CN108910374B - Automatic storage device of arrangement robot - Google Patents
Automatic storage device of arrangement robot Download PDFInfo
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- CN108910374B CN108910374B CN201810738911.2A CN201810738911A CN108910374B CN 108910374 B CN108910374 B CN 108910374B CN 201810738911 A CN201810738911 A CN 201810738911A CN 108910374 B CN108910374 B CN 108910374B
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- 238000003860 storage Methods 0.000 title claims abstract description 30
- 230000000903 blocking effect Effects 0.000 claims description 78
- 239000000463 material Substances 0.000 claims description 27
- 230000033001 locomotion Effects 0.000 claims description 26
- 238000012546 transfer Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 claims 2
- 238000000926 separation method Methods 0.000 claims 1
- 230000006872 improvement Effects 0.000 description 15
- 230000005540 biological transmission Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Classifications
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- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of automatic storage equipment, in particular to an automatic storage device of an arrangement robot.
Description
Technical Field
The invention relates to the technical field of automatic storage equipment, in particular to an automatic storage device of an arrangement robot.
Background
At present, the traditional loading box material loading manufacture is to put the loading box into a peripheral limit operation area, and a worker takes charge of material moving after the loading box is filled with products; when special loading box needs dustproof and anti-foreign matter, the workman still needs to open the loading box earlier and just can change the material, in time close the box after filling, and staff operation can cause secondary pollution's risk to the product like this, and because manual operation's uncertainty, the operating quality of process is difficult to guarantee moreover for manufacturing's cost increases by a wide margin, is unfavorable for intelligent management and control, so utilize the manual loading to have can not satisfied competition and lean production in the present enterprise trade.
Disclosure of Invention
The invention provides an automatic storage device for an arrangement robot, which comprises a base and an electrical control system, wherein an operation assembly, a material moving assembly and a storage assembly are arranged on the base, the material moving assembly is used for moving a loading box, the material moving assembly comprises a first bottom plate, an X-axis module, a Y-axis module and a Z-axis module, the X-axis module, the Y-axis module and the Z-axis module are respectively used for driving the first bottom plate to move along an X axis, a Y axis and a Z axis, and a flip assembly used for flip-cover the loading box is arranged on the first bottom plate.
As a further improvement of the scheme, the material moving assembly further comprises two clamping arms arranged on the first bottom plate, and the two clamping arms can be relatively close to and far away from each other.
As a further improvement of the scheme, a protruding part is arranged on the box cover of the loading box, and the flip cover assembly comprises a first blocking part matched with the protruding part.
As a further development of the above, the first stop is provided on the clamping arm.
As a further improvement of the scheme, the material moving assembly further comprises a fixed block arranged on the first bottom plate and a power piece for driving the clamping arms to move, a sliding groove for accommodating sliding of the clamping arms is formed in the fixed block, and the first blocking part is arranged on one side, close to the loading box, of the fixed block.
As a further improvement of the scheme, the first bottom plate is provided with two clamping arms which can be relatively close to and far away from each other, the flip cover assembly and the material moving assembly are composed of the same group of clamping arms, the two clamping arms are relatively close to the clamping box cover and do overturning action to enable the box cover to flip, and the two clamping arms are relatively close to the clamping box body to enable the loading box to move along with the first bottom plate.
As a further improvement of the above solution, the material moving assembly further comprises a first sensor electrically connected to the electrical control system, the first sensor being adapted to sense the loading box in front of the gripping arm.
As a further improvement of the scheme, the operation assembly comprises a second bottom plate movably arranged on the base, a first limiting block and a clamping assembly, wherein the first limiting block and the clamping assembly are respectively arranged on the second bottom plate, and the clamping assembly can be close to and far away from the first limiting block.
As a further improvement of the scheme, the clamping assembly comprises a sliding block, an elastic piece is connected between the sliding block and the second bottom plate, and a second limiting block which is abutted against the side face of the loading box is arranged on the sliding block.
