Intelligent storage device with multi-degree-of-freedom adjustment

Abstract

The present application relates to the technical field of lifting apparatuses. Provided is an intelligent storage device with multi-degree-of-freedom adjustment, comprising a mounting frame, a lifting swinging frame disposed on the mounting frame, and a horizontal swinging frame disposed on the lifting swinging frame. A lifting swinging mechanism is provided between the lifting swinging frame and the mounting frame and is configured to drive the lifting swinging frame to rise, descend, and swing in the vertical direction. A horizontal swinging mechanism is provided between the horizontal swinging frame and the lifting swinging frame and is configured to drive the horizontal swinging frame to translate and swing in the horizontal direction. The horizontal swinging frame has a conveying channel having an outlet end configured to dock with a storage rack, and a pushing mechanism is provided on the horizontal swinging frame for pushing a PACK module into the storage rack. The present application can improve the storage accuracy.

Description

Intelligent storage device with multiple degrees of freedom adjustment Technical Field

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

[0002] With the development of the energy storage field, more and more energy sources are being stored using PACKs (assembled from several cells in a specific combination). PACKs are typically stored in storage racks (containers, commercial and industrial energy storage cabinets, or storage boxes, etc.) for automated storage.

[0003] Existing storage devices typically only include a moving base, a lifting module, and a storage / retrieval module. However, the storage positions within the storage rack are not perfectly aligned with the PACKs. When there are assembly errors and gaps between the storage rack and the PACKs (such as tilting during rack installation), a direct horizontal storage method may lead to misalignment. This means that after a PACK is stored in the rack, its actual position deviates from its intended position within the rack, requiring manual adjustment later. This reduces storage efficiency and necessitates further improvement. Summary of the Invention

[0004] To improve storage accuracy, this application provides an intelligent storage device with multi-degree-of-freedom adjustment.

[0005] The intelligent storage device with multi-degree-of-freedom adjustment provided in this application includes a mounting frame, a lifting swing frame disposed on the mounting frame, and a horizontal swing frame disposed on the lifting swing frame. A lifting swing mechanism is provided between the lifting swing frame and the mounting frame, which is used to force the lifting swing frame to rise and fall and swing in the vertical direction. A horizontal swing mechanism is provided between the horizontal swing frame and the lifting swing frame, which is used to force the horizontal swing frame to translate in the horizontal direction and swing in the horizontal direction. The horizontal swing frame has a conveying channel for conveying PACK packets, the outlet end of which is used to dock with the storage frame. The horizontal swing frame is provided with a pushing mechanism, which is used to push the PACK packets to the storage frame.

[0006] By adopting the above technical solution, through the setting of a lifting swing mechanism, a horizontal swing mechanism, and a pushing mechanism, after the PACK package is fed into the conveyor channel, the lifting swing mechanism drives the lifting swing frame to rise to a certain height (the lifting height of the lifting swing frame is determined according to the height of the storage rack). In conjunction with the horizontal swing mechanism, the horizontal swing frame is adjusted horizontally, thereby aligning the PACK package with the storage position on the storage rack. Then, according to the storage position of the storage rack, the lifting swing mechanism forces the lifting swing frame to swing vertically, and in conjunction with the horizontal swing mechanism, it swings horizontally, thereby fine-tuning the "entry angle" of the PACK package ("entry angle" refers to the angle at which the PACK package is pushed into the storage rack), reducing assembly errors and gaps between the storage rack and the PACK package. Finally, the pushing mechanism pushes the PACK package to its storage position on the storage rack, greatly improving the storage accuracy of the PACK package and thus increasing storage efficiency.

[0007] Optionally, the sidewalls of the lifting swing frame are respectively provided with a first connecting seat, a second connecting seat, a third connecting seat, and a fourth connecting seat. The lifting swing mechanism includes a first lead screw threaded through the first connecting seat, a lead screw threaded through the second connecting seat, a third lead screw threaded through the third connecting seat, a fourth lead screw threaded through the fourth connecting seat, a first hinge member disposed between the first connecting seat and the lifting swing frame, a second hinge member disposed between the second connecting seat and the lifting swing frame, a third hinge member disposed between the third connecting seat and the lifting swing frame, a fourth hinge member disposed between the fourth connecting seat and the lifting swing frame, and a first driving member. The first lead screw, the second lead screw, the third lead screw, and the fourth lead screw are all rotatably connected to the mounting frame. The first driving member is disposed on the mounting frame to drive the first lead screw, the second lead screw, the third lead screw, and the fourth lead screw to rotate around its own central axis.

[0008] By adopting the above technical solution, when the lifting swing frame is raised or lowered, the first driving component drives the first lead screw, the second lead screw, the third lead screw, and the fourth lead screw to rotate synchronously and at the same speed, thereby driving the lifting swing frame to rise or fall. When it is necessary to adjust the vertical swing of the lifting swing frame, the rotation speed of the first lead screw, the second lead screw, the third lead screw, and the fourth lead screw can be controlled (that is, the rotation speed of the first lead screw, the second lead screw, the third lead screw, and the fourth lead screw are set to be different, and the lifting swing frame is lifted a greater distance on the side with faster lead screw rotation speed than on the side with slower rotation speed), thereby realizing the vertical swing of the lifting swing frame and enabling multi-degree-of-freedom swing adjustment to adjust the "entry angle" of the PACK on the horizontal swing frame, improving the overall operational convenience of the structure.

