Intelligent storage refrigeration house tray object grabbing device

Abstract

The utility model relates to the technical field of intelligent storage article grabbing, in particular to an intelligent storage refrigeration house tray article grabbing device which comprises a base, a stand column is installed at the top of the base, a first adjusting arm is installed at the top of the stand column through a driving mechanism, and the other end of the first adjusting arm is connected with a second adjusting arm through a rotating shaft. A base is arranged at the bottom of the first connecting shaft, a plurality of gripper plates are arranged on the base in the circumferential direction, a gripper driving mechanism is arranged between the base and the connecting piece, the gripper driving mechanism comprises an inserting groove, a mounting plate, a threaded plate, a driving motor, a positioning disc and a second connecting shaft, and the driving motor is mounted on the connecting piece; the second connecting shaft is installed at the output end of the driving motor and penetrates through the connecting piece and the first connecting shaft, the base is fixedly installed at the bottom of the second connecting shaft, the inserting groove is formed in the circumferential direction of the base, and a threaded groove is carved in the bottom of the positioning disc. And reliable grabbing is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent warehouse article grabbing, in particular to an intelligent warehouse cold storage tray article grabbing device. Background Art

[0002] A non-contact storage intelligent cold storage is mainly composed of chassis, shelves, stackers, loading and unloading platforms, storage boards (insulation boards), refrigerators, dehumidifiers, loading and unloading doors, inspection doors, display screens, operation screens, etc. It has the functions of storing and managing goods (germplasm, samples), and is equipped with refrigeration equipment and dehumidification equipment. By controlling the movement of the stacker on the track and the opening and closing of the entrances and exits in the cold storage, the staff can find the required items (germplasm, samples) in various areas through the control screen, while avoiding people from entering the cold storage area. In addition, the temperature, humidity and storage time of the cold storage can be adjusted according to the actual situation to meet the storage needs of different items. Especially with the development of modern society, the use of intelligent warehousing has been gradually promoted. However, when the existing intelligent manipulator grabs items on the cold storage pallet, the commonly used stacker cannot accurately grab regular fragile items such as glass products on the pallet, and the existing manipulator mostly relies on mechanical positioning to adjust the manipulator grabbing angle when grabbing fragile items to achieve the purpose of grabbing items.

[0003] Existing pallet item grabbing devices cannot accurately control the grabbing force when grabbing fragile items, which can easily cause the grabbed items to break. In addition, when grabbing items, most of them only have one of the simple clamping grabbing or vacuum suction grabbing methods, which limits the practicality of the manipulator when grabbing different items. Utility Model Content

[0004] In response to the above problems, the present application provides an intelligent warehouse cold storage pallet item grabbing device, which solves the problem that the existing pallet item grabbing device proposed in the above background technology cannot accurately control the grabbing force of the items when grabbing fragile items, which easily causes the grabbed items to break, and when grabbing the items, most of them only have one of the simple clamping grabbing or vacuum suction grabbing methods, which leads to the problem that the practicality of the manipulator is limited when grabbing different items.

[0005] The technical solution of the present invention is: an intelligent warehouse cold storage pallet item grabbing device, including a base, the base is arranged at the bottom of the stacker, a column is installed on the top of the base, a first adjusting arm is installed on the top of the column through a driving mechanism, the other end of the first adjusting arm is connected to the second adjusting arm through a rotating shaft, the other end of the second adjusting arm is rotatably provided with a connecting piece, a first connecting shaft is installed at the bottom of the connecting piece, a base is arranged at the bottom of the first connecting shaft, a plurality of gripping plates are arranged on the base along the circumferential direction, a gripping driving mechanism is arranged between the base and the connecting piece, and a pressure sensor is also arranged on the gripping plate.