As a further improvement of the scheme, the base is provided with a blocking piece, the sliding block is provided with a second blocking part, the second bottom plate is provided with a rotatable rotating block, one end of the rotating block is abutted with the second blocking part, and the other end of the rotating block is provided with a third blocking part which is detachably connected with the blocking piece.
The beneficial effects of the invention are as follows: according to the invention, the linkage of the X-axis module, the Y-axis module and the Z-axis module is controlled by the electric control system, the material moving assembly is driven to transfer the empty loading box onto the operation assembly, the cover turning assembly is used for opening the box cover of the loading box by the linkage of the X-axis module, the Y-axis module and the Z-axis module, after the loading box is filled, the cover turning assembly is used for closing the box cover, the material moving assembly is used for transferring the filled loading box from the operation assembly to the storage assembly for storage, the automatic storage device can replace manual operation to avoid secondary pollution of products, the cover turning, the box cover and the transferring operation of the loading box are automatically completed by the automatic storage device, the cleanliness of the products is ensured, the uncertainty of manual operation is solved, the cost is reduced, and the intelligent management and control of production are convenient.
Drawings
The invention is further described below with reference to the drawings and examples.
FIG. 1 is a side view of the structure of the automated warehouse of the arraying robot of the present invention;
FIG. 2 is a side view of a first stop of the transfer assembly of the present invention;
FIG. 3 is a side view of another preferred embodiment of the first stop of the transfer assembly of the present invention;
FIG. 4 is a side elevational view of the construction of the transfer assembly of the present invention;
FIG. 5 is a side elevational view of the work assembly of the present invention;
fig. 6 is a bottom view of the construction of the work module of the present invention.
Detailed Description
The invention will now be described in further detail with reference to the drawings and a preferred embodiment.
An automatic warehouse device of an arrangement robot as shown in fig. 1 comprises a base 1 and an electrical control system, wherein the electrical control system comprises a Programmable Logic Controller (PLC) or a programmable logic controller (SCM), the base 1 is further provided with an operation assembly 2, a material moving assembly 3 and a storage assembly respectively, and the material moving assembly 3 is used for carrying a loading box 11.
As shown in fig. 5 and fig. 6, the working assembly 2 includes a second bottom plate 201 movably disposed on the base 1, a first limiting block 202 and a clamping assembly respectively disposed on the second bottom plate 201, the clamping assembly can move close to and far away from the first limiting block 202, preferably, the first limiting block 202 has an L-shaped structure, which can abut against two adjacent sides of the loading box 11, the clamping assembly is in pressure connection with two other adjacent sides of the loading box 11, so that the loading box 11 can be fixed on the second bottom plate 201, the second bottom plate 201 is respectively connected with a lateral movement module 209 and a longitudinal movement module 210, the lateral movement module 209 and the longitudinal movement module 210 can be linked by adopting a motor and a screw transmission mode, the placing table is driven to move along an X axis and a Y axis, the clamping assembly includes a sliding block 203 disposed at a lower end of the second bottom plate 201 and a first sliding rail for accommodating the sliding of the sliding block 203, an elastic member 204 is connected between the sliding block 203 and the second bottom plate 201, the elastic member 204 can be a tension spring, the sliding block 203 vertically passes through the second bottom plate 201 and is provided with two second limiting blocks 205, two adjacent limiting blocks 205 are respectively abutted against two second limiting blocks 205, and two adjacent limiting blocks 206 are respectively disposed at two lower ends of the second limiting blocks 206, and two adjacent limiting blocks are respectively sleeved on the second bottom blocks 11.
Preferably, a blocking block 12 detachably connected with a second blocking part 206 is provided on the base 1, the sliding block 203 moves along with the second bottom plate 201 to approach and press the blocking block 12, so that the second limiting block 205 moves along with the sliding block 203, and is far away from the first limiting block 202 and stretches the elastic member 204, the empty loading box 11 is taken out from the storage assembly by the material moving assembly 3 and placed in a region between the first limiting block 202 and the second limiting block 205 on the second bottom plate 201, the transverse moving module 209 and the longitudinal moving module 210 are linked to drive the second bottom plate 201 to reset, that is, the sliding block 203 moves along with the second bottom plate 201 away from the blocking block 12, so that the second limiting block 205 is pressed against the loading box 11 under the elastic restoring force of the elastic member 204, and the loading box 11 is pushed to move on the second bottom plate 201, so that four sides of the loading box 11 are respectively abutted against the first limiting block 202 and the second limiting block 205, and the correction and positioning of the loading box 11 are realized.
