CN107758567A - A kind of intelligent mounting-dismounting device for warehouse freezer - Google Patents
A kind of intelligent mounting-dismounting device for warehouse freezer Download PDFInfo
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- CN107758567A CN107758567A CN201711105756.2A CN201711105756A CN107758567A CN 107758567 A CN107758567 A CN 107758567A CN 201711105756 A CN201711105756 A CN 201711105756A CN 107758567 A CN107758567 A CN 107758567A
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- shaped beam
- freezer
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- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 210000000707 wrist Anatomy 0.000 claims description 13
- 239000006096 absorbing agent Substances 0.000 claims description 10
- 210000000245 forearm Anatomy 0.000 claims description 10
- 230000035939 shock Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 4
- 238000004088 simulation Methods 0.000 abstract description 3
- 230000036461 convulsion Effects 0.000 abstract description 2
- 230000009466 transformation Effects 0.000 abstract description 2
- 230000007704 transition Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 15
- 238000003860 storage Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/127—Working platforms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
- F16F13/005—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper
- F16F13/007—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a wound spring and a damper, e.g. a friction damper the damper being a fluid damper
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- General Engineering & Computer Science (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of intelligent mounting-dismounting device for warehouse freezer, including omni-directional moving platform, hoistable platform and mechanical arm；Wherein, omni-directional moving platform includes frame, motor, Mecanum wheel and damper；Hoistable platform includes upper mounted plate, middle supporting plate, bottom plate, screw pair and stepper motor, conveyer mechanism is connected with middle supporting plate, conveyer mechanism is made up of bearing plate and two electric expansion bars, and electric expansion bar one end is fixed on nut, and the other end is fixed on bearing plate lower end；Mechanical arm is sixdegree-of-freedom simulation.The present invention is applied to apron space is limited, passage is narrow warehouse, freezer, can both change motion track without rotation, avoids and repeatedly starts and the transformation of jerk posture, transition is more smooth, mobile more steady；Small lot goods can be realized using hoistable platform and be fetched and delivered on the shelf of different height, it is convenient and possible to be provided for the different size of article of placement.
Description
Technical field
The present invention relates to one kind storage robot, and in particular to a kind of intelligent mounting-dismounting device for warehouse freezer.
Background technology
With the appearance of electric business platform, the development of warehouse logisticses is more and swifter and more violent, the electricity such as Alibaba, Jingdone district store
Business establishes nationwide intelligent storage logistics center one after another.And intelligent warehousing system is mainly by stereo storage rack, rail roadway heap
Stack machine, go out to be put in storage induction system, information identification system, automatic control system, computer supervisory control system, computer management system with
And other auxiliary equipments composition, system pass through advanced control, bus, communication using first-class Integrated Logistics theory design
And information technology application, coordinate various kinds of equipment action realization and go out input work automatically.
One of important link is the stacking and carrying to goods in intelligent warehousing system, is applied in existing warehousing system
Most it is Kiva storages robot extensively, this robot shortcoming is can not be from primary access goods, it is necessary to the cooperation of automatic shelf
The carrying of goods could be realized；Needed when changing the direction of motion around own axes rotate, when be moved to narrow space or
In person corner, this robot is easy for the phenomenon blocked occur.
The content of the invention
To solve the above problems, the present invention provides a kind of intelligent mounting-dismounting device for warehouse freezer, it is empty suitable for operating
Between it is limited, in the narrow warehouse of passage, freezer, without other systems coordinate, can independently, accurately realize the access of goods, remove
Fortune.
