Intelligent access device

Abstract

The invention relates to the technical field of refrigeration house equipment, in particular to an intelligent storing and taking device which comprises a ground walking guide rail used for supporting and guiding a stacking mechanical arm to move front and back in an intelligent refrigeration house, and the ground walking guide rail comprises a first guide rail truss, a first servo motor, a first gear, a first rack and a first position sensor; the stacking mechanical arm guide rail is installed on the ground walking guide rail and used for supporting and guiding the stacking mechanical arm to move up and down, and the stacking mechanical arm guide rail comprises a second guide rail truss, a second servo motor, a second gear, a second rack and a second position sensor; and the stacking mechanical arm is mounted on the stacking mechanical arm guide rail and used for executing storage and taking operation of the samples. According to the intelligent storing and taking device, through the three-stage precision transmission design of the ground walking guide rail, the stacking mechanical arm guide rail and the stacking mechanical arm, three-dimensional automatic positioning and storing and taking of samples in the refrigeration house are achieved, manual intervention is not needed, the working efficiency is greatly improved, and the risk of human errors is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of cold storage equipment, in particular to an intelligent storage and retrieval device. Background Art

[0002] With the rapid development of modern logistics and warehousing technology, intelligent cold storage has been widely used in food storage, biological sample preservation, medical drug storage and other fields. Intelligent cold storage achieves high-precision control and intelligent management of the storage environment by integrating advanced automation technology and Internet of Things technology. However, the storage and access of samples inside the cold storage is still a challenge. The traditional storage and access method relies on manual operation, which is not only inefficient but also prone to errors. At the same time, manual operation also has many inconveniences in low-temperature environments.

[0003] In order to improve the efficiency and accuracy of accessing samples in cold storage, some automated access devices have appeared on the market. However, these devices are often large in size and complicated to operate. In addition, due to the limited space inside the cold storage, these large devices are difficult to move and position, making it difficult to fully utilize the cold storage space. In addition, these devices often require multiple positioning and adjustments when accessing samples, resulting in low access efficiency. At the same time, these devices usually do not have inventory counting functions, and cannot grasp the inventory status in real time, which brings inconvenience to management. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent storage and retrieval device to solve the problem that the devices proposed in the above background technology are often bulky and complicated to operate, and due to the limited internal space of the cold storage, these large devices are difficult to move and position, making it difficult to fully utilize the cold storage space.

[0005] To achieve the above-mentioned object, the present invention provides an intelligent storage and retrieval device, comprising a ground walking rail, used to support and guide the palletizing robot arm to move forward and backward in the intelligent cold storage, wherein the ground walking rail comprises a first guide rail truss, a first servo motor, a first gear, a first rack and a first position sensor; A palletizing robot arm guide rail is installed on the ground walking guide rail to support and guide the palletizing robot arm to move up and down, and the palletizing robot arm guide rail includes a second guide rail truss, a second servo motor, a second gear, a second rack and a second position sensor; The palletizing robot arm is installed on the palletizing robot arm guide rail and is used to perform sample storage and retrieval operations. The palletizing robot arm includes a robot arm truss, a third servo motor, a palletizing tray, a sample storage box, a barcode scanner, a third gear, a third rack and a third position sensor.

[0006] As a preferred solution of the present invention, the first gear is installed on the output shaft of the first servo motor, the first rack is installed on the first guide rail truss, the first gear is meshed with the first rack, and the housing of the first servo motor is fixed to the bottom end of the palletizing robot arm guide rail.

[0007] As a preferred solution of the present invention, the second gear is mounted on the output shaft of the second servo motor, the second rack is mounted on the second guide rail truss, the second rack is meshed with the second gear, and the housing of the second servo motor is fixed on the robotic arm truss.

[0008] As a preferred solution of the present invention, the third gear is installed on the output shaft of the third servo motor, the third rack is installed at the bottom of the stacking tray, the third gear is meshed with the third rack, the housing of the third servo motor is fixed on the robotic arm truss, and the sample storage box is placed on the upper part of the stacking tray.

[0009] As a preferred solution of the present invention, the first position sensor is installed on the first guide rail truss in parallel and at equal intervals; the second position sensor is installed on the robotic arm truss; the third position sensor is installed on the robotic arm truss, and the barcode scanner is installed on the robotic arm truss through a bracket, directly above the sample storage box.