As a further improvement of the above solution, a rotating block is further provided on the second bottom plate 201, a rotating shaft is connected between the rotating block and the second bottom plate 201, one end of the rotating shaft is fixedly connected with the rotating shaft, the other end of the rotating block is connected with the second bottom plate 201 through a bearing, the rotating block rotates along with the rotating shaft, one end of the rotating block is abutted against the second blocking portion 206, the other end of the rotating block is provided with a third blocking portion 211 detachably connected with the blocking block 12, the second bottom plate 201 is driven to move along with the second bottom plate 201 in a linkage manner, the third blocking portion 211 of the rotating block is close to and is in pressure connection with the blocking block 12, the rotating block rotates, one end of the rotating block, which is opposite to the third blocking portion 211, is in pressure connection with the second blocking portion 206, drives the sliding block 203 to be far away from the first blocking block 202 and stretches the elastic piece 204, the material moving component 3 takes out the empty loading box 11 from the storage component and is placed in an area between the first blocking block 202 and the second blocking block 205 on the second bottom plate 201, that the second bottom plate 201 is reset along with the second bottom plate 201, namely, the rotating block is far away from the blocking block 12 along with the second bottom plate 201, the blocking block 12 has eliminated from the blocking effect of the blocking block 211 on the third blocking block 12, the second blocking block 203 is close to the second blocking block 203, and the sliding block 203 is driven to reset on the second blocking block to move the second blocking block 205 and the second blocking block 11 and the second blocking block is in a correct box 11 and the empty loading box 11 is pushed by the elastic piece and the second blocking block is in a correct to move and a correct box 11, and a correct box 11.
As another expression of the above technical solution, the second bottom plate 201 moves to an origin position under the linkage action of the lateral movement module 209 and the longitudinal movement module 210, where the origin position is a position where the empty loading box 11 waits for placement and the full loading box 11 waits for storage, during the movement to the origin position, the third blocking portion 211 of the rotating block is pressed against the blocking block 12 and makes the rotating block rotate along the rotating shaft, one end of the rotating block opposite to the third blocking portion 211 is pressed against the second blocking portion 206 of the sliding block 203, so as to drive the sliding block 203 to slide along the first sliding rail, the second limiting block 205 moves along with the sliding block 203, away from the first limiting block 202, during the first operation, the movement process is that the empty loading box 11 is clamped by the material moving assembly 3 from the storage assembly to be placed on the second bottom plate 201, and thereafter, during the movement is a storage cycle where the empty loading box 11 is clamped by the material moving assembly 3 to be placed in the storage assembly, and then the empty loading box 11 is clamped by the storage assembly to be placed on the second bottom plate 201.
As shown in fig. 2, the material moving assembly 3 includes a first base 301, an X-axis module 501, a Y-axis module 511, and a Z-axis module 521 that respectively drive the first base 301 to move along the X-axis, the Y-axis, and the Z-axis, the first base 301 is provided with a flip assembly for flip the loading box 11, the first base 301 is provided with a power member 305, the power member 305 is connected with two clamping arms 303 that can move relatively close to and far away from each other, the power member 305 may be a motor, an output end of the motor is provided with a gear, the two clamping arms 303 are both provided with racks engaged with the gear, the motor drives the two clamping arms 303 to move through a transmission manner of the gear and the racks, the first base 301 is further provided with a fixing block 304, the fixing block 304 may be fixed on the first base 301 through a bolting or welding or an integrally formed manner, the fixing block 304 is provided with a chute, the two clamping arms 303 are both disposed on the chute, and the two clamping arms 303 slide relatively close to and far away from each other along the chute.
