An intelligent storage device with multi-degree-of-freedom adjustment

Abstract

The present application relates to the technical field of elevators, and provides an intelligent storage device with multiple degrees of freedom adjustment, including an installation frame, a lifting and swinging frame and a horizontal swinging frame. The lifting and swinging frame is arranged on the installation frame, and a lifting and swinging mechanism is arranged between the lifting and swinging frame and the installation frame, and the lifting and swinging mechanism is used to force the lifting and swinging frame to lift and swing in the vertical direction; the horizontal swinging frame is arranged on the lifting and swinging frame, and a horizontal swinging mechanism is arranged between the horizontal swinging frame and the lifting and swinging frame, and the horizontal swinging mechanism is used to force the horizontal swinging frame to translate in the horizontal direction and swing in the horizontal direction; the horizontal swinging frame has a conveying channel, and the outlet end of the conveying channel is used to dock with the storage frame, and the horizontal swinging frame is provided with a pushing mechanism, and the pushing mechanism is used to push the PACK package to the storage frame; the intelligent storage device with multiple degrees of freedom adjustment of the present application can improve the storage accuracy.

Description

Technical Field

[0001] The present application relates to the technical field of elevators, and in particular to an intelligent storage device with multi-degree-of-freedom adjustment. Background Art

[0002] With the development of the energy storage field, more and more energy is stored in PACK packages composed of battery cells (assembled from several battery cells in a specific combination). For the storage of PACK packages, they are generally stored in storage racks (containers, industrial and commercial energy storage cabinets or storage boxes, etc.), and then stored automatically.

[0003] Existing storage devices generally only include a mobile base, a lifting module and an access module, but the storage position in the storage rack is not absolutely aligned with the PACK package. When there are assembly errors and gaps between the storage rack and the PACK package (such as the storage rack is tilted during installation), if a horizontal straight-forward storage method is directly adopted, it may cause a matching error between the storage rack and the PACK package, that is, after the PACK package is stored in the storage rack, the actual position of the PACK package deviates from the set position in the storage rack, and manual adjustment is required at a later stage, which reduces the storage efficiency of the PACK package, and therefore needs further improvement. Summary of the invention

[0004] In order to improve storage accuracy, the present application provides an intelligent storage device with multi-degree-of-freedom adjustment.

[0005] The present application provides an intelligent storage device with multiple degrees of freedom adjustment, which adopts the following technical solutions:

[0006] A multi-degree-of-freedom adjustable intelligent storage device comprises a mounting frame, a lifting and swinging frame and a horizontal swinging frame, wherein the lifting and swinging frame is arranged on the mounting frame, and a lifting and swinging mechanism is arranged between the lifting and swinging frame and the mounting frame, and the lifting and swinging mechanism is used to force the lifting and swinging frame to lift and swing in the vertical direction; the horizontal swinging frame is arranged on the lifting and swinging frame, and a horizontal swinging mechanism is arranged between the horizontal swinging frame and the lifting and swinging frame, and the horizontal swinging mechanism is used to force the horizontal swinging frame to translate in the horizontal direction and swing in the horizontal direction; the horizontal swinging frame has a conveying channel for conveying PACK packages, and the outlet end of the conveying channel is used to dock with the storage frame, and the horizontal swinging frame is provided with a pushing mechanism, and the pushing mechanism is used to push the PACK packages to the storage frame.

[0007] By adopting the above technical solution, through the setting of the lifting and swinging mechanism, the horizontal swinging mechanism and the pushing mechanism, after the PACK package is sent into the conveying channel, the lifting and swinging frame is driven by the lifting and swinging mechanism to lift a certain height (the lifting height of the lifting and swinging frame is determined according to the height of the storage position of the storage rack), and the horizontal swinging mechanism is cooperated to adjust the horizontal swinging frame in the horizontal direction, so that the PACK package is aligned with the storage position of the storage rack; then according to the storage position of the storage rack, the lifting and swinging frame is forced to swing in the vertical direction through the lifting and swinging mechanism, and the horizontal swinging mechanism is cooperated to swing in the horizontal direction, so as to fine-tune the "storage angle" of the PACK package ("storage angle" refers to the angle at which the PACK package is pushed into the storage rack), and reduce the assembly error and gap between the storage rack and the PACK package. Finally, the PACK package is pushed to the storage position of the storage rack by the pushing mechanism, which greatly improves the storage accuracy of the PACK package, thereby improving the storage efficiency.

[0008] Optionally, the side walls of the lifting and swinging frame are respectively provided with a first connecting seat, a second connecting seat, a third connecting seat and a fourth connecting seat, the lifting and swinging mechanism comprises a first screw rod, a second screw rod, a third screw rod, a fourth screw rod, a first hinge, a second hinge, a third hinge, a fourth hinge and a first driving member, the first screw rod, the second screw rod, the third screw rod and the fourth screw rod are all rotatably connected to the mounting frame body, the first screw rod is threadedly penetrated through the first connecting seat, the second screw rod is threadedly penetrated through the second connecting seat, the third screw rod is threadedly penetrated through the third connecting seat, and the fourth screw rod is threadedly penetrated through the fourth connecting seat; the first hinge is arranged between the first connecting seat and the lifting and swinging frame, the second hinge is arranged between the second connecting seat and the lifting and swinging frame, the third hinge is arranged between the third connecting seat and the lifting and swinging frame, and the fourth hinge is arranged between the fourth connecting seat and the lifting and swinging frame; the first driving member is arranged on the mounting frame body to drive the first screw rod, the second screw rod, the third screw rod and the fourth screw rod to rotate around their own central axis.

[0009] By adopting the above technical scheme, through the setting of the first screw rod, the second screw rod, the third screw rod and the fourth screw rod, when the lifting and swinging frame is lifted and lowered, the first driving member drives the first screw rod, the second screw rod, the third screw rod and the fourth screw rod to rotate synchronously and at the same speed, so as to drive the lifting and swinging frame to lift and lower; when the lifting and swinging frame needs to be swung in the vertical direction, the rotation speed of the first screw rod, the second screw rod, the third screw rod and the fourth screw rod can be controlled (that is, the rotation speeds of the first screw rod, the second screw rod, the third screw rod and the fourth screw rod are set to be different, and the lifting and swinging frame is located on the side with a faster screw rotation speed than the side with a slower screw rotation speed. The lifting distance is greater, thereby realizing the vertical swing of the lifting and swinging frame, and realizing multi-degree-of-freedom swing adjustment, so as to adjust the "storage angle" of the PACK packages on the horizontal swinging frame, thereby improving the operational convenience of the overall structure.

