Large goods shelf for explosion-proof environment and grabbing detection mechanism

Abstract

The large goods shelf for the explosion-proof environment comprises a material shelf structure, a set of lifting bearing plates are arranged at the corners of the top of the material shelf structure, grabbing operation spaces are formed between the lifting bearing plates, and a notch used for being matched with a truss grabbing detection mechanism to grab the goods shelf is formed in the position, corresponding to the grabbing operation space, of the inner side of each lifting bearing plate. The grabbing detection mechanism is used for being matched with the large goods shelf for the anti-explosion environment to transfer materials, the grabbing detection mechanism comprises a grabbing rack, a set of clamping jaw lifting plates capable of moving and stretching out and drawing back in the radial direction is arranged below the grabbing rack, and a driving structure used for enabling the clamping jaw lifting plates to move linearly is arranged on the grabbing rack; a visual camera and a probe detection structure are arranged on the side face of the grabbing rack. And grabbing and transferring are stable and reliable.

Description

Technical Field

[0001] This invention relates to the field of intelligent warehousing technology, and in particular to a large-scale shelf and gripping detection mechanism for explosion-proof environments. Background Technology

[0002] The factory warehouse is currently undergoing an intelligent upgrade. The original warehouse stored a wide variety of chemical raw materials, which were heavy and packaged in inconsistent ways. A redesigned shelving system is needed to meet both the warehouse's storage requirements and the needs of the intelligent upgrade; the existing standard shelving is insufficient. The storage and transfer of chemical raw materials have relatively higher requirements for stability and safety compared to other common materials, necessitating high precision in the gripping mechanism's identification and positioning to prevent malfunctions that could lead to operational hazards.

[0003] For example, patent CN118664616A discloses a handling robot, which includes a base, a clamping mechanism, and a support mechanism. The base has a mounting block at the end of its boom. The clamping mechanism includes two clamping arms that are slidably connected to the inner wall of the hollow mounting block. A first drive assembly is provided between the two clamping arms. The lower ends of the two clamping arms protrude from the mounting block. Each clamping arm also has a sliding arm that is slidably provided. A second drive assembly that can drive the two sliding arms to slide is also provided inside the mounting block. Each of the two sliding arms has a clamping block. The support mechanism includes support plates that are slidably provided at the ends of the two clamping arms. Both support plates are connected to the clamping arms through a first electric push rod. The traditional clamping structure is used for gripping, which has relatively poor stability and reliability and is not suitable for the transfer of chemical raw material storage racks. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a large-scale shelf and gripping and detection mechanism for explosion-proof environments, which offers stable and reliable transport.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A large rack for explosion-proof environments includes a rack structure. A set of lifting and receiving plates is provided at the top corner of the rack structure. A gripping operation space is formed between the set of lifting and receiving plates. Each lifting and receiving plate has a slot on its inner side corresponding to the gripping operation space for cooperating with a truss gripping and detection mechanism to grip the rack.

[0007] The material rack structure is a frame structure with a net around it and an adjustable partition inside.

[0008] The frame structure includes four columns, and a set of pin holes are provided on the columns along the height direction. Pins for supporting the partitions are provided in the corresponding pin holes.

[0009] The lifting support plate is equipped with a grasping feature recognition block for visual system detection.

[0010] The lifting receiving plate is provided with a deflection detection probe hole for cooperating with the probe detection truss grabbing mechanism to detect whether the angle of the truss grabbing mechanism is deflected.

[0011] The top of the rack structure is provided with a fool-proof identification block for checking the rack position by a vision system.

[0012] A grabbing detection mechanism is used for cooperating with the large rack for material transfer in an explosion-proof environment, and the grabbing detection mechanism comprises a grabbing frame, a group of claw lifting plates movably extended in a radial direction below the grabbing frame, a driving structure for linear movement of the claw lifting plates on the grabbing frame, and a vision camera and a probe detection structure on the side of the grabbing frame.

[0013] The grabbing frame comprises a support plate, and a linear slide rail is arranged on the support plate corresponding to each claw lifting plate.

[0014] A pair of push plates are arranged on the support plate for linear relative movement, a push cylinder is arranged on the support plate for moving the push plates, and the push plates are connected to the claw lifting plates through synchronous connecting rods.

[0015] A rotating shaft is arranged on the support plate at a position between the pair of push plates, a rotating rod is connected to the rotating shaft, and the end of the rotating rod is connected to the corresponding push plate through a connecting rod.