A kind of intelligent mounting-dismounting device for warehouse freezer of the invention, including omni-directional moving platform, hoistable platform and machine
Tool arm；Wherein, omni-directional moving platform includes frame, motor, Mecanum wheel and damper, and frame is by upper plate, lower plate
And be connected between upper and lower plate and positioned at upper and lower plate corner support beam group into, frame both ends are provided with mounting bracket of shock absorber,
Mecanum wheel and motor are arranged on U-shaped beam, and damper one end is fixed on mounting bracket of shock absorber, and the other end is fixed
On U-shaped beam；
Hoistable platform includes upper mounted plate, middle supporting plate, bottom plate, screw pair and stepper motor, bottom plate
It is fixed on upper plate, leading screw passes through bottom plate, and stepper motor is arranged on upper plate lower end, and stepper motor passes through shaft coupling and leading screw
Bottom be connected, leading screw upper end is sleeved on upper mounted plate, and middle supporting plate is connected on nut, is connected with and is fetched and delivered in middle supporting plate
Mechanism, conveyer mechanism are made up of bearing plate and two electric expansion bars, and electric expansion bar one end is fixed on nut, and the other end is solid
It is scheduled on bearing plate lower end；
Mechanical arm includes fixed support, rotating basis, large arm, forearm, ancon rotating mechanism, wrist and grabs and seize device, fixed
Support is connected on upper plate, and mechanical arm is fixed on upper plate by fixed support, and rotating basis bottom is connected on fixed support, greatly
Arm is hinged with rotating basis, and large arm includes quadric chain and the first drive mechanism, and the first drive mechanism drives quadric chain
Swing up and down and stretch or bend, the connecting seat handing-over of ancon rotating mechanism is in the quadric chain epimere of large arm, ancon rotation
The output end of rotation mechanism is connected with forearm, the end of forearm connection wrist, and the wrist is free style steering wheel, the output end of wrist
Seize device with grabbing and be connected.
The driving wheel of omni-directional moving platform uses Mecanum wheel, diagonally distributes and is permitted on the wheel rim of Mecanum wheel
More small disk roller, these angled periphery wheel shafts are transformed into the wheel steering force of a part above one wheel method phase power, and
Direction and speed by respective wheel, synthesize the resultant force vector on the direction of any requirement, therefore Mecanum wheel can be with
Ensure that band mobile robot is moved to optional position on the premise of wheel is not changed from upper direction, exactly because rotation need not be passed through
Change direction, therefore can arbitrarily be moved in, warehouse that road is narrow limited in space, freezer, even in right angle turn, relied on
The kinetic characteristic of itself, also it can realize that right angle is excessively curved without rotation；Damper can prevent in mobile platform moving process by
Rocked in what vibrations caused to be transported goods, improve the stationarity in present apparatus handling process；Stepper motor on hoistable platform
Lift nut is realized by driving leading screw rotation, the conveyer mechanism in nut drive in supporting plate is lifted to different height,
Conveyer mechanism is by taking-up of the electric expansion bar drive bearing plate realization to the goods of shelf or places goods onto on shelf, from
And realize and the goods of different classifications is more accurately carried or loaded and unloaded；Manipulator space can be realized using sixdegree-of-freedom simulation
Accurate operation, to different size of goods pick up, mechanical arm device be fully loaded with walking process can adjust posture ensure dress
The Equilibrium put, to ensure the steady of goods in hoistable platform escalation process, mechanical arm can also be lived by gripper
Shelf securely fix device.
Further, lower plate lower end centre position is fixed with bearing block one, and U-shaped beam lower end centre position is fixed with bearing block
Two, it is connected by main shaft between two bearing blocks.
It is connected between the U-shaped beam of front end and the U-shaped beam of rear end and frame by main shaft, the front end in platform moving process
U-shaped beam and the U-shaped beam of rear end can surround spindle swing with compensate both sides Mecanum wheel in installation, manufacturing process occur it is inclined
Difference, remain Mecanum wheel and contacted with ground, while also for Uneven road or can jolt and play cushioning effect.
Further, damper includes pneumatic bumper and spring damper, and mounting bracket of shock absorber includes the He of support one
Support two, support one are supported in lower plate, and the both ends of support one have connection otic placode, and pivoting support is fixed with U-shaped beam, described
Pneumatic bumper is hinged between connection otic placode and pivoting support；The one end of support two is fixed on the upper end of support one, and the other end prolongs
The surface of U-shaped beam is extended, connecting spring damper between support two and U-shaped beam, spring damper is by spring, stud and nut
Composition, stud bottom are fixed on U-shaped beam, and upper end is fixed through the through hole on support two and by nut, and spring housing is mounted in support
On stud between two and U-shaped beam.
Spring damper can filter the vibrations on road surface, but cause vehicle body meeting because spring itself also has reciprocating motion
There is vertical bounce, therefore set pneumatic bumper to suppress this spring jump, pass through pneumatic bumper and spring damper
The vibrations that the present apparatus occurs during transporting goods can be eliminated by being collocated with each other use, so that it is in moving process is carried
It is more steady.