[0010] Optionally, the first hinge comprises two interconnected first universal joints, wherein one end of one of the first universal joints is connected to the first connecting seat, and one end of the other first universal joint is connected to the lifting and swinging frame; the second hinge comprises a first ball joint, wherein one end of the first ball joint is connected to the second connecting seat, and the other end is connected to the lifting and swinging frame; the third hinge comprises a second universal joint and a second ball joint connected to each other, wherein one end of the second universal joint is connected to the third connecting seat, and one end of the second ball joint is connected to the lifting and swinging frame; the fourth hinge comprises two interconnected third ball joints, wherein one end of the third ball joint is connected to the fourth connecting seat, and one end of the other third ball joint is connected to the lifting and swinging frame.

[0011] By adopting the above-mentioned technical solution, the first connecting seat, the second connecting seat, the third connecting seat and the fourth connecting seat are all hinged to the lifting and swinging frame, so that by controlling the rotation speed of the first screw rod, the second screw rod, the third screw rod and the fourth screw rod, the lifting and swinging frame can be controlled to flip and swing and adjust the "storage angle".

[0012] Optionally, the horizontal swing mechanism includes a first translation member, a second translation member, a first pushing member and a second pushing member, the first translation member and the second translation member both include a first translation plate, a second translation plate and a plane bearing, the first translation plate is slidably installed on the lifting and swinging frame, the second translation plate is slidably installed on the first translation plate, and the moving direction between the first translation plate and the second translation plate is vertically arranged; the plane bearing is arranged between the second translation plate and the horizontal swinging frame, the horizontal swinging frame is installed on the second translation plate through the plane bearing, and the moving direction between the first translation plate in the first translation member and the first translation plate in the second translation member is vertically arranged; the first pushing member and the second pushing member are both arranged on the lifting and swinging frame, the first pushing member is used to drive the first translation plate in the first translation member to translate, and the second pushing member is used to drive the first translation plate in the second translation member to translate.

[0013] By adopting the above-mentioned technical scheme, through the setting of the first translation member, the second translation member, the first pushing member and the second pushing member, in the first mode of driving the horizontal swing frame to translate, the first pushing member is started and the second pushing member is not started, and the horizontal swing frame can slide along the sliding direction of the first translation plate in the first translation member; in the second mode, the first pushing member is not started and the second pushing member is started, and the horizontal swing frame can slide along the sliding direction of the first translation plate in the second translation member, and the moving direction between the first translation plate in the first translation member and the first translation plate in the second translation member is vertically arranged, so that the horizontal swing frame can translate in two directions in the horizontal direction; in driving the horizontal swing frame to perform a horizontal swing operation, the first pushing member and the second pushing member are both started, which can make the horizontal swing frame swing in the horizontal direction, thereby increasing the adjustment range of the "warehouse angle" of the PACK package and reducing the assembly error and gap between the storage rack and the PACK package.

[0014] Optionally, the pushing mechanism includes a feeding component for feeding the PACK package into the conveying channel and a sending component for pushing the PACK package out of the conveying channel, the feeding component includes a plate chain and a second driving member, the plate chain is installed on the conveying channel of the horizontal swing frame, the plate chains are provided in multiple groups and are arranged at intervals along the width direction of the conveying channel, and each of the plate chains is extended along the length direction of the conveying channel; the second driving member is arranged on the horizontal swing frame to drive all the plate chains to operate.

[0015] By adopting the above technical solution, after the PACK package to be stored enters from the entrance end of the conveying channel, the second driving member drives the plate chain to run, so as to send the PACK package into the conveying channel. After the position and "storage angle" of the PACK package are adjusted, the PACK package is pushed out of the conveying channel and enters the storage position of the storage rack through the sending component, thereby improving the operational convenience of the overall structure.

[0016] Optionally, the delivery component includes a pushing seat, a pushing frame, a third driving member and a fourth driving member, the pushing seat is slidably mounted on a horizontal swing frame, the third driving member is arranged on the horizontal swing frame to drive the pushing seat to translate along the length direction of the conveying channel; a rotating shaft is rotatably mounted on the pushing seat, one end of the pushing frame is connected to the peripheral wall of the rotating shaft, and one end of the pushing frame is hinged to the pushing seat through the rotating shaft; the fourth driving member is arranged on the pushing seat, and the fourth driving member is used to drive the rotating shaft to rotate to force the pushing frame to swing, when the pushing frame swings downward, the pushing frame moves out of the conveying channel so that the PACK package can be delivered into the conveying channel, and when the pushing frame swings upward, the pushing frame moves into the conveying channel for pushing the PACK package.

[0017] By adopting the above-mentioned technical solution, through the arrangement of the pushing seat, the pushing rack, the third driving member and the fourth driving member, after the position and the "storage angle" of the PACK package are adjusted, the fourth driving member drives the rotating shaft to rotate, driving the pushing rack to swing upward to enter the conveying channel, and then the third driving member drives the pushing seat to move toward the exit end of the conveying channel. The pushing rack can push the PACK package out of the conveying channel and into the storage position of the storage rack, thereby improving the operational convenience of the PACK package transfer.

[0018] Optionally, the pushing rack includes a rotating arm and a pushing rod, one end of the rotating arm is connected to the rotating shaft, and the other end is connected to the pushing rod, and the end of the pushing rod away from the rotating arm is connected to a pushing head for pushing the PACK package; an adsorption chamber is provided in the pushing head, and an adsorption hole connected to the adsorption chamber is provided on the end surface of the pushing head away from the pushing rod, and the rotating arm is provided with an adsorption component, which is used to extract air in the adsorption chamber so that the PACK package is adsorbed on the end surface of the pushing head away from the pushing rod.

[0019] By adopting the above technical solution, through the setting of the adsorption chamber and the adsorption hole, after the pushing rack is driven by the rotating shaft to move into the conveying channel, the pushing seat is driven to move toward the exit end of the conveying channel, so that the pushing head can abut the side wall of the PACK package. At this time, the air in the adsorption chamber is extracted by the adsorption component, and a negative pressure is formed in the adsorption chamber, thereby adsorbing the PACK package on the end face of the pushing head away from the pushing rod; then the pushing seat is continued to be driven to move toward the exit end of the conveying channel. When the PACK package is sent to the storage position of the storage rack, the pushing seat stops moving forward, and the adsorption force of the pushing head on the PACK package can force the PACK package to stop moving forward, thereby reducing the possibility that the PACK package continues to move forward under the action of inertia and hits the inner wall of the storage rack when the pushing seat stops moving forward, thereby improving the storage stability of the overall structure.

[0020] Optionally, a sliding sleeve is connected to one end of the rotating arm away from the rotating shaft, and one end of the push rod is slidably inserted in the sliding sleeve. A return spring is provided between the push rod and the sliding sleeve, and the return spring normally causes the push rod to partially move out of the sliding sleeve; an adsorption channel is provided in the push rod, one end of the adsorption channel is connected to the adsorption chamber, and the other end passes through the surrounding wall of the push rod; a docking hole is provided in the surrounding wall of the sliding sleeve, and when the push rod completely enters the sliding sleeve, the docking hole is connected to the adsorption channel; the adsorption component includes an adsorption tube arranged on the sliding sleeve, and the inlet end of the adsorption tube is connected to the docking hole.