[0009] Optionally, the first hinge includes two interconnected first universal joints, one end of which is connected to a first connecting seat, and the other end of which is connected to the lifting swing frame; the second hinge includes a first ball joint, one end of which is connected to a second connecting seat, and the other end of which is connected to the lifting swing frame; the third hinge includes two interconnected second universal joints and a second ball joint, one end of which is connected to a third connecting seat, and the other end of which is connected to the lifting swing frame; the fourth hinge includes two interconnected third ball joints, one end of which is connected to a fourth connecting seat, and the other end of which is connected to the lifting swing frame.

[0010] By adopting the above 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 swing frame, so that the rotation speed of the first lead screw, the second lead screw, the third lead screw and the fourth lead screw can be controlled to control the lifting swing frame to rotate and adjust the "entry angle".

[0011] Optionally, the horizontal swing mechanism includes a first translation member, a second translation member, a first pusher member, and a second pusher member. Both the first and second translation members include a first translation plate slidably mounted on a lifting swing frame, a second translation plate slidably mounted on the first translation plate, and a planar bearing disposed between the second translation plate and the horizontal swing frame. The movement directions of the first and second translation plates are perpendicular to each other. The horizontal swing frame is mounted on the second translation plate via the planar bearing. The movement directions of the first translation plate in the first translation member and the first translation plate in the second translation member are perpendicular to each other. Both the first and second pusher members are disposed on the lifting swing frame. The first pusher member is used to drive the first translation plate in the first translation member to translate, and the second pusher member is used to drive the first translation plate in the second translation member to translate.

[0012] By adopting the above technical solution, in the first method of driving the horizontal swing frame to translate, the first pusher is activated but the second pusher is not activated, and the horizontal swing frame can slide along the sliding direction of the first translation plate in the first translation member; in the second method, the first pusher is not activated but the second pusher is activated, and the horizontal swing frame can slide along the sliding direction of the first translation plate in the second translation member. The moving directions of the first translation plate in the first translation member and the first translation plate in the second translation member are perpendicular to each other, so that the horizontal swing frame can translate in two directions in the horizontal direction; in the operation of driving the horizontal swing frame to perform horizontal swing, both the first pusher and the second pusher are activated, which enables the horizontal swing frame to swing in the horizontal direction, thereby increasing the range of PACK package "inbound angle" adjustment and reducing the assembly error and gap between the storage rack and the PACK package.

[0013] Optionally, the pushing mechanism includes an infeed component for feeding the PACK into the conveyor channel and an outfeed component for pushing the PACK out of the conveyor channel. The infeed component includes a plate chain and a second drive member. The plate chain is installed in the conveyor channel of the horizontal swing frame. Multiple sets of the plate chains are arranged at intervals along the width direction of the conveyor channel, and each plate chain extends along the length direction of the conveyor channel. The second drive member is disposed on the horizontal swing frame to drive all the plate chains to run.

[0014] By adopting the above technical solution, after the PACK package to be stored enters from the inlet end of the conveyor channel, the second drive unit drives the plate chain to run, thereby sending the PACK package into the conveyor channel. After the position and "entry angle" of the PACK package are adjusted, the delivery component pushes the PACK package out of the conveyor channel and into the storage position of the storage rack, improving the overall operational convenience of the structure.

[0015] Optionally, the delivery assembly includes a pusher seat, a pusher frame, a third drive member, and a fourth drive member slidably mounted on a horizontal swing frame. The third drive member is disposed on the horizontal swing frame to drive the pusher seat to translate along the length of the conveying channel. A rotating shaft is rotatably mounted on the pusher seat, and one end of the pusher frame is connected to the peripheral wall of the rotating shaft, thereby being hinged to the pusher seat through the rotating shaft. The fourth drive member is disposed on the pusher seat and is used to drive the rotating shaft to rotate, thereby forcing the pusher frame to swing. When the pusher frame swings downward, the pusher frame moves out of the conveying channel to send the PACK into the conveying channel. When the pusher frame swings upward, the pusher frame moves into the conveying channel to push the PACK.

[0016] After adjusting the position and "entry angle" of the PACK package using the above technical solution, the fourth drive component drives the rotating shaft to rotate, causing the pusher frame to swing upwards and enter the conveying channel. Then, the third drive component drives the pusher seat to move towards the exit end of the conveying channel. The pusher frame can push the PACK package out of the conveying channel and into the storage position of the storage rack, improving the convenience of PACK package transfer.

[0017] Optionally, the pusher includes a rotating arm and a pusher rod. One end of the rotating arm is connected to a rotating shaft, and the other end is connected to the pusher rod. The end of the pusher rod away from the rotating arm is connected to a pusher head for pushing the PACK. The pusher head has an adsorption cavity, and the end face of the pusher head away from the pusher rod has an adsorption hole communicating with the adsorption cavity. The rotating arm is provided with an adsorption element, which is used to extract air from the adsorption cavity so that the PACK is adsorbed onto the end face of the pusher head away from the pusher rod.

[0018] By adopting the above technical solution, after the rotating shaft drives the pusher frame to move into the conveying channel, it drives the pusher seat to move towards the outlet end of the conveying channel, so that the pusher head can abut against the side wall of the PACK. 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 onto the end face of the pusher head away from the pusher rod. Then, the pusher seat continues to move towards the outlet end of the conveying channel. When the PACK is sent into the storage position of the storage rack, the pusher seat stops moving forward. The adsorption force of the pusher head on the PACK can force the PACK to stop moving forward, reducing the possibility that the PACK will continue to move forward under the action of inertia when the pusher seat stops moving forward, thus causing it to hit the inner wall of the storage rack, and improving the storage stability of the overall structure.