In order to play guide effect to the execution unit in hoistable platform lifting process, hoistable platform also includes being located at leading screw
The guide pillar and guide sleeve of both sides, guide sleeve are fixed in the pilot hole of middle supporting plate, and guide pillar bottom is fixed on bottom plate, its
Upper end sequentially passes through middle supporting plate and upper mounted plate.
Further, camera head installation rack is fixed with one of them U-shaped beam, camera is arranged on camera head installation rack
On.Goods can intuitively be understood by camera and carry situation, and vision signal is delivered to master control system.
Further, battery and master board are provided among frame.The battery can be rechargeable battery, and battery is this dress
Motor and master board in putting provide electric energy.
U-shaped beam below camera is provided with tracking module.It can be made comprehensive by writing input motion track in advance
Mobile platform is moved to required position according to setting track.
The present invention is applied to apron space is limited, passage is narrow warehouse, freezer, can both change movement without rotating
Track, the transformation repeatedly started with jerk posture is avoided, transition is more smooth, and movement is more steady；Can using hoistable platform
Fetched and delivered with being realized to small lot goods on the shelf of different height, for place different size of article provide it is convenient and
May；The accurate operation in manipulator space can be realized using sixdegree-of-freedom simulation, while can be led in fully loaded walking process
Adjustment posture is crossed to ensure the Equilibrium of device.
Brief description of the drawings
Fig. 1 is front view of the present invention；
Fig. 2 is Fig. 1 left view；
Fig. 3 is Fig. 1 top view；
Fig. 4 is the front view of mechanical arm in Fig. 1；
Fig. 5 is Fig. 4 left view；Structural representation；
In figure：1st, frame；1.1st, upper plate；1.2nd, lower plate；1.3 support beam；2nd, motor；3rd, Mecanum wheel；4th, subtract
Shake device；4.1st, pneumatic bumper；4.2nd, spring damper；5th, mounting bracket of shock absorber；5.1st, support one；5.2nd, support two；
5.3rd, connection otic placode；5.4th, pivoting support；6th, U-shaped beam；7th, upper mounted plate；8th, middle supporting plate；9th, bottom plate；10th, leading screw spiral shell
It is female secondary；10.1, leading screw；10.2, nut；11st, stepper motor；12nd, shaft coupling；13rd, conveyer mechanism；13.1, bearing plate；13.2、
Electric expansion bar；14th, fixed support；15th, rotating basis；16th, large arm；17th, forearm；18th, ancon rotating mechanism；19th, wrist；
20th, grab and seize device；21st, bearing block one；22nd, bearing block two；23rd, main shaft；24th, guide pillar；25th, guide sleeve；26th, camera head installation rack；
27th, camera；28th, battery；29th, master board；30th, tracking module.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Fig. 1 to 5, a kind of intelligent mounting-dismounting device for warehouse freezer, including omni-directional moving platform, lifting are put down
Platform and mechanical arm；Wherein, omni-directional moving platform includes frame 1, motor 2, Mecanum wheel 3 and damper 4, frame 1
By upper plate 1.1, lower plate 1.2 and it is connected between upper and lower plate and support beam 1.3 positioned at upper and lower plate corner forms, 1 liang of frame
End is provided with mounting bracket of shock absorber 5, and Mecanum wheel 3 and motor 2 are arranged on U-shaped beam 6, and the one end of damper 4 is fixed on
On mounting bracket of shock absorber 5, the other end is fixed on U-shaped beam 6；
Hoistable platform includes upper mounted plate 7, middle supporting plate 8, bottom plate 9, screw pair 10 and stepper motor 11, under
Fixed plate 9 is fixed on upper plate 1.1, and leading screw 10.1 passes through bottom plate 9, and stepper motor 11 is arranged on the lower end of upper plate 1.1, stepping
Motor 11 is connected by shaft coupling 12 with the bottom of leading screw 10.1, and the upper end of leading screw 10.1 is sleeved on upper mounted plate 7, middle supporting plate
8 are connected on nut 10.2, and conveyer mechanism 13 is connected with middle supporting plate 8, and conveyer mechanism is electronic by bearing plate 13.1 and two
Expansion link 13.2 is formed, and the one end of electric expansion bar 13.2 is fixed on nut 10.2, and the other end is fixed on the lower end of bearing plate 13.1；
Mechanical arm includes fixed support 14, rotating basis 15, large arm 16, forearm 17, ancon rotating mechanism 18, the and of wrist 19
Grab and seize device 20, fixed support 14 is connected on upper plate 1.1, and mechanical arm is fixed on upper plate by fixed support, the bottom of rotating basis 15
Portion is connected on fixed support 14, and large arm 16 is be hinged with rotating basis 15, and large arm 16 includes quadric chain and the first driving machine
Structure, the first drive mechanism drive quadric chain to swing up and down and stretch or bend, and the connecting seat of ancon rotating mechanism 14 is handed over
The quadric chain epimere of large arm is connected on, the output end of ancon rotating mechanism 18 is connected with forearm 17, the end connection of forearm 17
Wrist 2, the wrist are free style steering wheel, and the output end of wrist is seized device 20 and be connected with grabbing.