[0010] As a preferred solution of the present invention, the ground walking guide rail and the stacking robot arm guide rail both adopt a gear rack transmission method, are driven by a servo motor, and cooperate with a position sensor to achieve precise positioning.

[0011] As a preferred embodiment of the present invention, the stacking tray is designed as two sections of plug-in flat plates, which can realize telescopic movement and conveniently move left and right on the robotic arm truss to achieve accurate storage and retrieval of samples, so that it has a long telescopic distance, fast speed, and small size, and is suitable for limited space environments in cold storage.

[0012] As a preferred embodiment of the present invention, the ground walking rails, the palletizing robot arm rails and the palletizing robot arm are all made of aluminum alloy profiles, with a strong and lightweight structure, and are suitable for long-term use in cold storage.

[0013] As a preferred solution of the present invention, the interior of the sample storage box is divided into a plurality of small squares, and the barcode scanners are installed on the bracket at equal intervals, and each of the barcode scanners is located directly above a row of small squares.

[0014] As a preferred solution of the present invention, the side wall of the sample storage box is provided with a plurality of through holes.

[0015] Compared with the prior art, the present invention has the following beneficial effects: In this intelligent storage and retrieval device, through the three-level precision transmission design of ground walking rails, stacking robot arm rails and stacking robot arms, three-dimensional automatic positioning and retrieval of samples inside the cold storage are achieved without human intervention, which greatly improves work efficiency and reduces the risk of human error.

[0016] The use of rack and pinion transmission, servo motor and position sensor ensures high-precision positioning of the device during forward, backward, up and down, left and right movements, and enables fast and accurate storage and retrieval of samples even in the limited space of the cold storage.

[0017] The design of the stacking tray allows it to move left and right on the robotic arm truss and has a telescopic function, allowing the device to flexibly adapt to the storage needs of samples of different sizes, while maximizing the use of the internal space of the cold storage and improving storage density.

[0018] The whole structure is made of aluminum alloy profiles, which not only ensures the stability of the structure, but also reduces the weight of the device, facilitates long-term stable operation in the cold storage, and reduces maintenance costs.

[0019] The integrated barcode scanner can scan sample information in real time. Combined with the Internet of Things technology, it realizes automated inventory counting and tracking. Managers can grasp the inventory status in real time, improving the intelligence level of inventory management.

[0020] The interior of the sample storage box is divided into multiple small squares, and with the barcode scanners installed at equal intervals, it can meet the storage needs of various types of samples. At the same time, the through-hole design on the side wall helps to maintain a suitable environment for the samples, enhancing the versatility and practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 A local enlarged schematic diagram of the middle A; Figure 3 is a schematic structural diagram of the second guide rail truss in the present invention; Figure 4 This is one of the structural schematic diagrams of the palletizing robot arm in the present invention; Figure 5 This is the second structural schematic diagram of the palletizing robot arm in the present invention; The meaning of each number in the figure is: 1. Ground walking rail; 2. Palletizing robot arm rail; 3. Palletizing robot arm; 4. First rail truss; 5. First servo motor; 6. First gear; 7. First rack; 8. First position sensor; 9. Second rail truss; 10. Second servo motor; 11. Second gear; 12. Second rack; 13. Second position sensor; 14. Robot arm truss; 15. Third servo motor; 16. Palletizing tray; 17. Sample storage box; 18. Barcode scanner; 19. Third gear; 20. Third rack; 21. Third position sensor. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The present invention provides an intelligent access device, such as Figure 1-Figure 5 As shown, it includes a ground walking rail 1, which is used to support and guide the palletizing robot arm 3 to move back and forth in the intelligent cold storage. The ground walking rail 1 includes a first guide rail truss 4, a first servo motor 5, a first gear 6, a first rack 7 and a first position sensor 8; The palletizing robot arm guide rail 2 is installed on the ground walking guide rail 1, and is used to support and guide the palletizing robot arm 3 to move up and down. The palletizing robot arm guide rail 2 includes a second guide rail truss 9, a second servo motor 10, a second gear 11, a second rack 12 and a second position sensor 13; The palletizing robot arm 3 is installed on the palletizing robot arm rail 2 and is used to perform the sample storage and retrieval operation. The palletizing robot arm 3 includes a robot arm truss 14, a third servo motor 15, a palletizing tray 16, a sample storage box 17, a barcode scanner 18, a third gear 19, a third rack 20 and a third position sensor 21. The device realizes the three-dimensional precise movement of the palletizing robot arm 3 inside the cold storage through the combination of the ground walking rail 1 and the palletizing robot arm rail 2.

