain transfer robot of claim 3, wherein the rack (2) is further provided with a first rack dust guard (206), a bottom sheet metal (204), a long-stroke drag chain (202) and a clamping groove (203), the bottom sheet metal (204) is arranged on the inner side of the rack (2), the first rack dust guard (206) is arranged above the first rack (205), the clamping groove (203) is arranged on the inner side of the bottom sheet metal (204), the long-stroke drag chain (202) is arranged in the clamping groove (203), one end of the long-stroke drag chain (202) is fixed on the first bottom stage sliding table (3) through a drag chain head supporting frame (311), and both ends of the rack (2) are provided with wire sealing plates (201) and a first limit switch (208), and the long-stroke drag chain (202) is used for deploying wires.

5. A cold chain transfer robot according to claim 3, wherein the second rack (305) is mounted on the first bottom stage sliding table (3) through the first rack mounting plate (304), the first bottom stage sliding table (3) is further provided with the second rack dust-proof plate (306), the second rack dust-proof plate (306) is arranged above the second rack (305), the left end of the first bottom stage sliding table (3) is provided with the first anti-collision plate (312), the right end of the second rack (305) is provided with the first limit switch mounting plate (303), the two ends of the second rack (305) are provided with the second limit switch (302), wherein the left second limit switch (302) is arranged on the first anti-collision plate (312), and the right second limit switch (302) is arranged on the first limit switch mounting plate (303).

6. A cold chain transfer robot according to claim 3, wherein the third rack (401) is mounted on the second bottom stage sliding table (4) through a second rack mounting plate (410), a third rack dust-proof plate (402) is further arranged on the second bottom stage sliding table (4), the third rack dust-proof plate (402) is arranged above the third rack (401), a second anti-collision plate (411) is arranged at the left end of the second bottom stage sliding table (4), a second limit switch mounting plate (405) is arranged at the right end of the third rack (401), a third limit switch (404) is arranged at two ends of the third rack (401), wherein the left third limit switch (404) is arranged on the second anti-collision plate (411), and the right third limit switch (404) is arranged on the second limit switch mounting plate (405).

7. The cold chain transfer robot according to claim 1, wherein the mechanical arm (6) is formed by sequentially connecting a base (601), a waist swing (602), a shoulder swing (603), a big arm (604), an elbow swing (607), a small arm (606), a wrist swing (605) and a clamping jaw connector (608), the mechanical arm (6) is fixed on a top-level sliding table (5) through the base (601), the mechanical arm (6) is connected with a clamping jaw (7) through the clamping jaw connector (608), and the waist swing (602), the shoulder swing (603), the elbow swing (607) and the wrist swing (605) are respectively provided with a servo motor and a gear set for driving the servo motor and the gear set to rotate.

8. The cold chain transfer robot of claim 7, wherein the clamping jaw (7) comprises a first connecting plate (701), an air cylinder (704), a first connecting rod (702), a connecting shaft (705), a second connecting rod (703), a second connecting plate (706), a claw (707), a spring (709) and clamping plates (708), the first connecting rod (702) is symmetrically arranged on the left side and the right side below the first connecting plate (701), the second connecting rod (703) is rotationally connected to the first connecting rod (702) through the connecting shaft (705), the second connecting plate (706) is arranged below the second connecting rod (703), the upper ends of the second connecting rods (703) on the left side and the right side are hinged to the two ends of the air cylinder (704), the claw (707) is arranged below the second connecting plate (706), the spring (709) is arranged in the middle of the lower side of the first connecting plate (701), the clamping plates (708) are arranged at the tail ends of the spring (709), and the clamping jaw (608) is fixedly connected with the first connecting plate (701).

9. The cold chain transfer robot of claim 8, wherein the top sliding table (5) is further provided with an air pump (8), the air pump (8) is connected with the air cylinder (704), a supporting table (1) is arranged below the frame (2), and the frame (2) is fixed on the supporting table (1) through a foundation (10).

10. A cold chain transfer robot according to claim 3, wherein the first bottom stage sliding table (3) is further provided with an electric cabinet (9) and an electric cabinet support frame (307), the electric cabinet (9) is arranged in the electric cabinet support frame (307), the electric cabinet support frame (307) is fixed on the first bottom stage sliding table (3), and the electric cabinet (9) is used for controlling the robot.