The driving wheel of omni-directional moving platform uses Mecanum wheel 3, is diagonally distributed on the wheel rim of Mecanum wheel
Many small disk rollers, these angled periphery wheel shafts are transformed into the wheel steering force of a part above one wheel method phase power,
And the direction by respective wheel and speed, the resultant force vector on the direction of any requirement is synthesized, therefore Mecanum wheel can
To ensure that band mobile robot is moved to optional position on the premise of wheel is not changed from upper direction, exactly because rotation need not be passed through
Turn to change direction, therefore can arbitrarily be moved in, warehouse that road is narrow limited in space, freezer, even in right angle turn, with
By means of the kinetic characteristic of itself, also it can realize that right angle is excessively curved without rotation；Damper 4 can be prevented in mobile platform moving process
By what vibrations caused to be transported goods rocks, the stationarity in present apparatus handling process is improved；Stepping electricity on hoistable platform
Machine 11 realizes that nut 10.2 lifts by driving leading screw 10.1 to rotate, and machine is fetched and delivered in supporting plate 8 during nut 10.2 drives
Structure 13 is lifted to different height, conveyer mechanism drives bearing plate 13.1 to realize to the goods of shelf by electric expansion bar 13.2
Take out or place goods onto on shelf, so as to realize that the goods to different classifications is more accurately carried or loaded and unloaded；Using six
Degree-of-freedom manipulator can realize the accurate operation in manipulator space, and different size of goods is picked up, and mechanical arm is fully loaded with device
The Equilibrium that posture ensures device can be adjusted in walking process, is the flat of guarantee goods in hoistable platform escalation process
Surely, mechanical arm can also live shelf by gripper and securely fix device.
As depicted in figs. 1 and 2, the lower end centre position of lower plate 1.2 is fixed with bearing block 1, the U-shaped lower end centre position of beam 6
Bearing block 2 22 is fixed with, is connected between two bearing blocks by main shaft 23.
Be connected between the U-shaped beam of front end and the U-shaped beam of rear end and frame 1 by main shaft 23, in platform moving process before
The U-shaped beam at end and the U-shaped beam of rear end can surround spindle swing to be occurred to compensate both sides Mecanum wheel in installation, manufacturing process
Deviation, remain Mecanum wheel and contacted with ground, while also for Uneven road or can jolt and play cushioning effect.
As shown in Figures 1 to 3, damper 4 includes pneumatic bumper 4.1 and spring damper 4.2, mounting bracket of shock absorber 5
Including support 1 and support 2 5.2, support 1 is supported in lower plate 1.2, and the both ends of support 1 have connection otic placode
5.3, pivoting support 5.4 is fixed with U-shaped beam 6, and the pneumatic bumper 4.1 is hinged on connection otic placode 5.3 and pivoting support 5.4
Between；The one end of support 2 5.2 is fixed on the upper end of support 1, and the other end extends to the surface of U-shaped beam 6, support 2 5.2
The connecting spring damper 4.2 between U-shaped beam 6, spring damper 4.2 are made up of spring, stud and nut, and stud bottom is fixed
On U-shaped beam 6, upper end is fixed through the through hole on support 2 5.2 and by nut, and spring housing is mounted in support 2 5.2 and U-shaped beam 6
Between stud on.
Spring damper can filter the vibrations on road surface, but cause vehicle body meeting because spring itself also has reciprocating motion
There is vertical bounce, therefore set pneumatic bumper to suppress this spring jump, pass through pneumatic bumper and spring damper
The vibrations that the present apparatus occurs during transporting goods can be eliminated by being collocated with each other use, so that it is in moving process is carried
It is more steady.