[0021] By adopting the above technical solution and arranging the sliding sleeve and the adsorption tube, under normal conditions, the push rod is partially exposed outside the sliding sleeve under the action of the reset spring, and at this time, a misalignment is formed between the docking hole and the adsorption channel, thereby closing the adsorption tube; when the rotating shaft drives the push rack to move into the conveying channel, the push seat is driven to move toward the outlet end of the conveying channel, so that the push head abuts against the side wall of the PACK package, and the push seat continues to move. At this time, the push rod completely enters the sliding sleeve under the obstruction of the PACK package (at this time, the docking hole is connected to the adsorption channel), thereby opening the adsorption tube to extract air from the adsorption chamber, so that the push head can be adsorbed on the side wall of the PACK package, reducing the possibility of the PACK package hitting the inner wall of the storage rack under the action of inertia after being sent into the storage rack.

[0022] Optionally, a first limit groove is formed on the peripheral wall of the push rod, and a second limit groove is formed on the inner wall of the sliding sleeve. A limit block is slidably installed in the second limit groove. A limit spring is provided between the limit block and the inner wall of the second limit groove. The limit spring normally forces the limit block to partially move out of the second limit groove. The limit block has a guide surface. When the push rod moves toward the sliding sleeve, the push rod forces the limit block to move into the second limit groove through the guide surface, and when the push rod completely enters the sliding sleeve, the first limit groove is opposite to the second limit groove. The limit block is provided with an unlocking piece.

[0023] By adopting the above-mentioned technical solution and setting the limit block and the limit spring, after the push rod completely enters the sliding sleeve (the adsorption tube is opened), the limit block is partially moved out of the second limit groove under the action of the limit spring and inserted into the first limit groove, thereby limiting the push rod and keeping the push rod in the sliding sleeve (i.e., forcing the adsorption tube to remain in the open state), reducing the possibility that the push rod will be pulled out of the sliding sleeve due to the inertia of the PACK package after the push head sends the PACK package into the storage rack and stops moving.

[0024] Optionally, the rotating shaft includes a first rotating part and a second rotating part coaxially arranged, the first rotating part and the second rotating part are both rotatably connected to the pushing seat, the fourth driving member is used to drive the first rotating part to rotate, and the rotating arm is connected to the second rotating part; the end face of the first rotating part close to the second rotating part is provided with a linkage block, and the end face of the second rotating part close to the first rotating part is provided with a rotating arc groove for the linkage block to be inserted, the rotating arc groove has a first point position and a second point position, and when the pushing rack moves in or out of the conveying channel, the linkage block is located at the first point position; the unlocking member includes an unlocking rope, one end of the unlocking rope is connected to the limit block, and the other end is connected to the surrounding wall of the first rotating part, when the pushing head abuts against the PACK bag and the first rotating part drives the linkage block to rotate from the first point position to the second point position, the unlocking rope pulls the limit block and forces the limit block to move into the second limit groove.

[0025] By adopting the above technical solution, through the arrangement of the linkage block, the rotating arc groove and the unlocking rope, when the push head sends the PACK package into the storage rack and stops moving, the first rotating part is driven to rotate, so that the linkage block is turned from the first point position to the second point position (at this time, the push head is in contact with the side wall of the PACK package, and the push head is blocked by the PACK package, so that the rotating arm remains stationary), the first rotating part can pull the limit block through the unlocking rope, forcing the limit block to disengage from the first limit groove, and at this time the push seat is driven to move toward the side close to the inlet end of the conveying channel, and the push rod is partially exposed to the sliding sleeve (the adsorption tube is closed) under the action of the reset spring, so that the push head and the PACK package are separated, and the push seat is continued to be driven to move toward the side close to the inlet end of the conveying channel, so that the push seat can be reset for pushing the next PACK package, thereby improving the operational convenience of the overall structure.

[0026] In summary, the present application includes at least one of the following beneficial technical effects:

[0027] 1. Through the setting of the lifting and swinging mechanism, the horizontal swinging mechanism and the pushing mechanism, after the PACK package is sent into the conveying channel, the lifting and swinging mechanism drives the lifting and swinging frame to lift a certain height (the lifting height of the lifting and swinging frame depends on the height of the storage position of the storage rack), and cooperates with the horizontal swinging mechanism to adjust the horizontal position of the horizontal swinging frame, so that the PACK package is aligned with the storage position of the storage rack; then according to the storage position of the storage rack, the lifting and swinging mechanism forces the lifting and swinging frame to swing in the vertical direction, and cooperates with the horizontal swinging mechanism to swing in the horizontal direction, so as to fine-tune the "warehouse entry angle" of the PACK package ("warehouse entry angle" refers to the angle at which the PACK package is pushed into the storage rack) to reduce the assembly error and gap between the storage rack and the PACK package. Finally, the PACK package is pushed to the storage position of the storage rack through the pushing mechanism, which greatly improves the storage accuracy of the PACK package, thereby improving the storage efficiency;

[0028] 2. Through the arrangement of the first screw rod, the second screw rod, the third screw rod and the fourth screw rod, when the lifting and swinging frame is lifted and lowered, the first driving member drives the first screw rod, the second screw rod, the third screw rod and the fourth screw rod to rotate synchronously and at the same speed, so as to drive the lifting and swinging frame to lift and lower; when the lifting and swinging frame needs to be swung in the vertical direction, the rotation speed of the first screw rod, the second screw rod, the third screw rod and the fourth screw rod can be controlled (that is, the rotation speeds of the first screw rod, the second screw rod, the third screw rod and the fourth screw rod are set to be different, and the lifting and swinging frame is located on the side with a faster screw speed than on the side with a slower screw speed. The lifting distance is greater, thereby realizing the vertical swing of the lifting and swinging frame, and realizing the swing adjustment with multiple degrees of freedom, so as to adjust the "storage angle" of the PACK on the horizontal swinging frame, thereby improving the convenience of operation of the overall structure;

[0029] 3. Through the setting of the linkage block, the rotating arc groove and the unlocking rope, when the push head sends the PACK package into the storage rack and stops moving, the first rotating part is driven to rotate, so that the linkage block is turned from the first point position to the second point position (at this time, the push head is in contact with the side wall of the PACK package, and the push head is blocked by the PACK package, so that the rotating arm remains stationary), and the first rotating part can pull the limit block through the unlocking rope, forcing the limit block to disengage from the first limit groove. At this time, the push seat is driven to move toward the side close to the inlet end of the conveying channel, and the push rod is partially exposed to the sliding sleeve (the adsorption tube is closed) under the action of the reset spring, so that the push head and the PACK package are separated, and the push seat is continued to be driven to move toward the side close to the inlet end of the conveying channel, so that the push seat can be reset for pushing the next PACK package, thereby improving the operational convenience of the overall structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of the overall structure of Example 1;