[0016] Compared with the prior art, the present application has the following advantages:

[0017] The large rack for an explosion-proof environment and the grabbing detection mechanism are rationally designed, the rack partition plate cooperates with the pin hole to meet the rack space adjustable function; the top four lifting receiving plates can cooperate with the truss grabbing mechanism to grab the rack to realize automatic warehouse in and out, the installed visual feature identification block and the fool-proof identification block can identify the length and width direction, height difference and angle deflection of the rack through the vision system; the fool-proof hole cooperates with the probe on the grabbing mechanism to increase safety and prevent the truss grabbing mechanism from failing to grab due to the error of the vision system; the grabbing mechanism adopts double synchronous connecting rods to realize the synchronous opening and closing function of the claw lifting plates in cooperation with the linear module, and the grabbing and transfer are stable and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0018] The content expressed by each figure in the present specification and the marks in the figures are briefly described as follows:

[0019] Figure 1 It is a schematic diagram of the rack of the present application.

[0020] Figure 2 It is a schematic diagram of the rack with one side open of the present application.

[0021] Figure 3 It is a schematic diagram of the pin support of the present application.

[0022] Figure 4 It is a schematic view of the shelf structure of the present application.

[0023] Figures 5 to 7 It is a schematic view of the top of the shelf of the present application.

[0024] Figure 8 It is a schematic view of the grabbing detection mechanism of the present application.

[0025] Figures 9 to 12 It is a schematic view of the cooperation of each part of the grabbing detection mechanism of the present application.

[0026] Figure 13 It is a schematic view of the probe detection of the present application. DETAILED DESCRIPTION

[0027] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0028] As Figures 1 to 13 shown, the large shelf for explosion-proof environment includes a shelf structure, the shelf structure is a frame structure, the material is selected from stainless steel; a blocking net is arranged around, a set of position-adjustable partitions are arranged inside, and the internal storage space can be adjusted; wherein, a shelf door is arranged on one side of the frame structure, and a shelf door bolt is arranged corresponding to the shelf door.

[0029] A set of lifting receiving plates are arranged at the top corners of the shelf structure, a grabbing operation space is formed between the set of lifting receiving plates, and a notch for cooperating with the truss grabbing detection mechanism to grab the shelf is arranged on the inner side of each lifting receiving plate corresponding to the grabbing operation space.

[0030] Preferably, the set of lifting receiving plates are four lifting receiving plates, the top of the frame structure is a square structure, the four lifting receiving plates are correspondingly fixed at the four corners, and the lifting receiving plates are fixed at the corresponding frame structure corners through fasteners; the inner side of the lifting receiving plate is a beveled structure, and the grabbing operation space is large.

[0031] The frame structure includes four surrounding columns, a set of bolt holes are arranged on the columns along the height direction, and a bolt for supporting the partition is arranged corresponding to the bolt hole; the height position of the partition can be adjusted according to the storage requirement, so as to realize the transformation of different storage spaces.

[0032] The lifting receiving plate is provided with a grabbing feature recognition block for visual system detection and a deflection detection probe hole for cooperating with the jaw probe to detect whether the angle of the truss grabbing mechanism is deflected; the top of the shelf structure is provided with a fool-proof identification block for checking the position of the shelf by the visual system; the grabbing is accurate and reliable.

[0033] The application provides a grabbing detection mechanism for cooperating with the large shelf for the explosion-proof environment to transfer materials, which comprises a grabbing frame, a group of clamping jaw lifting plates movably extended in the radial direction below the grabbing frame, a driving structure for linear movement of the clamping jaw lifting plates on the grabbing frame, and a visual camera and a probe detection structure on the side of the grabbing frame.

[0034] The grabbing frame comprises a support plate, and a linear slide rail is arranged on the support plate corresponding to each clamping jaw lifting plate. A pair of push plates movably relative to the support plate are arranged on the support plate, a push cylinder for moving the push plates is arranged on the support plate, and the push plates are connected to the clamping jaw lifting plates through synchronous connecting rods. A rotating shaft is arranged on the support plate at a position between the pair of push plates, a rotating rod is connected to the rotating shaft, and the end of the rotating rod is connected to the corresponding push plate through a connecting rod. The integrated structure is compact and can ensure synchronous movement of the clamping jaw lifting plates.

[0035] The large shelf for the explosion-proof environment and the grabbing detection mechanism are rationally designed. The shelf partition plate cooperates with the pin hole to meet the shelf space adjustable function. The four lifting receiving plates at the top can cooperate with the truss grabbing mechanism to grab the shelf to realize automatic warehouse in and out. The installed visual feature recognition block and the foolproof identification block can identify the length and width directions, height difference and angle deflection of the shelf through the visual system. The foolproof hole cooperates with the probe on the grabbing mechanism to increase safety and prevent the truss grabbing mechanism from failing to grab due to the error of the visual system. The grabbing mechanism adopts double synchronous connecting rods to realize synchronous opening and closing of the clamping jaw lifting plates through the linear module, and the grabbing and transfer are stable and reliable.