[0006] Preferably, the gripper drive mechanism includes a plug-in slot, a mounting plate, a threaded plate, a driving motor, a positioning plate and a second connecting shaft, the driving motor is mounted on the connecting piece, and the second connecting shaft is mounted on the output end of the driving motor, and the second connecting shaft passes through the connecting piece and the first connecting shaft, and the base is fixedly mounted on the bottom of the second connecting shaft, the plug-in slot is opened along the circumference of the base, and the mounting plate is plugged into the plug-in slot, and the threaded plate is mounted on the top of the mounting plate, the threaded plate is fixed on the top of the mounting plate, the positioning plate is mounted on the outside of the first connecting shaft, and a threaded groove is engraved on the bottom of the positioning plate, and the bottom of the positioning plate is threadedly connected to the threaded plate, and the gripper plate is fixed to the bottom of one end of the mounting plate extending out of the plug-in slot.

[0007] Preferably, the plug-in slot is a convex slot, and the threaded plate extends out of the top of the plug-in slot, and a pad is installed at the bottom of the mounting plate, and the threaded plate maintains the thread connection with the threaded groove at the bottom of the positioning plate.

[0008] Preferably, limiting rods are installed on both sides of one end of the mounting plate extending out of the plug-in slot, and the other ends of the limiting rods are installed on the side walls of the base.

[0009] Preferably, the limiting rod is a telescopic rod, and a plurality of suction cups are installed along the extension direction on the side opposite to the gripping plate, and the suction cups are connected to an external vacuum pump.

[0010] Preferably, the pressure sensor is arranged on the gripper plate, and the pressure sensor is spaced apart from the suction cup.

[0011] Preferably, the driving mechanism includes a mounting seat and a driving cylinder, the mounting seat is fixed to the top of the column, the driving cylinder is arranged along the circumference of the mounting seat, and one end of the first adjusting arm is installed between the tops of the driving cylinders.

[0012] The beneficial effects of the utility model are as follows:

[0013] The utility model discloses an intelligent warehouse cold storage pallet article grabbing device, which completes the installation of multiple driving cylinders through the mounting base arranged on the column, so as to facilitate the adjustment of the height of the first adjusting arm, and then completes the adjustment of the grabbing height of the mechanical gripper, and drives the second connecting shaft to rotate by the driving motor, thereby driving the base and the threaded plate to rotate relative to the positioning plate, so that the threaded plate drives the relative change of the position of the mounting plate and the plug-in slot when connected with the thread of the positioning plate, and then drives the position of the gripping plate to be adjusted, which can complete the clamping and grabbing of articles of different sizes, and through the arrangement of the suction cup on the gripping plate, the articles can be adsorbed and grabbed by a vacuum pump, thereby improving the practicability of the gripping device. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0015] Figure 1 A schematic diagram of the three-dimensional structure of an intelligent cold storage tray object grabbing device provided by the utility model;

[0016] Figure 2 A schematic diagram of the base structure of an intelligent cold storage tray object grabbing device provided by the utility model;

[0017] Figure 3 This is a schematic diagram of the exploded structure of the second connecting shaft of an intelligent cold storage pallet object grabbing device provided by the utility model;

[0018] Figure 4 A schematic diagram of the mounting plate structure of an intelligent warehouse cold storage pallet item grabbing device provided by the utility model.

[0019] In the figure: 1. base; 2. column; 3. mounting seat; 4. driving cylinder; 5. first adjusting arm; 6. second adjusting arm; 7. connecting piece; 8. gripper plate; 9. base; 10. first connecting shaft; 11. limiting rod; 12. suction cup; 13. mounting plate; 14. threaded plate; 15. plug-in slot; 16. driving motor; 17. positioning plate; 18. second connecting shaft. DETAILED DESCRIPTION

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the utility model will be briefly introduced below in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the utility model, but does not constitute a limitation of the utility model.