[0031] Figure 2 is a partial cross-sectional view of the lifting and swinging mechanism of embodiment 1;

[0032] Figure 3 is a partial cross-sectional view of the horizontal swing mechanism embodied in Embodiment 1;

[0033] Figure 4 yes Figure 3 The enlarged view of point A in the middle;

[0034] Figure 5 is a schematic structural diagram of a feeding assembly embodying embodiment 1;

[0035] Figure 6 is a schematic structural diagram of a delivery assembly according to Embodiment 1;

[0036] Figure 7 is a schematic diagram of the structure of the push rod 626 and the rotating arm of Example 1;

[0037] Figure 8 is a schematic diagram of the structure of the delivery component of Example 2;

[0038] Fig. 9 is a partial cross-sectional view of the adsorption chamber according to Embodiment 2;

[0039] Fig.10 It is a partial cross-sectional view of the linkage block and the rotating arc groove of Example 2.

[0040] 1. Mounting frame; 2. Lifting and swinging frame; 21. First connecting seat; 22. Second connecting seat; 23. Third connecting seat; 24. Fourth connecting seat; 3. Horizontal swinging frame; 31. Conveying channel; 32. Camera; 33. Rotating rod; 34. Sprocket; 35. Limiting bar; 351. Roller; 36. Limiting rod; 4. Lifting and swinging mechanism; 41. First screw rod; 42. Second screw rod; 43. Third screw rod; 44. Fourth screw rod; 45. First hinge; 46. Second hinge; 47. Third hinge; 48. Fourth hinge; 49. First driving member; 5. Horizontal swinging mechanism; 51. First translation member; 511. First translation plate; 512. Second translation plate; 513. Plane bearing; 52. Second translation member; 53. First push member; 54. Second push member; 6. Push mechanism; 6 1. Feeding assembly; 611. Second driving member; 62. Sending assembly; 621. Pushing seat; 6211. Wearing ring; 6212. Limiting column; 622. Third driving member; 623. Fourth driving member; 624. Rotating shaft; 6241. First rotating part; 6242. Second rotating part; 6243. Linkage block; 6244. Rotating arc groove; 6245. First point position; 6246. Second point position; 625 , rotating arm; 626, pushing rod; 6261, adsorption channel; 6262, first limiting groove; 627, pushing head; 6271, adsorption chamber; 6272, adsorption hole; 628, sliding sleeve; 6281, reset spring; 6282, docking hole; 6283, second limiting groove; 6284, limiting block; 6285, limiting spring; 6286, guide surface; 6287, unlocking rope; 629, adsorption tube. DETAILED DESCRIPTION

[0041] The following is combined with Figure 1 -Attached Fig.10 This application is described in further detail.

[0042] Embodiment 1,

[0043] The embodiment of the present application discloses an intelligent storage device with multi-degree-of-freedom adjustment.

[0044] Reference Figure 1 , Figure 2 , an intelligent storage device with multi-degree-of-freedom adjustment, including a mounting frame 1, a lifting and swinging frame 2 and a horizontal swinging frame 3, the mounting frame 1 is in a "door-shaped" shape, the mounting frame 1 is placed on the ground and the mounting frame 1 is located on one side of a storage frame (the storage frame is not shown in the figure); the lifting and swinging frame 2 is installed on the mounting frame 1, and a lifting and swinging mechanism 4 is arranged between the lifting and swinging frame 2 and the mounting frame 1, and the lifting and swinging mechanism 4 is used to force the lifting and swinging frame 2 to be lifted and lowered, and can force the lifting and swinging frame 2 to swing in the vertical direction.

[0045] Reference Figure 2 , Figure 3 The side walls of the lifting and swinging frame 2 are respectively provided with a first connecting seat 21, a second connecting seat 22, a third connecting seat 23 and a fourth connecting seat 24, which are all slidably installed on the side walls of the mounting frame 1; the first connecting seat 21 and the second connecting seat 22 are located on one side of the lifting and swinging frame 2, and the third connecting seat 23 and the fourth connecting seat 24 are located on the other side of the lifting and swinging frame 2, the first connecting seat 21 and the fourth connecting seat 24 are arranged opposite to each other, and the second connecting seat 22 and the third connecting seat 23 are arranged opposite to each other, and the first connecting seat 21, the second connecting seat 22, the third connecting seat 23 and the fourth connecting seat 24 are arranged in four corners.

[0046] Reference Figure 2 , Figure 3 The lifting and swinging mechanism 4 includes a first screw rod 41, a second screw rod 42, a third screw rod 43, a fourth screw rod 44, a first hinge 45, a second hinge 46, a third hinge 47, a fourth hinge 48 and a first driving member 49. The first screw rod 41, the second screw rod 42, the third screw rod 43 and the fourth screw rod 44 are all vertically arranged, and the first screw rod 41, the second screw rod 42, the third screw rod 43 and the fourth screw rod 44 are all rotatably connected to the mounting frame 1; the first screw rod 41 passes through It is arranged on the first connecting seat 21 and is threadedly connected to the first connecting seat 21, the second screw rod 42 is passed through the second connecting seat 22 and is threadedly connected to the second connecting seat 22, the third screw rod 43 is passed through the third connecting seat 23 and is threadedly connected to the third connecting seat 23, the fourth screw rod 44 is passed through the fourth connecting seat 24 and is threadedly connected to the fourth connecting seat 24, and the lifting and swinging frame 2 is slidably installed by the first screw rod 41, the second screw rod 42, the third screw rod 43 and the fourth screw rod 44 to install the mounting frame 1 and can be lifted and lowered.

[0047] Reference Figure 2 , Figure 3The first hinge 45 is disposed between the first connection seat 21 and the lifting and swinging frame 2. The first hinge 45 includes two first universal joints connected to each other, one end of one of the first universal joints is connected to the first connection seat 21, and one end of the other first universal joint is connected to the lifting and swinging frame 2, and the hinge direction of one of the first universal joints is perpendicular to the hinge direction of the other first universal joint. The second hinge 46 is disposed between the second connection seat 22 and the lifting and swinging frame 2. The second hinge 46 includes a first ball hinge, one end of the first ball hinge is connected to the second connection seat 22, and the other end is connected to the lifting and swinging frame 2.