[0024] The first servo motor 5 drives the first gear 6 to move along the first rack 7, ensuring accurate forward and backward movement on the ground walking rail 1; the second servo motor 10 realizes the up and down movement of the stacking robot rail 2 through the cooperation of the second gear 11 and the second rack 12, and also achieves high-precision positioning. This series of designs greatly improves the automation of sample storage and retrieval, reduces manual intervention, and improves work efficiency.

[0025] Efficient space utilization and flexibility: The palletizing robot arm 3 is installed on the palletizing robot arm rail 2, and can be flexibly adjusted in the vertical direction. In conjunction with the horizontal movement of the ground walking rail 1, the entire device can cover any position in the cold storage, achieving efficient space utilization. In addition, the design of the palletizing tray 16 allows it to move left and right on the robot arm truss 14, further enhancing the flexibility and adaptability of the device, and can easily cope with the storage and access needs of samples of different sizes and shapes.

[0026] Intelligent sensing and positioning: The integration of the first position sensor 8, the second position sensor 13 and the third position sensor 21 enables the device to sense its own position in real time, and achieves precise positioning in conjunction with the closed-loop control of the servo motor. This intelligent sensing capability ensures the accuracy and stability of sample storage and retrieval operations, and can maintain efficient operation even in complex cold storage environments.

[0027] Diversified sample processing and information management: The design of the sample storage box 17 can accommodate various types of samples, and the integration of the barcode scanner 18 enables automatic reading and recording of sample information. This design not only simplifies the sample storage and access process, but also improves the accuracy and efficiency of information management, providing strong support for the intelligent management of cold storage.

[0028] Strong structure and durability: The whole device is constructed of high-quality aluminum alloy profiles, which is strong and lightweight, and can withstand the challenges of low temperature environment and long-term operation inside the cold storage. This design ensures the stability and durability of the device, reduces maintenance costs and prolongs its service life.

[0029] In this embodiment, the first gear 6 is mounted on the output shaft of the first servo motor 5, the first rack 7 is mounted on the first guide rail truss 4, the first gear 6 is meshed with the first rack 7, and the housing of the first servo motor 5 is fixed to the bottom end of the palletizing robot arm guide rail 2. The first servo motor 5 drives the first gear 6 to mesh and transmit on the first rack 7, thereby realizing the precise forward and backward movement of the palletizing robot arm guide rail 2 and the palletizing robot arm 3 on the ground walking guide rail 1. This design ensures the stability and accuracy of the movement, and provides a reliable basis for the automatic storage and retrieval of samples.

[0030] Specifically, the second gear 11 is mounted on the output shaft of the second servo motor 10, the second rack 12 is mounted on the second guide rail truss 9, the second rack 12 is meshed with the second gear 11, and the housing of the second servo motor 10 is fixed on the robot arm truss 14. The second servo motor 10 drives the palletizing robot 3 to move up and down accurately on the palletizing robot arm guide rail 2 through the meshing of the second gear 11 and the second rack 12. This design not only improves the accuracy of vertical movement, but also enhances the flexibility of the device, so that it can adapt to the access requirements of samples at different heights.

[0031] Furthermore, the third gear 19 is mounted on the output shaft of the third servo motor 15, the third rack 20 is mounted on the bottom of the stacking tray 16, the third gear 19 is meshed with the third rack 20, the housing of the third servo motor 15 is fixed on the mechanical arm truss 14, and the sample storage box 17 is placed on the upper part of the stacking tray 16. The third servo motor 15 drives the third gear 19 to mesh and transmit on the third rack 20, thereby realizing the precise movement of the stacking tray 16 and the sample storage box 17 on the mechanical arm truss 14. This design ensures the stability and accuracy of the sample during the storage and retrieval process, and improves the storage and retrieval efficiency.

[0032] Furthermore, the first position sensor 8 is installed on the first guide rail truss 4 in parallel and at equal intervals; the second position sensor 13 is installed on the mechanical arm truss 14; the third position sensor 21 is installed on the mechanical arm truss 14, and the barcode scanner 18 is installed on the mechanical arm truss 14 through a bracket, located directly above the sample storage box 17. The precise installation of the first position sensor 8, the second position sensor 13 and the third position sensor 21, in conjunction with the closed-loop control of the servo motor, achieves precise positioning of the device in three-dimensional space. This design improves the automation of sample storage and access, reduces manual intervention, and improves work efficiency and accuracy.