[0019] Optionally, a sliding sleeve is connected to the end of the rotating arm away from the rotating shaft, and one end of the push rod is slidably inserted into 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 formed inside the push rod, one end of which is connected to the adsorption chamber, and the other end penetrates the peripheral wall of the push rod. A docking hole is formed on the peripheral wall of the sliding sleeve. When the push rod is fully inserted into the sliding sleeve, the docking hole is connected to the adsorption channel. The adsorption element includes an adsorption tube disposed on the sliding sleeve, and the inlet end of the adsorption tube is connected to the docking hole.

[0020] Optionally, the peripheral wall of the push rod is provided with a first limiting groove, and the inner wall of the sliding sleeve is provided with a second limiting groove. A limiting block is slidably installed in the second limiting groove. A limiting spring is provided between the limiting block and the inner wall of the second limiting groove. The limiting spring normally forces the limiting block to partially move out of the second limiting groove. The limiting block has a guide surface. When the push rod moves into the sliding sleeve, the push rod forces the limiting block to move into the second limiting groove through the guide surface. When the push rod is fully inside the sliding sleeve, the first limiting groove is directly opposite the second limiting groove. The limiting block is provided with an unlocking element.

[0021] By adopting the above technical solution, after the push rod is fully inserted into the sliding sleeve (the adsorption tube is open), the limiting block is partially moved out of the second limiting groove and inserted into the first limiting groove under the action of the limiting spring, thereby limiting the push rod and keeping it inside the sliding sleeve (i.e., forcing the adsorption tube to remain open). This reduces the possibility that the push rod will be pulled out of the sliding sleeve by the inertia of the PACK pack after the push head sends the PACK pack into the storage rack and stops moving forward.

[0022] Optionally, the rotating shaft includes a first rotating part and a second rotating part coaxially arranged, both of which are rotatably connected to the pusher 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. A linkage block is provided on the end face of the first rotating part near the second rotating part, and a rotating arc groove for the linkage block to be inserted is provided on the end face of the second rotating part near the first rotating part. The rotating arc groove has a first position and a second position. When the pusher moves into or out of the conveying channel, the linkage block is always located at the first position. The unlocking member includes an unlocking rope, one end of which is connected to a limiting block, and the other end is connected to the peripheral wall of the first rotating part. When the pusher head abuts against the PACK and the first rotating part drives the linkage block to rotate from the first position to the second position, the unlocking rope pulls the limiting block and forces the limiting block to move into the second limiting groove. Attached Figure Description

[0023] Figure 1 is a schematic diagram of the overall structure of Embodiment 1;

[0024] Figure 2 is a partial cross-sectional view of Embodiment 1 illustrating the lifting swing mechanism;

[0025] Figure 3 is a partial cross-sectional view of Embodiment 1 illustrating the horizontal swing mechanism;

[0026] Figure 4 is an enlarged view of point A in Figure 3;

[0027] Figure 5 is a structural schematic diagram of the feeding component in Embodiment 1;

[0028] Figure 6 is a structural schematic diagram of the delivery component in Embodiment 1;

[0029] Figure 7 is a structural schematic diagram of the push rod 626 and the rotating arm in Embodiment 1;

[0030] Figure 8 is a structural schematic diagram of the delivery component in Embodiment 2;

[0031] Figure 9 is a partial cross-sectional view of the adsorption chamber in Example 2;

[0032] Figure 10 is a partial cross-sectional view of Embodiment 2, showing the linkage block and the rotating arc groove.

[0033] Explanation of reference numerals in the attached drawings: 1. Mounting frame; 2. Lifting swing frame; 21. First connecting seat; 22. Second connecting seat; 23. Third connecting seat; 24. Fourth connecting seat; 3. Horizontal swing frame; 31. Conveying channel; 32. Camera; 33. Rotating rod; 34. Sprocket; 35. Limiting bar; 351. Roller; 36. Limiting rod; 4. Lifting swing mechanism; 41. First lead screw; 42. Second lead screw; 43. Third lead screw; 44. Fourth lead screw; 45. First hinge; 46. Second hinge; 47. Third hinge; 48. Fourth hinge; 49. First driving component; 5. Horizontal swing mechanism; 51. First translation component; 511. First translation plate; 512. Second translation plate; 513. Planar bearing; 52. Second translation component; 53. First pushing component; 54. Second pushing component; 6. Pushing mechanism; 6 1. Feeding component; 611. Second driving component; 62. Feeding component; 621. Push seat; 6211. Inserting ring; 6212. Limiting post; 622. Third driving component; 623. Fourth driving component; 624. Rotating shaft; 6241. First rotating part; 6242. Second rotating part; 6243. Linkage block; 6244. Rotating arc groove; 6245. First position; 6246. Second position; 625 626. Rotating arm; 626. Push rod; 6261. Adsorption channel; 6262. First limiting groove; 627. Push head; 6271. Adsorption chamber; 6272. Adsorption hole; 628. Sliding sleeve; 6281. Return spring; 6282. Docking hole; 6283. Second limiting groove; 6284. Limiting block; 6285. Limiting spring; 6286. Guide surface; 6287. Unlocking rope; 629. Adsorption tube. Detailed Implementation

[0034] The present application will be further described in detail below with reference to Figures 1-10.