[0021] like Figure 1-Figure 4 As shown, an embodiment of the utility model provides an intelligent storage cold storage pallet item grabbing device, including a base 1, which is arranged at the bottom of a stacker, and a column 2 is installed on the top of the base 1 to facilitate the installation of the grabbing device, and a first adjusting arm 5 is installed on the top of the column 2 through a driving mechanism, and the other end of the first adjusting arm 5 is connected to a second adjusting arm 6 through a rotating shaft to facilitate position adjustment of the grabbing device and to facilitate grabbing, and a connecting member 7 is rotatably arranged on the other end of the second adjusting arm 6, and a first connecting shaft 10 is installed at the bottom of the connecting member 7, and a base 9 is arranged at the bottom of the first connecting shaft 10, and a plurality of gripping plates 8 are arranged along the circumferential direction of the base 9 to facilitate grabbing operations, and a gripping driving mechanism is arranged between the base 9 and the connecting member 7, and a pressure sensor is also arranged on the gripping plate 8, which can detect the pressure on the grasped item during grasping to avoid damage to the grasped item due to excessive pressure.

[0022] In this embodiment, the gripper drive mechanism includes a plug-in slot 15, a mounting plate 13, a threaded plate 14, a drive motor 16, a positioning plate 17 and a second connecting shaft 18. The drive motor 16 is mounted on the connecting member 7, and the second connecting shaft 18 is mounted on the output end of the drive motor 16. The second connecting shaft 18 passes through the connecting member 7 and the first connecting shaft 10, and the base 9 is fixedly mounted at the bottom of the second connecting shaft 18, and the base 9 can be directly driven to rotate by the drive motor 16. The plug-in slot 15 is opened along the circumference of the base 9, and the mounting plate 13 is plugged into the plug-in slot 15, which can drive the mounting plate 13 It rotates synchronously with the base 9, and the threaded plate 14 is fixed on the top of the mounting plate 13, the threaded plate 14 is fixed on the top of the mounting plate 13, the positioning plate 17 is installed on the outside of the first connecting shaft 10, and a threaded groove is engraved on the bottom of the positioning plate 17, and the bottom of the positioning plate 17 and the threaded plate 14 are threadedly connected. The relative rotation of the positioning plate 17 and the threaded plate 14 can drive the position of the threaded plate 14 and the mounting plate 13 relative to the plug-in slot 15 to change. The gripper plate 8 is installed on one end of the mounting plate 13 extending out of the plug-in slot 15, which can drive the movement of the gripper plate 8 to facilitate the grabbing of objects.

[0023] Specifically, the plug-in slot 15 is a convex slot, and the threaded plate 14 extends out of the top of the plug-in slot 15, and a pad is installed at the bottom of the mounting plate 13. The threaded plate 14 maintains threaded connection with the threaded slot at the bottom of the positioning plate 17. The threaded plate 14 is driven by the driving motor 16 and the second connecting shaft 18, and the relative rotation of the positioning plate 17 with the threaded plate 14 is completed to adjust the position of the mounting plate 13 inside the plug-in slot 15, thereby improving the practicality of the device.

[0024] Specifically, limiting rods 11 are installed on both sides of one end of the mounting plate 13 extending out of the plug-in slot 15, and the other ends of the limiting rods 11 are installed on the side walls of the base 9. The setting of the limiting rods 11 prevents the mounting plate 13 from escaping from the plug-in slot 15, thereby ensuring the normal use of the grabbing device.

[0025] In this embodiment, the limiting rod 11 is a telescopic rod, and a plurality of suction cups 12 are installed along the extension direction on the side opposite to the gripping plate 8. The suction cups 12 are connected to an external vacuum pump and can adsorb and grasp objects in addition to clamping and grasping them, thereby improving the practicality and scope of use of the grasping device.

[0026] Specifically, the pressure sensor is disposed on the gripping plate 8, and the pressure sensor is spaced apart from the suction cup 12, so as to monitor the pressure on the gripped object and prevent it from being broken due to excessive pressure.

[0027] In this embodiment, the driving mechanism includes a mounting base 3 and a driving cylinder 4. The mounting base 3 is fixed on the top of the column 2. The driving cylinder 4 is arranged circumferentially along the mounting base 3, and one end of the first adjusting arm 5 is installed between the tops of the driving cylinder 4. The height of the grasping device can be adjusted by the setting of the driving cylinder 4 to improve the practicality of the device. In addition, the setting of multiple driving cylinders 4 can share the pressure on the mounting base 3 and improve the stability of the device.