[0048] The third hinge 47 is arranged between the third connection seat 23 and the lifting and swinging frame 2, and the third hinge 47 includes a second universal joint and a second ball hinge connected to each other, and the end of the second universal joint away from the second ball hinge is connected to the third connection seat 23, and the end of the second ball hinge away from the second universal joint is connected to the lifting and swinging frame 2. The fourth hinge 48 is arranged between the fourth connection seat 24 and the lifting and swinging frame 2, and the fourth hinge 48 includes two third ball hinges connected to each other, one end of one third ball hinge is connected to the fourth connection seat 24, and one end of the other third ball hinge is connected to the lifting and swinging frame 2 (the universal joint and the ball hinge are both existing technical structures, and only their connection relationship and arrangement are described here, and their internal structure is not described too much).

[0049] Reference Figure 1 , Figure 2 , the first driving member 49 is arranged on the mounting frame 1 to drive the first screw rod 41, the second screw rod 42, the third screw rod 43 and the fourth screw rod 44 to rotate around their own central axis; in this embodiment, the first driving member 49 is set as a first motor, the number of the first motors is set to four, and the four first motors are all installed on the top of the mounting frame 1. The four first motors are respectively arranged corresponding to the first screw rod 41, the second screw rod 42, the third screw rod 43 and the fourth screw rod 44, and the first screw rod 41, the second screw rod 42, the third screw rod 43 and the fourth screw rod 44 are all driven by their respective corresponding first motors.

[0050] Reference Figure 2 , Figure 3The horizontal swing frame 3 is installed on the lifting swing frame 2, and the horizontal swing frame 3 has a conveying channel 31 for conveying PACK packages, and the outlet end of the conveying channel 31 is used to dock with the storage frame; a horizontal swing mechanism 5 is arranged between the horizontal swing frame 3 and the lifting swing frame 2, and the horizontal swing mechanism 5 is used to force the horizontal swing frame 3 to translate in the horizontal direction and swing in the horizontal direction; the horizontal swing mechanism 5 includes a first translation member 51, a second translation member 52, a first pushing member 53 and a second pushing member 54, and the number of the first translation member 51 and the second translation member 52 are both arranged in multiple groups. In this embodiment, the structures of the first translation member 51 and the second translation member 52 are the same. The structure of the first translation member 51 is used as an example for explanation below, and the structure of the second translation member 52 can be obtained similarly.

[0051] Reference Figure 3 , Figure 4 The first translation member 51 includes a first translation plate 511, a second translation plate 512 and a plane bearing 513. The first translation plate 511 is slidably installed on the lifting and swinging frame 2, and the second translation plate 512 is slidably installed on the first translation plate 511. The moving direction between the first translation plate 511 and the second translation plate 512 is vertically arranged; the plane bearing 513 is arranged between the second translation plate 512 and the horizontal swinging frame 3, the outer ring of the plane bearing 513 is fixedly connected to the second translation plate 512, and the inner ring of the plane bearing 513 is fixedly connected to the bottom wall of the horizontal swinging frame 3, and the horizontal swinging frame 3 is installed on the second translation plate 512 through the plane bearing 513.

[0052] Reference Figure 3 , Figure 4 It should be noted that, in the present embodiment, the moving direction of the first translation plate 511 in the first translation member 51 is parallel to the length direction of the conveying channel 31, and the moving direction of the first translation plate 511 in the second translation member 52 is perpendicular to the length direction of the conveying channel 31 (i.e., the moving directions of the first translation plate 511 in the first translation member 51 and the first translation plate 511 in the second translation member 52 are arranged vertically).

[0053] Reference Figure 3 , Figure 4The first pushing member 53 and the second pushing member 54 are both installed on the lifting and swinging frame 2. In this embodiment, the first pushing member 53 is set to be a first cylinder, the cylinder body of the first cylinder is fixedly installed on the lifting and swinging frame 2, and the piston rod of the first cylinder is fixedly connected to the first translation plate 511 in the first translation member 51, so as to drive the first translation plate 511 in the first translation member 51 to translate along the length direction of the conveying channel 31; the second pushing member 54 is set to be a second cylinder, the cylinder body of the second cylinder is fixedly installed on the lifting and swinging frame 2, and the piston rod of the second cylinder is fixedly connected to the first translation plate 511 in the second translation member 52, so as to drive the first translation plate 511 in the second translation member 52 to translate along the width direction of the conveying channel 31.

[0054] Reference Figure 2 The horizontal swing frame 3 is equipped with a pushing mechanism 6, which is used to push the PACK package in the conveying channel 31 to the storage frame. The pushing mechanism 6 includes a feeding component 61 and a sending component 62. The feeding component 61 is used to feed the PACK package into the conveying channel 31, and the sending component 62 is used to push the PACK package out of the conveying channel 31 (that is, used to push the PACK package into the storage position of the storage frame).

[0055] Reference Figure 2 , Figure 5 The feeding assembly 61 includes a plate chain and a second driving member 611. The plate chain (not shown in the figure) is installed in the conveying channel 31 of the horizontal swing frame 3. There are multiple groups of plate chains and they are arranged at intervals along the width direction of the conveying channel 31. Each plate chain is extended along the length direction of the conveying channel 31. Both ends of the horizontal swing frame 3 are rotatably connected to a rotating rod 33. The peripheral wall of the rotating rod 33 is fixedly connected to a sprocket 34. The number of sprockets 34 is set corresponding to the number of plate chains. The plate chain is installed on the horizontal swing frame 3 through the sprockets 34 at both ends of the horizontal swing frame 3.

[0056] Reference Figure 2 , Figure 5 The second driving member 611 is arranged on the horizontal swing frame 3 to drive all the plate chains to operate. In this embodiment, the second driving member 611 is arranged as a second motor, and the second motor is fixedly installed on the horizontal swing frame 3. The output shaft of the second motor is connected to the rotating rod 33 to drive the rotating rod 33 to rotate, and then drive the plate chain to operate through the sprocket 34 to deliver the PACK package into the conveying channel 31.

[0057] Reference Figure 2 , Figure 6The delivery component 62 includes a pushing seat 621, a pushing frame, a third driving member 622 and a fourth driving member 623. The pushing seat 621 is slidably installed on the horizontal swing frame 3 and is located below the conveying channel 31. The third driving member 622 is arranged on the horizontal swing frame 3 to drive the pushing seat 621 to translate along the length direction of the conveying channel 31; in this embodiment, the third driving member 622 can be a linear motor, which is installed on the horizontal swing frame 3 to drive the pushing seat 621 to translate along the length direction of the conveying channel 31.

[0058] Reference Figure 6 , Figure 7 A rotating shaft 624 is rotatably installed on the top of the pushing seat 621, and the rotating shaft 624 is horizontally arranged. Both ends of the rotating shaft 624 extend along the width direction of the conveying channel 31. Two groups of pushing racks are arranged, and the two groups of pushing racks are arranged at intervals along the length direction of the rotating shaft 624; the pushing rack includes a rotating arm 625 and a pushing rod 626, one end of the rotating arm 625 is fixedly connected to the peripheral wall of the rotating shaft 624, and the other end is connected to one end of the pushing rod 626, and the end of the pushing rod 626 away from the rotating arm 625 is connected to a pushing head 627 for pushing the PACK package, and the rotating arm 625 in the pushing rack is hinged to the pushing seat 621 through the rotating shaft 624.