[0035] Example 1:

[0036] This application discloses an intelligent storage device with multi-degree-of-freedom adjustment.

[0037] Referring to Figures 1 and 2, a multi-degree-of-freedom adjustable intelligent storage device includes a mounting frame 1, a lifting swing frame 2, and a horizontal swing frame 3. The mounting frame 1 is "gate-shaped," placed on the ground, and located on one side of the storage frame (the storage frame is not shown in the figures). The lifting swing frame 2 is mounted on the mounting frame 1, and a lifting swing mechanism 4 is provided between the lifting swing frame 2 and the mounting frame 1 to force the lifting swing frame 2 to rise and fall, and to force the lifting swing frame 2 to swing vertically.

[0038] Referring to Figures 2 and 3, the side walls of the lifting swing 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. These connecting seats 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 swing frame 2, and the third connecting seat 23 and the fourth connecting seat 24 are located on the other side of the lifting swing frame 2. The first connecting seat 21 and the fourth connecting seat 24 are arranged opposite each other, and the second connecting seat 22 and the third connecting seat 23 are arranged opposite each other. The first connecting seat 21, the second connecting seat 22, the third connecting seat 23, and the fourth connecting seat 24 are arranged in a four-corner arrangement.

[0039] Referring to Figures 2 and 3, the lifting swing mechanism 4 includes a first lead screw 41, a second lead screw 42, a third lead screw 43, a fourth lead screw 44, a first hinge 45, a second hinge 46, a third hinge 47, a fourth hinge 48, and a first drive member 49, all of which are vertically arranged. The first lead screw 41, the second lead screw 42, the third lead screw 43, and the fourth lead screw 44 are all rotatably connected to the mounting frame 1. The first lead screw 41 passes through the first connecting seat 21 and is threadedly connected to the first connecting seat 21. The second lead screw 42 passes through the second connecting seat 22 and is threadedly connected to the second connecting seat 22. The third lead screw 43 passes through the third connecting seat 23 and is threadedly connected to the third connecting seat 23. The fourth lead screw 44 passes through the fourth connecting seat 24 and is threadedly connected to the fourth connecting seat 24. The lifting swing frame 2 is slidably mounted on the mounting frame 1 through the first lead screw 41, the second lead screw 42, the third lead screw 43, and the fourth lead screw 44 and can be lifted and lowered.

[0040] Referring to Figures 2 and 3, the first hinge member 45 is disposed between the first connecting seat 21 and the lifting swing frame 2 and includes two interconnected first universal joints. One end of one first universal joint is connected to the first connecting seat 21, and one end of the other first universal joint is connected to the lifting swing frame 2. The hinge direction of one first universal joint is perpendicular to the hinge direction of the other first universal joint. The second hinge member 46 is disposed between the second connecting seat 22 and the lifting swing frame 2. The second hinge member 46 includes a first ball joint, one end of which is connected to the second connecting seat 22, and the other end of which is connected to the lifting swing frame 2.

[0041] The third hinge 47 is disposed between the third connecting seat 23 and the lifting swing frame 2 and includes a second universal joint and a second ball hinge that are interconnected. The end of the second universal joint away from the second ball hinge is connected to the third connecting seat 23, and the end of the second ball hinge away from the second universal joint is connected to the lifting swing frame 2. The fourth hinge 48 is disposed between the fourth connecting seat 24 and the lifting swing frame 2 and includes two interconnected third ball hinges. One end of one third ball hinge is connected to the fourth connecting seat 24, and the other end of the third ball hinge is connected to the lifting swing frame 2 (the universal joint and the ball hinge are existing technologies; only their connection relationship and arrangement are described here, and their internal structure is not described in detail).

[0042] Referring to Figures 1 and 2, the first driving member 49 is disposed on the mounting frame 1 to drive the first lead screw 41, the second lead screw 42, the third lead screw 43, and the fourth lead screw 44 to rotate around their own central axis. In this embodiment, the first driving member 49 is configured as a first motor, and the number of first motors is set to four, all of which are mounted on the top of the mounting frame 1.

[0043] Referring to Figures 2 and 3, the horizontal swing frame 3 is mounted on the lifting swing frame 2 and has a conveying channel 31 for conveying PACK packages. The outlet end of the conveying channel 31 is used to dock with the storage rack. A horizontal swing mechanism 5 is provided between the horizontal swing frame 3 and the lifting swing frame 2 to force the horizontal swing frame 3 to translate horizontally and swing horizontally. The horizontal swing mechanism 5 includes a first translation member 51, a second translation member 52, a first pusher 53, and a second pusher 54. Multiple sets of the first translation member 51 and the second translation member 52 are provided. In this embodiment, the structures of the first translation member 51 and the second translation member 52 are the same. The following description uses the structure of the first translation member 51 as an example. The structure of the second translation member 52 can be obtained similarly.

[0044] Referring to Figures 3 and 4, the first translation component 51 includes a first translation plate 511 slidably mounted on the lifting swing frame 2, a second translation plate 512 slidably mounted on the first translation plate 511, and a plane bearing 513. The movement directions of the first translation plate 511 and the second translation plate 512 are perpendicular to each other. The plane bearing 513 is disposed between the second translation plate 512 and the horizontal swing 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 swing frame 3. The horizontal swing frame 3 is mounted on the second translation plate 512 through the plane bearing 513.

[0045] Referring to Figures 3 and 4, it should be noted that in this 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 (that is, 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 perpendicular to each other).