[0036] The preferred specific examples of the application are as follows:

[0037] The application provides a large shelf and a grabbing detection mechanism for the explosion-proof storage environment, which is mainly used for storing various powdery chemical raw materials and mainly comprises the following mechanisms: a material placing mechanism, a grabbing support frame and a visual recognition feature. The complete mechanism can be used for material storage in a chemical warehouse, cooperates with a multi-axis truss to take and use materials, realizes material warehouse in and out, and can also be used for material transfer in an intelligent factory in cooperation with an unmanned forklift.

[0038] The shelf structure is as follows:

[0039] The material is made of stainless steel and has a size of 950*800*1220mm in length, width and height.

[0040] As shown in Figure 2 and Figure 3 , four pins are used for support and are arranged on the four columns around the shelf. The pin holes are uniformly distributed on the pins to realize the partition plate adjustment function and adjust the internal storage space.

[0041] As shown in Figures 4 to 7As shown, four lifting receiving plates are mounted on the top of the shelf, each of which is provided with a guide notch for matching the truss grabbing mechanism to grab the shelf; two of the lifting receiving plates are provided with grabbing feature recognition blocks for visual system detection; the lifting receiving plates are provided with foolproof holes for matching the jaw probe to detect whether the angle of the truss grabbing mechanism is deflected; the top of the shelf is provided with a foolproof recognition block for the visual system to check the horizontal and vertical directions of the shelf.

[0042] The shelf has the following functions:

[0043] 1. sufficient carrying capacity, the entire shelf can weigh 400kg of raw materials, sufficient strength and toughness, not easy to deform under impact and extrusion;

[0044] 2. excellent corrosion resistance, the shelf will not be corroded by the chemical raw materials in the warehouse under normal temperature and pressure;

[0045] 3. adjustable function of the shelf storage space;

[0046] 4. can match the three-coordinate truss to realize the grabbing function;

[0047] 5. has visual recognition features that can be clearly recognized by visual equipment;

[0048] 6. has a foolproof feature to avoid incorrect truss grabbing position.

[0049] Grabbing detection mechanism:

[0050] The grabbing frame includes a support plate, and a linear slide rail is arranged on the support plate corresponding to each jaw lifting plate; the jaw lifting plate extends out of the notch of the lifting receiving plate to realize stable and reliable grabbing of the shelf.

[0051] Two visual cameras and a probe detection structure are arranged on the support plate through a support; the four jaw lifting plates are located below the support plate.

[0052] A pair of push plates are arranged on the support plate and move linearly relative to each other, and the pair of push plates are respectively push plate 1 and push plate 2; a pushing cylinder is arranged on the support plate to move the push plates, and the push plates are connected to the jaw lifting plates through synchronous connecting rods; the pushing cylinder is a pair of cylinders, which are respectively a jaw pushing cylinder 1 and a jaw pushing cylinder 2, the piston rod end of the jaw pushing cylinder 1 is connected to the push plate 1, and the piston rod end of the jaw pushing cylinder 2 is connected to the push plate 2.

[0053] Further, a rotating shaft is arranged on the support plate at the middle position of the pair of push plates, the rotating shaft is connected to a rotating rod, and the end of the rotating rod is connected to the corresponding push plate through a connecting rod. The integrated structure is compact and can ensure synchronous movement of the jaw lifting plate.

[0054] The grabbing detection mechanism has the following functions:

[0055] 1. Realize the function of rack grabbing;

[0056] 2. Have the function of detecting the deflection of clamping jaw;

[0057] 3. The opening and closing actions of the clamping jaw require high synchronism to avoid the inconsistent actions of the clamping jaw mechanism due to insufficient air source pressure or stuck actuator.

[0058] Explanation of the opening action of the clamping jaw:

[0059] S1: The control system issues an opening instruction of the clamping jaw;

[0060] S2: The clamping jaw push-out cylinder 1 and the clamping jaw push-out cylinder 2 move to both sides;

[0061] S3: The clamping jaw push-out cylinder 1 pushes the push plate 1, and the clamping jaw push-out cylinder 2 pushes the push plate 2. The synchronous connecting rod expands from the "Z" shape to the "I" shape under the connection of the universal joint, realizing the first-stage synchronous movement;

[0062] S4: The movement of the push plate 1 and the push plate 2 is transmitted to the lower clamping jaw linear motion module 1-1 and the linear motion module 2-1 through the push plate linear module connecting block, and the movement direction is shown by the orange arrow in the above figure;

[0063] S5: The linear motion module 1-1 and the linear motion module 2-1 transmit the movement to the linear motion module 1-2 and the linear motion module 2-2 through the synchronous connecting rod 2 and the universal joint of the synchronous connecting rod 2, and the movement direction is shown by the green arrow in the above figure;

[0064] S6: The synchronous opening of the clamping jaw lifting plate in four directions is realized through the double connecting rod mechanism;

[0065] Explanation of the closing action of the clamping jaw:

[0066] S1: The control system issues a closing instruction of the clamping jaw;