[0028] Working principle: The operator adjusts the drive motor 16 according to the height of the object to be grasped, and then adjusts the height of the first adjustment arm 5, and then determines the relative position of the gripping plate 8 and the object to be grasped by adjusting the position of the second adjustment arm 6 and the base 9, and then starts the drive motor 16 to drive the second connecting shaft 18 and the base 9 to rotate, and then further adjusts the position of the mounting plate 13 and the gripping plate 8 to complete the clamping and grasping of the object to be grasped, or starts the vacuum pump to adsorb and grasp the object through the suction cup 12.

[0029] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent cold storage pallet object grabbing device, comprising a base (1), the base (1) being arranged at the bottom of a stacker, a column (2) being installed on the top of the base (1), a first adjusting arm (5) being installed on the top of the column (2) through a driving mechanism, the other end of the first adjusting arm (5) being connected to a second adjusting arm (6) through a rotating shaft, characterized in that: A connecting piece (7) is rotatably provided at the other end of the second adjusting arm (6), a first connecting shaft (10) is installed at the bottom of the connecting piece (7), a base (9) is provided at the bottom of the first connecting shaft (10), a plurality of gripping plates (8) are provided on the base (9) along the circumferential direction, a gripping driving mechanism is provided between the base (9) and the connecting piece (7), and a pressure sensor is also provided on the gripping plate (8).

2. The intelligent cold storage tray object grabbing device according to claim 1, characterized in that: The gripper drive mechanism comprises a plug-in slot (15), a mounting plate (13), a threaded plate (14), a drive motor (16), a positioning plate (17) and a second connecting shaft (18), wherein the drive motor (16) is mounted on the connecting member (7), and the second connecting shaft (18) is mounted on the output end of the drive motor (16), and the second connecting shaft (18) passes through the connecting member (7) and the first connecting shaft (10), and the base (9) is fixedly mounted on the bottom of the second connecting shaft (18), and the plug-in slot (15) is arranged along the first connecting shaft (10). The base (9) is opened in the circumferential direction, and the mounting plate (13) is inserted into the plug-in slot (15), and the threaded plate (14) is installed on the top of the mounting plate (13), and the threaded plate (14) is fixed on the top of the mounting plate (13). The positioning plate (17) is installed on the outside of the first connecting shaft (10), and the bottom of the positioning plate (17) is engraved with a threaded groove, and the bottom of the positioning plate (17) and the threaded plate (14) are threadedly connected, and the grip plate (8) is fixed to the bottom of one end of the mounting plate (13) extending out of the plug-in slot (15).

3. The intelligent cold storage tray object grabbing device according to claim 2, characterized in that: The plug-in slot (15) is a convex slot, and the threaded plate (14) extends out of the top of the plug-in slot (15), and a pad is installed at the bottom of the mounting plate (13), and the threaded plate (14) maintains the thread connection with the threaded slot at the bottom of the positioning plate (17).

4. The intelligent cold storage tray object grabbing device according to claim 2, characterized in that: Limit rods (11) are installed on both sides of one end of the mounting plate (13) extending out of the insertion slot (15), and the other ends of the limit rods (11) are installed on the side walls of the base (9).

5. The intelligent cold storage tray object grabbing device according to claim 4, characterized in that: The limiting rod (11) is a telescopic rod, and a plurality of suction cups (12) are installed along the extension direction on the side opposite to the gripping plate (8), and the suction cups (12) are connected to an external vacuum pump.

6. The intelligent cold storage tray object grabbing device according to claim 5, characterized in that: The pressure sensor is arranged on the gripping plate (8), and the pressure sensor and the suction cup (12) are arranged at an interval.

7. The intelligent cold storage tray object grabbing device according to claim 1, characterized in that: The driving mechanism comprises a mounting seat (3) and a driving cylinder (4); the mounting seat (3) is fixed on the top of the column (2); the driving cylinder (4) is arranged along the circumference of the mounting seat (3); and one end of the first adjusting arm (5) is installed between the top of the driving cylinder (4).

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