[0046] Referring to Figures 3 and 4, both the first pusher 53 and the second pusher 54 are mounted on the lifting swing frame 2. In this embodiment, the first pusher 53 is configured as a first cylinder, with its cylinder body fixedly mounted on the lifting swing frame 2, and its piston rod 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 pusher 54 is configured as a second cylinder, with its cylinder body fixedly mounted on the lifting swing frame 2, and its piston rod 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.

[0047] Referring to Figure 2, the horizontal swing frame 3 is equipped with a pushing mechanism 6 for pushing PACK packets in the conveying channel 31 to the storage rack. The pushing mechanism 6 includes an infeed component 61 and an outfeed component 62. The infeed component 61 is used to feed the PACK packet into the conveying channel 31, and the outfeed component 62 is used to push the PACK packet out of the conveying channel 31 (i.e., to push the PACK packet into the storage position of the storage rack).

[0048] Referring to Figures 2 and 5, the feeding assembly 61 includes a plate chain and a second drive component 611. The plate chain (not shown in the figures) is installed in the conveying channel 31 of the horizontal swing frame 3. Multiple sets of plate chains are arranged at intervals along the width direction of the conveying channel 31, and each plate chain extends along the length direction of the conveying channel 31. Rotating rods 33 are rotatably connected to both ends of the horizontal swing frame 3. Sprockets 34 are fixedly connected to the peripheral walls of the rotating rods 33. The number of sprockets 34 corresponds to the number of plate chains. The plate chains are installed on the horizontal swing frame 3 through the sprockets 34 at both ends of the horizontal swing frame 3.

[0049] Referring to Figures 2 and 5, the second drive unit 611 is disposed on the horizontal swing frame 3 to drive all plate chains to run. In this embodiment, the second drive unit 611 is configured as a second motor, which 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, thereby driving the plate chains to run through the sprocket 34, so as to send the PACK package into the conveyor channel 31.

[0050] Referring to Figures 2 and 6, the delivery assembly 62 includes a pusher seat 621, a pusher frame, a third drive member 622, and a fourth drive member 623. The pusher seat 621 is slidably mounted on the horizontal swing frame 3 and located below the conveying channel 31. The third drive member 622 is disposed on the horizontal swing frame 3 to drive the pusher seat 621 to translate along the length direction of the conveying channel 31. In this embodiment, the third drive member 622 may be a linear motor.

[0051] Referring to Figures 6 and 7, a horizontally extending rotating shaft 624 is rotatably mounted on the top of the pusher seat 621. Both ends of the rotating shaft 624 extend along the width direction of the conveying channel 31. Two sets of pusher frames are provided, spaced apart along the length direction of the rotating shaft 624. Each pusher frame includes a rotating arm 625 and a push 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 push rod 626. The end of the push rod 626 away from the rotating arm 625 is connected to a pusher head 627 for pushing PACK packages. The rotating arm 625 in the pusher frame is hinged to the pusher seat 621 via the rotating shaft 624.

[0052] Referring to Figures 6 and 7, a fourth driving member 623 is disposed on the push base 621. The fourth driving member 623 is used to drive the rotating shaft 624 to rotate, thereby forcing the rotating arm 625 to swing. The fourth driving member 623 is configured as a third motor, which is fixedly mounted on the push base 621. The output shaft of the third motor is connected to the rotating shaft 624 via a belt (not shown in the figure) to drive the rotating shaft 624 to rotate. When the rotating arm 625 swings downward, the push rod 626 moves out of the conveying channel 31 to send the PACK package into the conveying channel 31. When the rotating arm 625 swings upward, the push rod 626 moves into the conveying channel 31 to push the PACK package. For ease of description, the direction of rotation in which the rotating shaft 624 drives the rotating arm 625 to swing downward is defined as the forward rotation of the rotating shaft 624, and the direction of rotation in which the rotating shaft 624 drives 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 push rod 626 to move into the conveying channel 31, the length direction of the push rod 626 is horizontal.

[0053] Referring to Figures 5 and 6, two limiting strips 35 are installed on the horizontal swing frame 3. The two limiting strips 35 are symmetrically distributed on both sides of the width direction of the conveying channel 31. Both ends of each limiting strip 35 extend along the length direction of the conveying channel 31. Each limiting strip 35 is rotatably equipped with multiple rollers 351 arranged at intervals along its length direction. The rollers 351 are used to abut against the side wall of the PACK.

[0054] Two sets of limiting rods 36 are installed on the horizontal swing frame 3. The two sets of limiting rods 36 are symmetrically distributed on both sides of the length of the conveying channel 31 (i.e., one set of limiting rods 36 is located at the inlet end of the conveying channel 31, and the other set of limiting rods 36 is located at the outlet end of the conveying channel 31). The limiting rods 36 are slidably connected to the horizontal swing frame 3. The horizontal swing frame 3 is equipped with multiple third cylinders, the number of which corresponds to the number of limiting rods 36. The third cylinders are used to drive the corresponding limiting rods 36 to rise and fall. When the limiting rods 36 are raised, they abut against the side wall of the PACK. With this design, the combination of the limiting strips 35 and the limiting rods 36 can limit the various side walls of the PACK, reducing the possibility of the PACK sliding freely under its own weight when the lifting swing frame 2 swings vertically or horizontally.

[0055] In this embodiment, a camera 32 is installed at the exit end of the conveying channel 31 on the horizontal swing frame 3 to identify the storage position of the storage rack, so as to ensure that the PACK package in the conveying channel 31 is aligned with the storage position of the storage rack.