In order to play guide effect to the execution unit in hoistable platform lifting process, hoistable platform also includes being located at leading screw
The guide pillar 24 and guide sleeve 25 of 10.1 both sides, guide sleeve 25 are fixed in the pilot hole of middle supporting plate 8, and the bottom of guide pillar 24 is fixed on
On bottom plate 9, its upper end sequentially passes through middle supporting plate 8 and upper mounted plate 7.
As shown in figure 1, being fixed with camera head installation rack 26 on one of them U-shaped beam 6, camera 27 is pacified installed in camera
Shelve on 26.Goods can intuitively be understood by camera and carry situation, and vision signal is delivered to master control system.
Further, battery 28 and master board 29 are provided among frame 1.The battery can be rechargeable battery, battery
Electric energy is provided for the motor in the present apparatus and master board.
The U-shaped beam 6 of the lower section of camera 27 is provided with tracking module 30.It can be made by writing input motion track in advance
Omni-directional moving platform is moved to required position according to setting track.
Claims (7)
- A kind of 1. intelligent mounting-dismounting device for warehouse freezer, it is characterised in that including omni-directional moving platform, hoistable platform and Mechanical arm；Wherein,Omni-directional moving platform includes frame (1), motor (2), Mecanum wheel (3) and damper (4), frame (1) by Upper plate (1.1), lower plate (1.2) and it is connected between upper and lower plate and the support beam (1.3) positioned at upper and lower plate corner forms, frame (1) both ends are provided with mounting bracket of shock absorber (5), and Mecanum wheel (3) and motor (2) are arranged on U-shaped beam (6), damping Device (4) one end is fixed on mounting bracket of shock absorber (5), and the other end is fixed on U-shaped beam (6)；Hoistable platform includes upper mounted plate (7), middle supporting plate (8), bottom plate (9), screw pair (10) and stepper motor (11), bottom plate (9) is fixed on upper plate (1.1), and leading screw (10.1) passes through bottom plate (9), and stepper motor (11) is set In upper plate (1.1) lower end, stepper motor (11) is connected by shaft coupling (12) with the bottom of leading screw (10.1), on leading screw (10.1) End is sleeved on upper mounted plate (7), and middle supporting plate (8) is connected on nut (10.2), and the machine of fetching and delivering is connected with middle supporting plate (8) Structure (13), conveyer mechanism are made up of bearing plate (13.1) and two electric expansion bars (13.2), electric expansion bar (13.2) one end It is fixed on nut (10.2), the other end is fixed on bearing plate (13.1) lower end；Mechanical arm includes fixed support (14), rotating basis (15), large arm (16), forearm (17), ancon rotating mechanism (18), wrist Portion (19) and grab and seize device (20), fixed support (14) is connected on upper plate (1.1), and mechanical arm is fixed on upper plate by fixed support On, rotating basis (15) bottom is connected on fixed support (14), and large arm (16) is be hinged with rotating basis (15), large arm (16) bag Quadric chain and the first drive mechanism are included, the first drive mechanism drives quadric chain to swing up and down and stretch or bend, Ancon rotating mechanism (14) connecting seat handing-over large arm quadric chain epimere, the output end of ancon rotating mechanism (18) with Forearm (17) is connected, and the end connection wrist (2) of forearm (17), the wrist is free style steering wheel, and the output end of wrist is with grabbing Device (20) is seized to be connected.
- 2. it is used for the intelligent mounting-dismounting device of warehouse freezer as claimed in claim 1, it is characterised in that in lower plate (1.2) lower end Between position be fixed with bearing block one (21), U-shaped beam (6) lower end centre position is fixed with bearing block two (22), two bearing blocks it Between by main shaft (23) be connected.
- 3. it is used for the intelligent mounting-dismounting device of warehouse freezer as claimed in claim 2, it is characterised in that damper (4) includes gas Pressure damper (4.1) and spring damper (4.2), mounting bracket of shock absorber (5) include support one (5.1) and support two (5.2), Support one (5.1) is supported in lower plate (1.2), and the both ends of support one (5.1) have connection otic placode (5.3), consolidate on U-shaped beam (6) Surely there is pivoting support (5.4), the pneumatic bumper (4.1) is hinged between connection otic placode (5.3) and pivoting support (5.4)； Support two (5.2) one end is fixed on the upper end of support one (5.1), and the other end extends to the surface of U-shaped beam (6), support two (5.2) the connecting spring damper (4.2) between U-shaped beam (6), spring damper (4.2) are made up of spring, stud and nut, Stud bottom is fixed on U-shaped beam (6), and upper end is fixed through the through hole on support two (5.2) and by nut, and spring housing is mounted in branch On stud between frame two (5.2) and U-shaped beam (6).