[0067] S2: The clamping jaw push-out cylinder 1 and the clamping jaw push-out cylinder 2 move to the middle;

[0068] S3: The clamping jaw push-out cylinder 1 pushes the push plate 1, and the clamping jaw push-out cylinder 2 pushes the push plate 2. The synchronous connecting rod contracts from the "I" shape to the "Z" shape under the connection of the universal joint, realizing the first-stage synchronous movement;

[0069] S4: The movement of the push plate 1 and the push plate 2 is transmitted to the lower clamping jaw linear motion module 1-1 and the linear motion module 2-1 through the push plate linear module connecting block, and the movement direction is shown by the orange arrow in the above figure;

[0070] S5: linear motion module 1-1 and linear motion module 2-1, through the synchronous connecting rod 2 and the universal joint of the synchronous connecting rod 2, the movement is transmitted to the linear motion module 1-2 and the linear motion module 2-2, and the movement direction is shown in the following green arrow;

[0071] S6: through the double connecting rod mechanism, the synchronous closing of the gripper lifting plate in four directions is realized.

[0072] As shown in the figure, the probe detection instruction is as follows: Figure 13

[0073] S1: the truss carries the gripper to move directly below the rack;

[0074] S2: the gripper starts to descend to the material taking position;

[0075] When the angle deviation occurs, that is, the probe cannot be correctly inserted into the probe hole, the probe is resisted upward, at this time the sensor detects the probe, triggers the system alarm, and the gripper stops the grabbing action.

[0076] The present application can provide the visual system with clearer identification of the rack position and angle deflection; the position and angle identification accuracy of the visual system is repeatedly checked through the mechanical foolproof structure, so that the rack grabbing failure caused by errors is avoided; the gripper related structure is integrated and arranged, the structure is compact, and the synchronization is good; the lateral detection of the double probes of the gripper verifies the visual correction result from the mechanical structure, avoids the dangerous operation of the truss caused by the software failure of the visual system, the lateral detection mode maximally protects the sensor, avoids the risk of sensor crushing caused by the vertical detection mode, and the grabbing and transfer are stable and reliable.

[0077] The above is only the description of the preferred embodiment of the present application, and the above technical features can be combined to form multiple embodiments of the present application.

[0078] The above is an exemplary description of the present application combined with the drawings, and it is obvious that the specific implementation of the present application is not limited by the above manner, as long as various non-essential improvements are adopted, or the concept and technical scheme of the present application are directly applied to other occasions without improvement, all within the protection scope of the present application.​

Claims

1. A large scale rack for use in an explosion proof environment comprising a rack structure characterised in that: The top corner of the shelf structure is provided with a group of lifting receiving plates, and a group of lifting receiving plates forms a grabbing operation space between them. Each lifting receiving plate is provided with a notch inside corresponding to the grabbing operation space for matching the truss grabbing detection mechanism to grab the shelf.

2. The large scale rack for use in an explosion proof environment as recited in claim 1, wherein: The shelf structure is a frame structure, provided with a screen around the periphery, and a group of position-adjustable partitions inside.

3. The large scale rack for use in an explosion proof environment as recited in claim 2, wherein: The frame structure includes vertical columns around the periphery, and a group of pin holes are arranged on the vertical columns in the height direction. Corresponding to the pin holes, pins are arranged for supporting the partitions.

4. The large scale rack for use in an explosion proof environment as recited in claim 1, wherein: The lifting receiving plate is provided with a grabbing feature recognition block for visual system detection.

5. The large scale rack for use in an explosion proof environment as recited in claim 1, wherein: The lifting receiving plate is provided with a deflection detection probe hole for matching the jaw probe to detect whether the truss grabbing mechanism is deflected.

6. The large scale rack for use in an explosion proof environment as recited in claim 1, wherein: The top of the shelf structure is provided with a foolproof identification block for visual system to check the position of the shelf.

7. A grab detection mechanism for use with a large scale rack for use in an explosion proof environment as claimed in any one of claims 1 to 6 for use in transferring material, characterised in that: The grabbing detection mechanism includes a grabbing rack, and a group of jaw lifting plates are arranged below the grabbing rack and can move radially.

8. The grasping detection mechanism of claim 7, wherein: The grabbing rack includes a support plate, and a linear slide rail is arranged on the support plate corresponding to each jaw lifting plate.

9. The grasping detection mechanism of claim 8, wherein: A pair of push plates are arranged on the support plate and move linearly relative to each other. A push cylinder is arranged on the support plate to move the push plates. The push plates are connected to the jaw lifting plates through synchronous connecting rods.

10. The grasping detection mechanism of claim 9, wherein: A rotating shaft is arranged on the support plate at a position between the pair of push plates. A rotating rod is connected to the rotating shaft, and the end of the rotating rod is connected to the corresponding push plate through a connecting rod.

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