[0033] Furthermore, both the ground walking rail 1 and the stacking robot arm rail 2 adopt a gear rack transmission mode, driven by a servo motor, and cooperate with a position sensor to achieve precise positioning. Both the ground walking rail 1 and the stacking robot arm rail 2 adopt a gear rack transmission mode, driven by a servo motor, to achieve an efficient and stable transmission effect. This design not only improves the response speed and positioning accuracy of the device, but also enhances the stability and reliability of the device.

[0034] Furthermore, the stacking tray 16 is designed as a flat plate with two sections plugged in, which can realize telescopic movement and is convenient for moving left and right on the mechanical arm truss 14 to achieve accurate access to samples, so that it has a long telescopic distance, fast speed, and small size, which is suitable for the limited space environment in the cold storage. The stacking tray 16 is designed as a flat plate with two sections plugged in, which can realize telescopic movement and is convenient for moving left and right on the mechanical arm truss 14. This design not only increases the flexibility and accuracy of sample access, but also makes the device suitable for the limited space environment in the cold storage, improving space utilization.

[0035] Furthermore, the ground walking rail 1, the palletizing robot arm rail 2 and the palletizing robot arm 3 are all composed of aluminum alloy profiles, and the structure is strong and light, which is suitable for long-term use in cold storage. The ground walking rail 1, the palletizing robot arm rail 2 and the palletizing robot arm 3 are all composed of aluminum alloy profiles, and the structure is strong and light. This design not only improves the carrying capacity and stability of the device, but also reduces the weight and energy consumption of the device, making it suitable for long-term use in cold storage.

[0036] Furthermore, the interior of the sample storage box 17 is divided into a number of small squares, and the barcode scanner 18 is installed on the bracket at equal intervals, and each barcode scanner 18 is located directly above a row of small squares. The interior of the sample storage box 17 is divided into a number of small squares, which is convenient for classifying and storing different samples. The barcode scanner 18 is installed on the bracket at equal intervals, and each barcode scanner 18 is located directly above a row of small squares, which realizes fast and accurate reading of sample information. This design improves the efficiency and accuracy of sample access and provides strong support for intelligent management.

[0037] Furthermore, the side wall of the sample storage box 17 is provided with a plurality of through holes, which helps to maintain a suitable environment for the sample, such as ventilation, air permeability, etc. This design not only improves the preservation quality of the sample, but also enhances the practicality and versatility of the device.

[0038] When the intelligent access device of the present invention is used, the device is first in the initial position, the ground walking rail 1, the palletizing robot arm rail 2 and the palletizing robot arm 3 are all in a standby state. The sample storage box 17 is empty or has been loaded with samples to be accessed.

[0039] The control system receives an external instruction, such as the need to access information of a specific sample. According to the instruction, the control system calculates the position of the target sample in the sample storage box 17.

[0040] The first servo motor 5 is started to drive the first gear 6 to mesh and transmit on the first rack 7. The ground walking guide rail 1 drives the palletizing robot arm guide rail 2 and the palletizing robot arm 3 to move forward and backward in the cold storage until the horizontal coordinate of the target position is reached.

[0041] The first position sensor 8 monitors and feeds back position information in real time to ensure accurate movement.

[0042] The second servo motor 10 is started, and the second gear 11 is meshed with the second rack 12 to drive the palletizing robot 3 to move up and down accurately on the palletizing robot guide rail 2. The second position sensor 13 monitors and feeds back position information in real time to ensure the accuracy of vertical movement.

[0043] The third servo motor 15 is started to drive the third gear 19 to mesh and transmit on the third rack 20. The stacking tray 16 and the sample storage box 17 move precisely on the robot arm truss 14 to achieve precise positioning of the target sample. The third position sensor 21 monitors and feeds back the position information in real time to ensure the accuracy and stability of sample access.

[0044] When the stacking tray 16 and the sample storage box 17 are moved to the target position, the sample access operation is performed according to the instruction. The barcode scanner 18 automatically reads or records the sample information to ensure the accuracy and efficiency of information management. The side wall through hole design of the sample storage box 17 helps to maintain a suitable environment for the sample.

[0045] After the access operation is completed, the device returns to the initial position or moves to the next target position according to the instruction, preparing for the next sample access operation.