- 4. it is used for the intelligent mounting-dismounting device of warehouse freezer as claimed in claim 3, it is characterised in that hoistable platform also includes setting Guide pillar (24) and guide sleeve (25) in leading screw (10.1) both sides, guide sleeve (25) are fixed in the pilot hole of middle supporting plate (8), Guide pillar (24) bottom is fixed on bottom plate (9), and its upper end sequentially passes through middle supporting plate (8) and upper mounted plate (7).
- 5. it is used for the intelligent mounting-dismounting device of warehouse freezer as claimed in claim 4, it is characterised in that one of them U-shaped beam (6) On be fixed with camera head installation rack (26), camera (27) is arranged on camera head installation rack (26).
- 6. it is used for the intelligent mounting-dismounting device of warehouse freezer as claimed in claim 5, it is characterised in that be provided among frame (1) Battery (28) and master board (29).
- 7. the intelligent mounting-dismounting device for warehouse freezer as described in claim 1 to 6 any claim, it is characterised in that U-shaped beam (6) below camera (27) is provided with tracking module (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711105756.2A CN107758567A (en) | 2017-11-10 | 2017-11-10 | A kind of intelligent mounting-dismounting device for warehouse freezer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711105756.2A CN107758567A (en) | 2017-11-10 | 2017-11-10 | A kind of intelligent mounting-dismounting device for warehouse freezer |
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| Publication Number | Publication Date |
|---|---|
| CN107758567A true CN107758567A (en) | 2018-03-06 |
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|---|---|---|---|
| CN201711105756.2A Pending CN107758567A (en) | 2017-11-10 | 2017-11-10 | A kind of intelligent mounting-dismounting device for warehouse freezer |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108316718A (en) * | 2018-04-19 | 2018-07-24 | 南京工程学院 | Lifting/lowering type automatic stopping device |
| CN108502823A (en) * | 2018-04-13 | 2018-09-07 | 吴德繁 | A kind of full-automatic remains carrying implement |
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| CN108873811A (en) * | 2018-09-13 | 2018-11-23 | 吉林化工学院 | A kind of machinery production manufacture bearing system and method |
| CN108974918A (en) * | 2018-07-27 | 2018-12-11 | 江南大学 | A kind of mobile robot carried for cargo |
| CN109250655A (en) * | 2018-08-28 | 2019-01-22 | 惠州市吉祥达智能装备有限公司 | A kind of stakcer crane |
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| CN109704225A (en) * | 2019-01-22 | 2019-05-03 | 杭州柏晗装饰设计工程有限公司 | A kind of lifting transport device of aluminum-pinch |
| CN110292497A (en) * | 2019-06-06 | 2019-10-01 | 浙江工业大学 | A kind of controllable auxiliary body turning four-bar mechanism of angle |
| CN110510354A (en) * | 2019-09-23 | 2019-11-29 | 深圳优艾智合机器人科技有限公司 | A kind of conveying device and automatic assembly line |
| WO2019245837A1 (en) * | 2018-06-22 | 2019-12-26 | Southwest Research Institute | Movement system for an omnidirectional vehicle |
| CN112847435A (en) * | 2020-12-31 | 2021-05-28 | 洛阳尚奇机器人科技有限公司 | Light mechanical arm with passive gravity compensation |
| CN112849893A (en) * | 2021-02-08 | 2021-05-28 | 日日顺供应链科技股份有限公司 | Clamping vehicle and flat warehouse management system |
| CN113320974A (en) * | 2021-07-06 | 2021-08-31 | 上海海洋大学 | Artificial intelligence commodity circulation transport vechicle |
| CN113386879A (en) * | 2021-07-30 | 2021-09-14 | 东南大学 | Lead screw guide rail type logistics trolley with signing function |