As shown in fig. 4, the X-axis module 501, the Y-axis module 511 and the Z-axis module 521 all drive the first base plate 301 to move by means of a screw transmission, preferably, the X-axis module 501, the Y-axis module 511 and the Z-axis module 521 are respectively provided with an X-axis slide rail, a Y-axis slide rail and a Z-axis slide rail for improving the movement precision of the first base plate 301, in this embodiment, the first base plate 301 is disposed on the X-axis module 501, the X-axis module 501 is disposed on the Z-axis module 521, the Z-axis module 521 is disposed on the Y-axis module 511, preferably, the Y-axis module 511 includes two Y-axis slide rails that are separately disposed at the upper end and the lower end of the Z-axis module 521, that is, the Y-axis module 511 is a dual-module structure, which can further promote the movement of the first base plate 301 along the Y-axis direction, so as to ensure that the clamping arm 303 can accurately clamp the loading box 11 and the first blocking portion 302 to be accurately abut against the protruding portion 13 on the box cover.
The loading box 11 in this embodiment is a flip structure, that is, the box cover can be turned over along the hinge portion of the loading box 11, and an outward protruding portion 13 is disposed on one side of the box cover opposite to the hinge portion, a first blocking portion 302 is disposed on one side of the first bottom plate 301 along the X axis, which is close to the loading box 11, the first blocking portion 302 is matched with the protruding portion 13 on the box cover, the first blocking portion 302 may be a plate, a block or a rod extending outwards, which is used to abut against the protrusion of the box cover, and the box cover moves along with the first blocking portion 302 to realize flip.
As a further improvement of the above solution, the flip component and the material moving component are composed of the same clamping arm 303, during the movement process, the two clamping arms 303 are linked to the box cover close to the loading box 11 by the X-axis module 501, the Y-axis module 511 and the Z-axis module 521, the power piece 305 drives the two clamping arms 303 to clamp the box cover, and the X-axis module 501, the Y-axis module 511 and the Z-axis module 521 are linked to drive the clamping arms 303 to do an arc movement for opening the box cover, so that the loading box 11 is flip, and the closing and moving movements of the loading box 11 are also linked by the X-axis module 501, the Y-axis module 511 and the Z-axis module 521, and the X-axis module 501, the Y-axis module 511 and the Z-axis module 521 are controlled by the electrical control system.
In this embodiment, as shown in fig. 2, the first blocking portion 302 may be fastened to the fixed block 304 by a threaded connection or welding, the first blocking portion 302 is disposed on a side of the fixed block 304 near the loading box 11, and after the first blocking portion 302 abuts against the protruding portion 13, the first blocking portion 302 can perform an arc motion of opening the box cover by means of the linkage of the X-axis module 501, the Y-axis module 511, and the Z-axis module 521; when the box cover needs to be closed, the first blocking part 302 moves to the lower part of the opened box cover, and then the first blocking part 302 abuts against the box cover and performs arc movement of the closed box cover by means of the linkage of the X-axis module 501, the Y-axis module 511 and the Z-axis module 521.
As a further improvement of the above solution, as shown in fig. 3, the first blocking portion 302 may be fixed on the clamping arm 303 by bolting or welding, and the first blocking portion 302 may be disposed on an upper portion, a side portion or a lower portion of a front end of the clamping arm 303, and the first blocking portion 302 may be adjusted in the Y-axis direction by the power member 305 to ensure that the first blocking portion 302 is firmly abutted with the protruding portion 13.
The storage assembly comprises a storage box 401 which is movably arranged on a base 1, a second sliding rail is arranged between the storage box 401 and the base 1, the storage box 401 can slide along the second sliding rail, and a plurality of grids for placing the loading boxes 11 are arranged on the storage box 401.