[0059] Reference Figure 6 , Figure 7 The fourth driving member 623 is arranged on the pushing seat 621, and the fourth driving member 623 is used to drive the rotating shaft 624 to rotate, so as to force the rotating arm 625 to swing. The fourth driving member 623 is set as a third motor, and the third motor is fixedly installed on the pushing seat 621. The output shaft of the third motor is connected to the rotating shaft 624 by a belt (not shown in the figure) to drive the rotating shaft 624 to rotate; when the rotating arm 625 swings downward, the pushing rod 626 moves out of the conveying channel 31 so that the PACK package can be delivered. When the rotating arm 625 swings upward, the pushing rod 626 moves into the conveying channel 31 to push the PACK package. For the convenience of description, the rotation direction of the rotating shaft 624 driving the rotating arm 625 to swing downward is defined as the forward rotation of the rotating shaft 624, and the rotation direction of the rotating shaft 624 driving the rotating arm 625 to swing upward is defined as the reverse rotation of the rotating shaft 624. When the rotating shaft 624 reverses and drives the pushing rod 626 to move into the conveying channel 31, the length direction of the pushing rod 626 is set horizontally.

[0060] Reference Figure 5 , Figure 6Two limit bars 35 are installed on the horizontal swing frame 3, and the two limit bars 35 are symmetrically distributed on both sides of the width direction of the conveying channel 31. Both ends of each limit bar 35 are extended along the length direction of the conveying channel 31; each limit bar 35 is rotatably installed with a plurality of rollers 351, and the plurality of rollers 351 are arranged at intervals along the length direction of the limit bar 35, and the rollers 351 are used to abut against the side wall of the PACK package.

[0061] Two groups of limit rods 36 are installed on the horizontal swing frame 3, and the two groups of limit rods 36 are symmetrically distributed on both sides of the length direction of the conveying channel 31 (that is, one group of limit rods 36 is located at the inlet end of the conveying channel 31, and the other group of limit rods 36 is located at the outlet end of the conveying channel 31). The limit rods 36 are slidably connected to the horizontal swing frame 3. The horizontal swing frame 3 is installed with multiple third cylinders, and the number of the third cylinders is set corresponding to the number of limit rods 36. The third cylinders are used to drive the corresponding limit rods 36 to rise and fall. When the limit rods 36 are lifted, the limit rods 36 abut against the side walls of the PACK package; with such a design, the combination of the limit strips 35 and the limit rods 36 can limit the side walls of the PACK package, reducing the possibility of the PACK package sliding freely under the action of its own gravity when the lifting and swinging frame 2 swings in the vertical direction or the horizontal direction.

[0062] In this embodiment, a camera 32 is installed at the exit end of the conveying channel 31 on the horizontal swing frame 3. The camera 32 is used to identify the storage position of the storage frame to ensure that the PACK package in the conveying channel 31 is aligned with the storage position of the storage frame.

[0063] The implementation principle of Example 1 of the present application is as follows: after the PACK package is sent into the conveying channel 31 by the feeding component 61, the lifting and swinging frame 2 is driven to be lifted to a certain height, and then the first cylinder and the second cylinder are used to drive the horizontal swinging frame 3 to move in the horizontal direction, so that the PACK package in the conveying channel 31 is aligned with the storage position of the storage frame; then, by controlling the rotation speed of the first screw rod 41, the second screw rod 42, the third screw rod 43 and the fourth screw rod 44, the lifting and swinging frame 2 can be forced to swing in the vertical direction, and the combination of the first cylinder and the second cylinder can force the horizontal swinging frame 3 to swing in the horizontal direction, so as to fine-tune the "warehousing angle" of the PACK package, reduce the assembly error and gap between the storage frame and the PACK package, and after the position of the PACK package is adjusted, the PACK package is pushed to the storage position of the storage frame by the feeding component 62, which greatly improves the storage accuracy of the PACK package and thus improves the storage efficiency.

[0064] Embodiment 2,

[0065] The embodiment of the present application discloses an intelligent storage device with multi-degree-of-freedom adjustment.

[0066] Reference Figure 8 , Fig. 9 The difference between the intelligent storage device with multiple degrees of freedom adjustment disclosed in the embodiment of the present application and embodiment 1 is that:

[0067] In this embodiment, a sliding sleeve 628 is fixedly installed at one end of the rotating arm 625 away from the rotating shaft 624, and one end of the push rod 626 away from the push head 627 is slidably inserted in the sliding sleeve 628. A return spring 6281 is installed between the push rod 626 and the sliding sleeve 628. One end of the return spring 6281 is fixedly connected to the push rod 626, and the other end is fixedly connected to the rotating arm 625. The return spring 6281 normally causes the push rod 626 to partially extend out of the sliding sleeve 628; an adsorption spring 6281 is provided in the push head 627. Cavity 6271, a plurality of adsorption holes 6272 are provided on the end surface of the pushing head 627 away from the pushing rod 626, and the plurality of adsorption holes 6272 are all connected to the adsorption cavity 6271, an adsorption channel 6261 is provided in the pushing rod 626, one end of the adsorption channel 6261 is connected to the adsorption cavity 6271, and the other end passes through the peripheral wall of the pushing rod 626; a docking hole 6282 is provided on the peripheral wall of the sliding sleeve 628, and when the pushing rod 626 completely enters the sliding sleeve 628, the docking hole 6282 is connected to the adsorption channel 6261.

[0068] Reference Figure 8 , Fig. 9 The rotating arm 625 is provided with an adsorption member, which is used to extract the air in the adsorption chamber 6271 so that the PACK package is adsorbed on the end surface of the pushing head 627 away from the pushing rod 626. In this embodiment, the adsorption member is configured as an adsorption tube 629, and the adsorption tube 629 is fixedly connected to the peripheral wall of the sliding sleeve 628. The inlet end of the adsorption tube 629 is connected to the docking hole 6282, and the outlet end of the adsorption tube 629 is used to connect to the exhaust device (not shown in the figure), and the adsorption tube 629 is a hose.

[0069] Reference Fig. 9 A first limiting groove 6262 is formed on the peripheral wall of the push rod 626, a second limiting groove 6283 is formed on the inner wall of the sliding sleeve 628, a limiting block 6284 is slidably installed in the second limiting groove 6283, a limiting spring 6285 is installed between the limiting block 6284 and the inner wall of the second limiting groove 6283, one end of the limiting spring 6285 is fixedly connected to the limiting block 6284, and the other end is fixedly connected to the inner wall of the second limiting groove 6283, and the limiting spring 6285 normally forces the limiting block 6284 to partially move out of the second limiting groove 6283.