[0046] During the entire working process, the control system continuously monitors the operating status of the device to ensure the normal operation of each component. If there is any abnormality, the system will promptly issue an alarm and take corresponding treatment measures to ensure the safety and reliability of the device.

[0047] Finally, it should be noted that the first position sensor 8, the second position sensor 13, etc. in this embodiment, the electronic components in the above parts are all universal standard parts or parts known to technical personnel in this field, and their structures and principles can be known to technical personnel in this field through technical manuals or through conventional experimental methods. In the idle part of this device, all the above-mentioned electrical components are connected by wires respectively. The specific connection means should refer to the working sequence between the electrical components in the above-mentioned working principle to complete the electrical connection, which are all well-known technologies in the field.

[0048] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An intelligent access device, characterized in that: It comprises a ground walking rail (1) for supporting and guiding a palletizing robot arm (3) to move forward and backward in an intelligent cold storage, wherein the ground walking rail (1) comprises a first rail truss (4), a first servo motor (5), a first gear (6), a first rack (7) and a first position sensor (8); A palletizing robot arm guide rail (2) is installed on the ground walking guide rail (1) and is used to support and guide the palletizing robot arm (3) to move up and down, wherein the palletizing robot arm guide rail (2) comprises a second guide rail truss (9), a second servo motor (10), a second gear (11), a second rack (12) and a second position sensor (13); The palletizing robot arm (3) is mounted on the palletizing robot arm guide rail (2) and is used to perform sample storage and retrieval operations. The palletizing robot arm (3) comprises a robot arm truss (14), a third servo motor (15), a palletizing tray (16), a sample storage box (17), a barcode scanner (18), a third gear (19), a third rack (20) and a third position sensor (21).

2. The intelligent access device according to claim 1, characterized in that: The first gear (6) is mounted on the output shaft of the first servo motor (5), the first rack (7) is mounted on the first guide rail truss (4), the first gear (6) is meshed with the first rack (7), and the housing of the first servo motor (5) is fixed to the bottom end of the palletizing robot arm guide rail (2).

3. The intelligent access device according to claim 1, characterized in that: The second gear (11) is mounted on the output shaft of the second servo motor (10), the second rack (12) is mounted on the second guide rail truss (9), the second rack (12) is meshed with the second gear (11), and the housing of the second servo motor (10) is fixed on the mechanical arm truss (14).

4. The intelligent access device according to claim 1, characterized in that: The third gear (19) is mounted on the output shaft of the third servo motor (15), the third rack (20) is mounted on the bottom of the palletizing tray (16), the third gear (19) is meshed with the third rack (20), the housing of the third servo motor (15) is fixed on the robot arm truss (14), and the sample storage box (17) is placed on the upper part of the palletizing tray (16).

5. The intelligent access device according to claim 1, characterized in that: The first position sensor (8) is installed on the first guide rail truss (4) in parallel and at equal intervals; the second position sensor (13) is installed on the mechanical arm truss (14); the third position sensor (21) is installed on the mechanical arm truss (14); and the barcode scanner (18) is installed on the mechanical arm truss (14) via a bracket and is located directly above the sample storage box (17).

6. The intelligent access device according to claim 1, characterized in that: The ground walking guide rail (1) and the stacking robot arm guide rail (2) both adopt a gear rack transmission method, are driven by a servo motor, and cooperate with a position sensor to achieve precise positioning.

7. The intelligent access device according to claim 1, characterized in that: The stacking tray (16) is designed as a flat plate with two sections plugged in and matched, capable of telescopic movement, and conveniently moved left and right on the mechanical arm truss (14) to achieve accurate storage and retrieval of samples, so that it has a long telescopic distance, fast speed, and small size, and is suitable for the limited space environment in a cold storage.

8. The intelligent access device according to claim 1, characterized in that: The ground walking rail (1), the palletizing robot arm rail (2) and the palletizing robot arm (3) are all made of aluminum alloy profiles, have a strong and lightweight structure, and are suitable for long-term use in a cold storage.

9. The intelligent access device according to claim 1, characterized in that: The interior of the sample storage box (17) is divided into a plurality of small squares, and the barcode scanners (18) are installed on the bracket at equal intervals, and each barcode scanner (18) is located directly above a row of small squares.

10. The intelligent access device according to claim 1, characterized in that: The side wall of the sample storage box (17) is provided with a plurality of through holes.

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