As a further improvement of the above solution, as shown in fig. 2 or fig. 3, the first base 301 is further provided with a first sensor 306 for sensing the loading box 11 on the working assembly 2, the first sensor 306 may be a photoelectric sensor, the first sensor 306 is electrically connected with the electrical control system, and when the material moving assembly 3 approaches to the working assembly 2, the first sensor 306 senses whether the loading box 11 is on the working assembly 2;
as a further improvement of the above solution, as shown in fig. 5, the second bottom plate 201 is provided with a second sensor 207 electrically connected to the electrical control system, where the second sensor 207 may be a contact sensor, which is used to sense the flip condition of the loading box 11 and whether the loading box 11 is reversely placed, specifically, after the loading box 11 is flipped, the lid abuts against the second sensor 207, so that the second sensor 207 generates a sensing signal, if the lid is closed, the second sensor 207 cannot sense the lid, and if the loading box 11 is reversely placed, the first blocking portion 302 moves in an arc manner along with the X-axis module 501, the Y-axis module 511, and the Z-axis module 521 in a linkage manner, and then the second sensor 207 cannot sense the lid, so that the loading box 11 is reversely placed.
As a further improvement of the above solution, as shown in fig. 5, a third sensor 208 electrically connected to the electrical control system is further provided on the second base plate 201, and the third sensor 208 may be a laser or a photoelectric sensor, so as to sense whether the loading box 11 is present on the working assembly 2.
As a further improvement of the above solution, as shown in fig. 2 or fig. 3, the opposite sides of the two clamping arms 303 are provided with a plurality of elastic bodies 308, the elastic bodies 308 may be nylon blocks or suction cups, in this embodiment, the suction cups are preferably suction cups, through holes are provided in the middle of the suction cups, a gap is provided between the elastic bodies 308 and the clamping arms 303, after the suction cups are crimped to the box body, the suction cups enable the suction cups and the box body to be in a non-vacuum state through the gap, that is, the suction cups only have the functions of buffering and balancing, but do not have the function of adsorbing the box body, and friction force between the suction cups and the loading box 11 enables the loading box 11 to move along with the clamping arms 303.
As a preferred implementation manner of all the above embodiments, the second bottom plate 201 is linked to the origin position by the lateral movement module 209 and the longitudinal movement module 210, during the movement, the third blocking portion 211 approaches and presses the blocking block 12, the rotating block rotates along the rotating shaft, one end of the rotating block opposite to the third blocking portion 211 presses the second blocking portion 206 of the sliding block 203, so that the sliding block 203 slides along the first sliding rail, the second limiting block 205 moves along with the sliding block 203, and moves away from the first limiting block 202, so that the loading box 11 can be placed in the area between the first limiting block 202 and the second limiting block 205, the clamping arm 303 is linked to be close to the storage box 401 by the X-axis module 501, the Y-axis module 511 and the Z-axis module 521, the power piece 305 drives the two clamping arms 303 to perform relatively close action to clamp the empty loading box 11 through the meshing transmission of the gear and the rack, then the X-axis module 501, the Y-axis module 511 and the Z-axis module 521 are linked and the clamping arm 303 is released, the empty loading box 11 is placed on the second bottom plate 201, at this time, the first blocking part 302 can move to the bottom surface of the protruding part 13 of the box cover and abut against the protruding part 13 in a linked manner by the X-axis module 501, the Y-axis module 511 and the Z-axis module 521, then the box cover is opened by performing the arc movement of the flip cover, the lateral movement module 209 and the longitudinal movement module 210 are linked, the third blocking part 211 is separated from the blocking block 12, the second blocking part 206 pushes and abuts against the side surface of the loading box 11 under the elastic restoring force of the elastic piece 204, so that the loading box 11 is fixed in the area between the first limiting block 202 and the second limiting block 205, and the boxing operation can be waited, in the above embodiment, the loading box 11 is fixed by the second limiting block 205, and then the flip cover is operated; after the loading box 11 is fully loaded, the first blocking part 302 is linked with the X-axis module 501, the Y-axis module 511 and the Z-axis module 521 and abuts against the lower side surface of the opened box cover, then the arc motion of closing the box cover is performed, then the lateral moving module 209 and the longitudinal moving module 210 are linked to move the second bottom plate 201 to the original position, at this time, the second limiting block 205 automatically loosens the loading box 11, and the clamping arm 303 transfers the loading box 11 into the storage box 401 by the linkage of the X-axis module 501, the Y-axis module 511 and the Z-axis module 521 and the driving of the power piece 305.