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| CN114426211A (en) * | 2020-10-29 | 2022-05-03 | 唐山海容机器人应用技术研究院 | Automatic loading and unloading robot for box-packed goods |
| CN115092660A (en) * | 2022-06-07 | 2022-09-23 | 广东工业大学 | But height-adjusting's variable many goods way transmission system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502823A (en) * | 2018-04-13 | 2018-09-07 | 吴德繁 | A kind of full-automatic remains carrying implement |
| CN108316718B (en) * | 2018-04-19 | 2024-04-19 | 南京工程学院 | Novel lifting type automatic parking device |
| CN108316718A (en) * | 2018-04-19 | 2018-07-24 | 南京工程学院 | Lifting/lowering type automatic stopping device |
| CN108640017A (en) * | 2018-05-21 | 2018-10-12 | 上海交通大学 | Cargo captures transport device |
| CN108640017B (en) * | 2018-05-21 | 2019-12-31 | 上海交通大学 | Goods grabbing and transporting device |
| CN108732241A (en) * | 2018-05-22 | 2018-11-02 | 北京双河理声自动化检测技术有限公司 | Train axle ultrasonic inspection machine |
| CN108732241B (en) * | 2018-05-22 | 2023-11-14 | 北京双河理声自动化检测技术有限公司 | Ultrasonic flaw detector for train wheel axle |
| CN108706506A (en) * | 2018-06-05 | 2018-10-26 | 马鞍山市三川机械制造有限公司 | A kind of job shop marine engine flywheel carrying device |
| WO2019245837A1 (en) * | 2018-06-22 | 2019-12-26 | Southwest Research Institute | Movement system for an omnidirectional vehicle |
| US10696115B2 (en) | 2018-06-22 | 2020-06-30 | Southwest Research Institute | Movement system for an omnidirectional vehicle |
| CN108974918A (en) * | 2018-07-27 | 2018-12-11 | 江南大学 | A kind of mobile robot carried for cargo |
| CN109250655A (en) * | 2018-08-28 | 2019-01-22 | 惠州市吉祥达智能装备有限公司 | A kind of stakcer crane |
| CN108873811A (en) * | 2018-09-13 | 2018-11-23 | 吉林化工学院 | A kind of machinery production manufacture bearing system and method |
| CN109462636A (en) * | 2018-09-30 | 2019-03-12 | 北京隆恩智慧科技有限公司 | A kind of universal intelligent inspection device and its application method |
| CN109650302A (en) * | 2018-12-11 | 2019-04-19 | 中联重科股份有限公司 | Aerial lift device |
| CN109704225A (en) * | 2019-01-22 | 2019-05-03 | 杭州柏晗装饰设计工程有限公司 | A kind of lifting transport device of aluminum-pinch |
| CN110292497A (en) * | 2019-06-06 | 2019-10-01 | 浙江工业大学 | A kind of controllable auxiliary body turning four-bar mechanism of angle |
| CN110292497B (en) * | 2019-06-06 | 2024-03-26 | 浙江工业大学 | Angle-controllable auxiliary turning four-bar mechanism |
| CN110510354A (en) * | 2019-09-23 | 2019-11-29 | 深圳优艾智合机器人科技有限公司 | A kind of conveying device and automatic assembly line |
| CN114426211A (en) * | 2020-10-29 | 2022-05-03 | 唐山海容机器人应用技术研究院 | Automatic loading and unloading robot for box-packed goods |
| CN112847435A (en) * | 2020-12-31 | 2021-05-28 | 洛阳尚奇机器人科技有限公司 | Light mechanical arm with passive gravity compensation |
| CN112849893A (en) * | 2021-02-08 | 2021-05-28 | 日日顺供应链科技股份有限公司 | Clamping vehicle and flat warehouse management system |
| CN113320974A (en) * | 2021-07-06 | 2021-08-31 | 上海海洋大学 | Artificial intelligence commodity circulation transport vechicle |
| CN113386879A (en) * | 2021-07-30 | 2021-09-14 | 东南大学 | Lead screw guide rail type logistics trolley with signing function |
| CN114194873A (en) * | 2021-12-24 | 2022-03-18 | 大连海事大学 | Intelligent unloading system and method for refrigerated ship based on visual system |
| CN114194873B (en) * | 2021-12-24 | 2024-05-10 | 大连海事大学 | Visual system-based intelligent unloading system and method for refrigerator ship |
| CN115092660A (en) * | 2022-06-07 | 2022-09-23 | 广东工业大学 | But height-adjusting's variable many goods way transmission system |
| CN115092660B (en) * | 2022-06-07 | 2023-06-13 | 广东工业大学 | Height-adjustable variable multi-channel conveying system |
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Application publication date: 20180306 |