[0056] The implementation principle of Embodiment 1 of this application is as follows: After the PACK package is fed into the conveying channel 31 by the feeding component 61, the lifting swing frame 2 is driven to rise to a certain height. Then, the first cylinder and the second cylinder are used to drive the horizontal swing frame 3 to move horizontally, so that the PACK package in the conveying channel 31 is aligned with the storage position of the storage rack. Then, by controlling the rotation speed of the first lead screw 41, the second lead screw 42, the third lead screw 43 and the fourth lead screw 44, the lifting swing frame 2 is forced to swing vertically. The combination of the first cylinder and the second cylinder forces the horizontal swing frame 3 to swing horizontally, thereby fine-tuning the "entry angle" of the PACK package, reducing the assembly error and gap between the storage rack and the PACK package. After the PACK package position is adjusted, the feeding component 62 pushes the PACK package to the storage position of the storage rack, which greatly improves the storage accuracy of the PACK package and thus improves the storage efficiency.

[0057] Example 2:

[0058] This embodiment discloses an intelligent storage device with multiple degrees of freedom adjustment.

[0059] Referring to Figures 8 and 9, the difference between the multi-degree-of-freedom adjustable intelligent storage device of this embodiment and Embodiment 1 is as follows:

[0060] In this embodiment, a sliding sleeve 628 is fixedly installed at the end of the rotating arm 625 away from the rotating shaft 624. The end of the push rod 626 away from the push head 627 is slidably inserted into 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. Normally, the return spring 6281 causes the push rod 626 to partially extend out of the sliding sleeve 628. An adsorption cavity 6271 is formed inside the push head 627. Multiple adsorption holes 6272 are formed on the end face of the push head 627 away from the push rod 626, and all the multiple adsorption holes 6272 are connected to the adsorption cavity 6271. An adsorption channel 6261 is formed inside the push rod 626. One end of the adsorption channel 6261 is connected to the adsorption cavity 6271, and the other end penetrates through the peripheral wall of the push rod 626. The sliding sleeve 628 has a docking hole 6282 on its peripheral wall. When the push rod 626 is fully inserted into the sliding sleeve 628, the docking hole 6282 connects to the adsorption channel 6261.

[0061] Referring to Figures 8 and 9, the rotating arm 625 is equipped with an adsorption element for extracting air from the adsorption chamber 6271, so that the PACK package is adsorbed onto the end face of the push head 627 away from the push rod 626. In this embodiment, the adsorption element is an adsorption tube 629, which 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 an air extraction device (not shown in the figure). The adsorption tube 629 is a flexible hose.

[0062] Referring to Figure 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. Under normal conditions, the limiting spring 6285 forces the limiting block 6284 to partially move out of the second limiting groove 6283.

[0063] The limiting block 6284 has a guide surface 6286. When the push rod 626 moves into the sliding sleeve 628, the limiting block 6284 is forced to move into the second limiting groove 6283 through the guide surface 6286. When the push rod 626 is fully inside the sliding sleeve 628, the first limiting groove 6262 is directly opposite the second limiting groove 6283.

[0064] Referring to Figures 8 and 10, in this embodiment, the rotating shaft 624 includes a first rotating part 6241 and a second rotating part 6242, both rotatably connected to the top of the pusher 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 face of the first rotating part 6241 near the second rotating part 6242. A rotating arc groove 6244 is formed on the end face of the second rotating part 6242 near the first rotating part 6241. The linkage block 6243 is inserted into the rotating arc groove 6244, and the rotating arc groove 6244 is arranged in an arc shape around the central axis of the second rotating part 6242.

[0065] The rotating arc groove 6244 has a first point 6245 and a second point 6246. When the rotating shaft 624 reverses (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 6245, so that the second rotating part 6242 follows the first rotating part 6241 to rotate, so that the push rod 626 moves into the conveying channel 31. When the rotating shaft 624 rotates forward (the rotating shaft 624 drives the rotating arm 625 to swing downward), the linkage block 6243 is displaced from the first point 6245 to the second point 6246. At this time, the second rotating part 6242 rotates under 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 the linkage block 6243 is always located at the first point 6245 when the pusher moves into or out of the conveying channel 31.

[0066] Referring to Figures 9 and 10, the limiting block 6284 is provided with an unlocking element to force the limiting block 6284 to disengage from the first limiting groove 6262. In this embodiment, the limiting element is set as an unlocking rope 6287. One end of the unlocking rope 6287 is fixedly connected to the side wall of the limiting 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. The side wall of the rotating arm 625 and the top wall of the pusher seat 621 are both equipped with a threading ring 6211 for the unlocking rope 6287 to pass through. When the pusher head 627 abuts against the PACK bag, 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 limiting block 6284 and forces the limiting block 6284 to move into the second limiting groove 6283.

[0067] Referring to Figure 10, a limiting post 6212 is installed on the pusher seat 621. The limiting post 6212 is threadedly connected to the pusher seat 621. The upper end face of the limiting post 6212 is used to abut against 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 post 6212, the push rod 626 moves into the conveying channel 31, and the length direction of the push rod 626 rotates to a horizontal state.