[0070] The limit block 6284 has a guide surface 6286. When the push rod 626 moves toward the sliding sleeve 628, the push rod 626 forces the limit block 6284 to move into the second limit groove 6283 through the guide surface 6286, and when the push rod 626 completely enters the sliding sleeve 628, the first limit groove 6262 is opposite to the second limit groove 6283.

[0071] Reference Figure 8 , Fig.10 In this embodiment, the rotating shaft 624 includes a first rotating part 6241 and a second rotating part 6242, the first rotating part 6241 and the second rotating part 6242 are both rotatably connected to the top of the pushing seat 621, the first rotating part 6241 and the second rotating part 6242 are coaxially arranged, the output shaft of the third motor is connected to the first rotating part 6241, and one end of the rotating arm 625 is fixedly connected to the peripheral wall of the second rotating part 6242; a linkage block 6243 is fixedly installed on the end surface of the first rotating part 6241 close to the second rotating part 6242, and a rotating arc groove 6244 is opened on the end surface of the second rotating part 6242 close to the first rotating part 6241, and the rotating arc groove 6244 is used for the linkage block 6243 to be plugged in, and the rotating arc groove 6244 is arranged in an arc shape around the central axis of the second rotating part 6242.

[0072] The rotating arc groove 6244 has a first point position 6245 and a second point position 6246. When the rotating shaft 624 is reversed (the rotating shaft 624 drives the rotating arm 625 to swing upward), the linkage block 6243 pushes the second rotating part 6242 through the inner wall of the first point position 6245, so that the second rotating part 6242 rotates following the first rotating part 6241, so that the pushing rod 626 moves into the conveying channel 31; when the rotating shaft 624 is rotated forward (the rotating shaft 624 drives the rotating arm 625 to swing downward), the linkage block 6243 moves from the first point position 6245 to the second point position 6246. At this time, the second rotating part 6242 rotates under the action of the gravity of the rotating arm 625, so that the first rotating part 6241 and the second rotating part 6242 can rotate synchronously, so that when the pushing rack moves into or out of the conveying channel 31, the linkage block 6243 is located at the first point position 6245.

[0073] Reference Fig. 9 , Fig.10 , the limit block 6284 is provided with an unlocking piece, which is used to force the limit block 6284 to disengage from the first limit groove 6262; in this embodiment, the limit member is set as an unlocking rope 6287, one end of the unlocking rope 6287 is fixedly connected to the side wall of the limit block 6284, and the other end passes through the sliding sleeve 628 and is fixedly connected to the peripheral wall of the first rotating part 6241, and the side wall of the rotating arm 625 and the top wall of the pushing seat 621 are both installed with a passing ring 6211 for the unlocking rope 6287 to pass through; when the pushing head 627 abuts against the PACK package and the first rotating part 6241 drives the linkage block 6243 to rotate from the first point 6245 to the second point 6246, the unlocking rope 6287 pulls the limit block 6284 and forces the limit block 6284 to move into the second limit groove 6283.

[0074] Reference Fig.10The pushing seat 621 is installed and connected to the limiting column 6212, and the limiting column 6212 and the pushing seat 621 are threadedly connected. The upper end surface of the limiting column 6212 is used to abut the rotating arm 625. When the rotating shaft 624 reverses and drives the side wall of the rotating arm 625 to abut against the limiting column 6212, the pushing rod 626 moves into the conveying channel 31, and the length direction of the pushing rod 626 rotates to a horizontal state.

[0075] The implementation principle of Example 2 of the present application is as follows: under normal conditions, the push rod 626 is partially exposed from the sliding sleeve 628 under the action of the return spring 6281. At this time, a misalignment is formed between the docking hole 6282 and the adsorption channel 6261, thereby closing the adsorption tube 629; when the rotating shaft 624 drives the push rack to move into the conveying channel 31, the push seat 621 is driven to move toward the outlet end of the conveying channel 31, so that the push head 627 abuts against the side wall of the PACK package, and the push seat 621 continues to move. At this time, the push rod 626 completely enters the sliding sleeve 628 under the obstruction of the PACK package (at this time, the docking hole 6282 is connected to the adsorption channel 6261), thereby opening the adsorption tube 629 to extract air from the adsorption chamber 6271, so that the push head 627 can be adsorbed on the side wall of the PACK package, reducing the possibility of the PACK package hitting the inner wall of the storage rack under the action of inertia after being sent into the storage rack.

[0076] When the push head 627 sends the PACK package into the storage rack and stops moving, the first rotating part 6241 is driven to rotate forward, so that the linkage block 6243 is rotated from the first point 6245 to the second point 6246 (at this time, the push head 627 is in contact with the side wall of the PACK package, and the push head 627 is blocked by the PACK package, so that the rotating arm 625 remains stationary). The first rotating part 6241 can pull the limit block 6284 through the unlocking rope 6287, forcing the limit block 6284 to disengage from the first limit groove 6262. At this time, the push seat is driven toward the support. The push rod 626 is partially exposed from the sliding sleeve 628 (the adsorption tube 629 is closed) under the action of the reset spring 6281, so that the push head and the PACK package are separated. After the push head is separated from the PACK package, the rotating arm 625 swings downward under the action of its own gravity to move out of the conveying channel 31, and continues to drive the push seat to move toward the side close to the inlet end of the conveying channel 31, so that the push seat can be reset for pushing the next PACK package, thereby improving the operational convenience of the overall structure.

[0077] The above are preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An intelligent storage device with multi-degree-of-freedom adjustment comprises a mounting frame, a lifting and swinging frame and a horizontal swinging frame, wherein the lifting and swinging frame is arranged on the mounting frame, a lifting and swinging mechanism is arranged between the lifting and swinging frame and the mounting frame, the lifting and swinging mechanism is used to force the lifting and swinging frame to lift and swing in the vertical direction; the horizontal swinging frame is arranged on the lifting and swinging frame, a horizontal swinging mechanism is arranged between the horizontal swinging frame and the lifting and swinging frame, the horizontal swinging mechanism is used to force the horizontal swinging frame to translate in the horizontal direction and swing in the horizontal direction; the horizontal swinging frame has a conveying channel for conveying PACK packages, the outlet end of the conveying channel is used to dock the storage frame, the horizontal swinging frame is provided with a pushing mechanism, the pushing mechanism is used to push the PACK package to the storage frame; the pushing mechanism comprises a feeding component for feeding the PACK package into the conveying channel and a sending component for pushing the PACK package out of the conveying channel, the feeding component comprises a plate chain and a second driving member, The plate chain is installed in the conveying channel of the horizontal swing frame. There are multiple groups of plate chains and they are arranged at intervals along the width direction of the conveying channel. Each plate chain is extended along the length direction of the conveying channel. The second driving member is arranged on the horizontal swing frame to drive all plate chains to operate. The sending component includes a pushing seat, a pushing frame, a third driving member and a fourth driving member. The pushing seat is slidably installed on the horizontal swing frame. The third driving member is arranged on the horizontal swing frame to drive the pushing seat to translate along the length direction of the conveying channel. A rotating shaft is rotatably installed on the pushing seat, one end of the pushing frame is connected to the peripheral wall of the rotating shaft, and one end of the pushing frame is hinged to the pushing seat through the rotating shaft. The fourth driving member is arranged on the pushing seat, and the fourth driving member is used to drive the rotating shaft to rotate to force the pushing frame to swing. When the pushing frame swings downward, the pushing frame moves out of the conveying channel so that the PACK package can be sent into the conveying channel. When the pushing frame swings upward, the pushing frame moves into the conveying channel for pushing the PACK package.