[0068] The implementation principle of Embodiment 2 of this application is as follows: Under normal conditions, the push rod 626 is partially exposed outside the sliding sleeve 628 under the action of the return spring 6281. At this time, the docking hole 6282 is misaligned with the adsorption channel 6261, thereby closing the adsorption tube 629. When the rotating shaft 624 drives the push frame to move into the conveying channel 31, it drives the push seat 621 to move towards the outlet end of the conveying channel 31, so that the push head 627 abuts against the side wall of the PACK. Continuing to move the push seat 621, the push rod 626 is completely inserted into the sliding sleeve 628 under the obstruction of the PACK (at this time, the docking hole 6282 is connected to the adsorption channel 6261), thereby opening the adsorption tube 629, thereby evacuating the air from the adsorption chamber 6271, adsorbing the push head 627 onto the side wall of the PACK, reducing the possibility of the PACK hitting the inner wall of the storage rack under inertia after being sent into the storage rack.

[0069] After the pusher head 627 delivers the PACK into the storage rack and stops moving forward, it drives the first rotating part 6241 to rotate clockwise, causing the linkage block 6243 to move from the first position 6245 to the second position 6246 (at this time, the pusher head 627 abuts against the side wall of the PACK, and the pusher head 627, blocked by the PACK, keeps the rotating arm 625 stationary). The first rotating part 6241 can pull the limiting block 6284 through the unlocking rope 6287, forcing the limiting block 6284 to disengage from the first limiting groove 6262. At this time, it drives the pusher seat to move towards the side closer to the inlet end of the conveying channel 31, and the pusher rod 626 is partially exposed outside the sliding sleeve 628 (the suction tube 629 is closed) under the action of the return spring 6281, thereby separating the pusher head and the PACK. After the pusher head separates from the PACK, the rotating arm 625 swings downward under its own gravity to move out of the conveying channel 31. It continues to drive the pusher seat to move towards the side closer to the inlet end of the conveying channel 31, which can reset the pusher seat to push the next PACK, thus improving the overall ease of operation.

[0070] The above are preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made to the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A multi-degree-of-freedom adjustable intelligent storage device, characterized in that: The system includes a mounting frame (1), a lifting swing frame (2) mounted on the mounting frame (1), and a horizontal swing frame (3) mounted on the lifting swing frame (2). A lifting swing mechanism (4) is provided between the lifting swing frame (2) and the mounting frame (1). The lifting swing mechanism (4) is used to force the lifting swing frame (2) to rise and fall and swing in the vertical direction. A horizontal swing mechanism (5) is provided between the horizontal swing frame (3) and the lifting swing frame (2). 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 frame (3) has a conveying channel (31) for conveying PACK packages. The outlet end of the conveying channel (31) is used to dock with a storage rack. The horizontal swing frame (3) is provided with a pushing mechanism (6). The pushing mechanism (6) is used to push the PACK package to the storage rack.

2. The intelligent storage device with multi-degree-of-freedom adjustment according to claim 1, characterized in that: The side walls of the lifting swing 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). The lifting swing mechanism (4) includes a first lead screw (41) threaded through the first connecting seat (21), a second lead screw (42) threaded through the second connecting seat (22), a third lead screw (43) threaded through the third connecting seat (23), a fourth lead screw (44) threaded through the fourth connecting seat (24), a first hinge (45) disposed between the first connecting seat (21) and the lifting swing frame (2), and a hinge (45) disposed between the second connecting seat (22) and the lifting swing frame. (2) The second hinge (46) between the third connecting seat (23) and the lifting swing frame (2), the third hinge (47) between the third connecting seat (23) and the lifting swing frame (2), the fourth hinge (48) between the fourth connecting seat (24) and the lifting swing frame (2) and the first drive member (49), the first lead screw (41), the second lead screw (42), the third lead screw (43) and the fourth lead screw (44) are all rotatably connected to the mounting frame (1); the first drive member (49) is provided on the mounting frame (1) to drive the first lead screw (41), the second lead screw (42), the third lead screw (43) and the fourth lead screw (44) to rotate around their own central axis.

3. The intelligent storage device with multi-degree-of-freedom adjustment according to claim 2, characterized in that: The first hinge (45) includes two interconnected first universal joints, one end of which is connected to the first connecting seat (21), and the other end of which is connected to the lifting swing frame (2); the second hinge (46) includes a first ball joint, one end of which is connected to the second connecting seat (22), and the other end of which is connected to the lifting swing frame (2); the third hinge (47) includes two interconnected second universal joints and a second ball joint, one end of which is connected to the third connecting seat (23), and the other end of which is connected to the lifting swing frame (2); the fourth hinge (48) includes two interconnected third ball joints, one end of which is connected to the fourth connecting seat (24), and the other end of which is connected to the lifting swing frame (2).

4. The intelligent storage device with multi-degree-of-freedom adjustment according to claim 1, characterized in that: The horizontal swing mechanism (5) includes a first translation member (51), a second translation member (52), a first pusher (53), and a second pusher (54). The first translation member (51) and the second translation member (52) each include a first translation plate (511) slidably mounted on the lifting swing frame (2), a second translation plate (512) slidably mounted on the first translation plate (511), and a plane bearing (513) disposed between the second translation plate (512) and the horizontal swing frame (3). The moving directions of the first translation plate (511) and the second translation plate (512) are perpendicular to each other. The horizontal swing frame (3) is mounted on the second translation plate (512) via a plane bearing (513). The movement 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 perpendicular to each other. The first pusher (53) and the second pusher (54) are both mounted on the lifting swing frame (2). The first pusher (53) is used to drive the first translation plate (511) in the first translation member (51) to translate, and the second pusher (54) is used to drive the first translation plate (511) in the second translation member (52) to translate.

5. The intelligent storage device with multi-degree-of-freedom adjustment according to claim 1, characterized in that: The pushing mechanism (6) includes a feeding component (61) for feeding the PACK into the conveying channel (31) and a discharging component (62) for discharging the PACK out of the conveying channel (31). The feeding component (61) includes a plate chain and a second drive member (611). The plate chain is installed in the conveying channel (31) of the horizontal swing frame (3). Multiple sets of the plate chains are arranged at intervals along the width direction of the conveying channel (31), and each plate chain extends along the length direction of the conveying channel (31). The second drive member (611) is provided on the horizontal swing frame (3) to drive all the plate chains to run.

6. The intelligent storage device with multi-degree-of-freedom adjustment according to claim 5, characterized in that: The delivery assembly (62) includes a pusher seat (621) slidably mounted on a horizontal swing frame (3), a pusher frame, a third drive member (622), and a fourth drive member (623). The third drive member (622) is disposed on the horizontal swing frame (3) to drive the pusher seat (621) to translate along the length of the conveying channel (31). A rotating shaft (624) is rotatably mounted on the pusher seat (621), and one end of the pusher frame is connected to the peripheral wall of the rotating shaft (624), thereby allowing the pusher to move along the length of the conveying channel (31). The rotating shaft (624) is hinged to the pusher seat (621); the fourth drive member (623) is disposed on the pusher seat (621), and the fourth drive member (623) is used to drive the rotating shaft (624) to rotate, so as to force the pusher to swing. When the pusher swings downward, the pusher moves out of the conveying channel (31) to send the PACK into the conveying channel (31). When the pusher swings upward, the pusher moves into the conveying channel (31) to push the PACK.

7. The intelligent storage device with multi-degree-of-freedom adjustment according to claim 6, characterized in that: The pusher includes a rotating arm (625) and a pusher rod (626). One end of the rotating arm (625) is connected to a rotating shaft (624), and the other end is connected to the pusher rod (626). The end of the pusher rod (626) away from the rotating arm (625) is connected to a pusher head (627) for pushing PACK packages. An adsorption cavity (6271) is provided in the pusher head (627). An adsorption hole (6272) communicating with the adsorption cavity (6271) is provided on the end face of the pusher head (627) away from the pusher rod (626). An adsorption element is provided on the rotating arm (625). The adsorption element is used to extract the air in the adsorption cavity (6271) so that the PACK package is adsorbed on the end face of the pusher head (627) away from the pusher rod (626).

8. The intelligent storage device with multi-degree-of-freedom adjustment according to claim 7, characterized in that: The rotating arm (625) is connected to a sliding sleeve (628) at one end away from the rotating shaft (624). One end of the push rod (626) is slidably inserted into the sliding sleeve (628). A return spring (6281) is provided between the push rod (626) and the sliding sleeve (628). The return spring (6281) normally causes the push rod (626) to partially move out of the sliding sleeve (628). An adsorption channel (6261) is formed inside the push rod (626). 261) One end is connected to the adsorption chamber (6271), and the other end passes through the peripheral wall of the push rod (626). The peripheral wall of the sliding sleeve (628) is provided with a docking hole (6282). When the push rod (626) is fully inserted into the sliding sleeve (628), the docking hole (6282) is connected to the adsorption channel (6261). The adsorption component includes an adsorption tube (629) disposed in the sliding sleeve (628). The inlet end of the adsorption tube (629) is connected to the docking hole (6282).

9. The intelligent storage device with multi-degree-of-freedom adjustment according to claim 8, characterized in that: The push rod (626) has a first limiting groove (6262) on its peripheral wall, and the sliding sleeve (628) has a second limiting groove (6283) on its inner wall. A limiting block (6284) is slidably installed in the second limiting groove (6283). A limiting spring (6285) is provided between the limiting block (6284) and the inner wall of the second limiting groove (6283). Under normal conditions, the limiting spring (6285) forces the limiting block (6284) to partially move out of the second limiting groove (6283). The limiting block (6284) has a guide surface (6286). When the push rod (626) moves into the sliding sleeve (628), the push rod (626) forces the limiting block (6284) into the second limiting groove (6283) through the guide surface (6286). When the push rod (626) is fully inside the sliding sleeve (628), the first limiting groove (6262) is directly opposite the second limiting groove (6283). The limiting block (6284) is provided with an unlocking component.

10. The intelligent storage device with multi-degree-of-freedom adjustment according to claim 9, characterized in that: The rotating shaft (624) includes a first rotating part (6241) and a second rotating part (6242) coaxially arranged. Both the first rotating part (6241) and the second rotating part (6242) are rotatably connected to the push seat (621). The fourth driving member (623) is used to drive the first rotating part (6241) to rotate. The rotating arm (625) is connected to the second rotating part (6242). The end face of the first rotating part (6241) near the second rotating part (6242) is provided with a linkage block (6243). The end face of the second rotating part (6242) near the first rotating part (6241) is provided with a rotating arc groove (6244) for the linkage block (6243) to be inserted. The rotating arc groove (6244) has a first Point (6245) and second point (6246): When the pusher is moving into or out of the conveying channel (31), the linkage block (6243) is located at the first point (6245); the unlocking component includes an unlocking rope (6287), one end of which is connected to the limiting block (6284), and the other end is connected to the peripheral wall of the first rotating part (6241). When the pusher head (627) abuts against the PACK 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 limiting block (6284) and forces the limiting block (6284) to move into the second limiting groove (6283).

Images