2. The intelligent storage device with multiple degrees of freedom adjustment according to claim 1, characterized in that: The side walls of the lifting and swinging frame are respectively provided with a first connecting seat, a second connecting seat, a third connecting seat and a fourth connecting seat, and the lifting and swinging mechanism includes a first screw rod, a second screw rod, a third screw rod, a fourth screw rod, a first hinge, a second hinge, a third hinge, a fourth hinge and a first driving member, the first screw rod, the second screw rod, the third screw rod and the fourth screw rod are all rotatably connected to the mounting frame body, the first screw rod is threadedly arranged in the first connecting seat, the second screw rod is threadedly arranged in the second connecting seat, the third screw rod is threadedly arranged in the third connecting seat, and the fourth screw rod is threadedly arranged in the fourth connecting seat; the first hinge is arranged between the first connecting seat and the lifting and swinging frame, the second hinge is arranged between the second connecting seat and the lifting and swinging frame, the third hinge is arranged between the third connecting seat and the lifting and swinging frame, and the fourth hinge is arranged between the fourth connecting seat and the lifting and swinging frame; the first driving member is arranged on the mounting frame body to drive the first screw rod, the second screw rod, the third screw rod and the fourth screw rod to rotate around their own central axis.

3. The intelligent storage device with multiple degrees of freedom adjustment according to claim 2, characterized in that: The first hinged component includes two first universal joints connected to each other, one end of one of the first universal joints is connected to the first connection seat, and one end of the other first universal joint is connected to the lifting and swinging frame; the second hinged component includes a first ball hinge, one end of the first ball hinge is connected to the second connection seat, and the other end is connected to the lifting and swinging frame; The third hinge component includes a second universal joint and a second ball joint which are connected to each other, one end of the second universal joint is connected to the third connecting seat, and one end of the second ball joint is connected to the lifting and swinging frame; the fourth hinge component includes two third ball joints which are connected to each other, one end of one of the third ball joints is connected to the fourth connecting seat, and one end of the other third ball joint is connected to the lifting and swinging frame.

4. The intelligent storage device with multiple degrees of freedom adjustment according to claim 1, characterized in that: The horizontal swing mechanism includes a first translation member, a second translation member, a first pushing member and a second pushing member, the first translation member and the second translation member both include a first translation plate, a second translation plate and a plane bearing, the first translation plate is slidably mounted on the lifting and swinging frame, the second translation plate is slidably mounted on the first translation plate, and the moving direction between the first translation plate and the second translation plate is vertically arranged; the plane bearing is arranged between the second translation plate and the horizontal swinging frame, the horizontal swinging frame is installed on the second translation plate through the plane bearing, and the moving direction between the first translation plate in the first translation member and the first translation plate in the second translation member is vertically arranged; the first pushing member and the second pushing member are both arranged on the lifting and swinging frame, the first pushing member is used to drive the first translation plate in the first translation member to translate, and the second pushing member is used to drive the first translation plate in the second translation member to translate.

5. The intelligent storage device with multiple degrees of freedom adjustment according to claim 1, characterized in that: The pushing rack includes a rotating arm and a pushing rod, one end of the rotating arm is connected to the rotating shaft, and the other end is connected to the pushing rod, and the end of the pushing rod away from the rotating arm is connected to a pushing head for pushing the PACK package; an adsorption cavity is provided in the pushing head, and an adsorption hole connected to the adsorption cavity is provided on the end surface of the pushing head away from the pushing rod, and the rotating arm is provided with an adsorption component, which is used to extract the air in the adsorption cavity so that the PACK package is adsorbed on the end surface of the pushing head away from the pushing rod.

6. The intelligent storage device with multiple degrees of freedom adjustment according to claim 5, characterized in that: The end of the rotating arm away from the rotating shaft is connected to a sliding sleeve, and one end of the push rod is slidably inserted in the sliding sleeve. A return spring is provided between the push rod and the sliding sleeve, and the return spring normally causes the push rod to partially move out of the sliding sleeve; an adsorption flow channel is provided in the push rod, one end of the adsorption flow channel is connected to the adsorption chamber, and the other end passes through the peripheral wall of the push rod, and a docking hole is provided on the peripheral wall of the sliding sleeve. When the push rod completely enters the sliding sleeve, the docking hole is connected to the adsorption flow channel; the adsorption component includes an adsorption tube arranged on the sliding sleeve, and the inlet end of the adsorption tube is connected to the docking hole.

7. The intelligent storage device with multiple degrees of freedom adjustment according to claim 6, characterized in that: A first limit groove is formed on the peripheral wall of the push rod, a second limit groove is formed on the inner wall of the sliding sleeve, a limit block is slidably installed in the second limit groove, a limit spring is provided between the limit block and the inner wall of the second limit groove, the limit spring normally forces the limit block to partially move out of the second limit groove; the limit block has a guide surface, when the push rod moves toward the sliding sleeve, the push rod forces the limit block to move into the second limit groove through the guide surface, and when the push rod completely enters the sliding sleeve, the first limit groove is opposite to the second limit groove; the limit block is provided with an unlocking piece.

8. The intelligent storage device with multiple degrees of freedom adjustment according to claim 7, characterized in that: The rotating shaft includes a first rotating part and a second rotating part coaxially arranged, and the first rotating part and the second rotating part are both rotatably connected to the pushing seat, the fourth driving member is used to drive the first rotating part to rotate, and the rotating arm is connected to the second rotating part; the end face of the first rotating part close to the second rotating part is provided with a linkage block, and the end face of the second rotating part close to the first rotating part is provided with a rotating arc groove for the linkage block to be inserted, and the rotating arc groove has a first point position and a second point position. When the pushing rack moves in or out of the conveying channel, the linkage block is located at the first point position; the unlocking member includes an unlocking rope, one end of the unlocking rope is connected to the limit block, and the other end is connected to the surrounding wall of the first rotating part. When the pushing head abuts against the PACK bag and the first rotating part drives the linkage block to rotate from the first point position to the second point position, the unlocking rope pulls the limit block and forces the limit block to move into the second limit groove.

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