It should be noted that, in all the embodiments described above, the X-axis power unit 502, the Y-axis power unit, and the Z-axis power unit may be servo motors.
It should be noted that, in the description of the present invention, the "arc movement" is understood to mean a movement track of the protrusion 13 on the lid or the side of the hinge of the lid along the hinge of the lid and the box body.
It should be noted that, in the description of the present invention, the terms of the coordinate axes such as "X axis", "Y axis", "Z axis" are used for the purpose of making the description clearer, and are not specific to a certain coordinate system, and it is understood that the positions and orientations of the components may be changed and adjusted accordingly as needed, and are also in the protection scope of the present invention.
It should be noted that in the description of the present invention, it should be understood that the terms "first," "second," "third," etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The present invention is not limited to the above embodiments, and the present invention can be achieved by the same means.
Claims (4)
1. The utility model provides an automatic storage device of arrangement robot, includes base (1) and electrical control system, its characterized in that, be provided with operation subassembly (2), move material subassembly (3) and storage subassembly on base (1), move material subassembly (3) and be used for transferring and load box (11), move material subassembly (3) including first bottom plate (301), respectively drive first bottom plate (301) along X axle, Y axle, X axle module (501), Y axle module (511), Z axle module (521), be equipped with on first bottom plate (301) and be used for with load box (11) flip subassembly of flip, move material subassembly still including setting up clamping arm (303) on first bottom plate (301), clamping arm (303) have two, two clamping arms (303) can be close to relatively and keep away from, be equipped with bellying (13) on the lid of loading box (11), flip subassembly includes first blocking part (302) with bellying (13) the removal along X axle module (501), first blocking part (302) set up on first bottom plate (301) be provided with on stopper (202) can be close to and keep away from on first bottom plate (201) and second bottom plate (201) can be set up at first bottom plate (201) and second clamping assembly (201) are kept away from respectively, the clamping assembly comprises a sliding block (203), an elastic piece (204) is connected between the sliding block (203) and a second bottom plate (201), a second limiting block (205) which is in butt joint with the side face of the loading box (11) is arranged on the sliding block (203), a blocking block (12) is arranged on the base (1), a second blocking part (206) is arranged on the sliding block (203), a rotatable rotating block is arranged on the second bottom plate (201), one end of the rotating block is in butt joint with the second blocking part (206), a third blocking part (211) which is in separation connection with the blocking block (12) is arranged at the other end of the rotating block, and a transverse moving module (209) and a longitudinal moving module (210) are respectively connected on the second bottom plate (201);
the second bottom plate (201) is linked to an original point position by the transverse moving module (209) and the longitudinal moving module (210), the third blocking part (211) is close to and is in press connection with the blocking block (12), the rotating block rotates along the rotating shaft, one end of the rotating block opposite to the third blocking part (211) is in press connection with the second blocking part (206) of the sliding block (203), the sliding block (203) slides, the second limiting block (205) moves along with the sliding block (203) and is far away from the first limiting block (202), the clamping arms (303) are linked to be close to the storage box (401) by the X-axis module (501), the Y-axis module (511) and the Z-axis module (521), the two clamping arms (303) are close to each other to clamp the empty loading box (11), the empty loading box (11) is placed on the second bottom plate (201), the first blocking part (302) can move and abut against the protruding part (13), and then the cover is opened by arc movement of the flip cover;
the transverse moving module (209) is linked with the longitudinal moving module (210) to enable the third blocking part (211) to be separated from the blocking block (12), and the second blocking part (206) is pushed and abutted against the side face of the loading box (11) under the action of elastic restoring force of the elastic piece (204) to enable the loading box (11) to be fixed in an area between the first limiting block (202) and the second limiting block (205).
2. An automatic warehouse device for arranging robots according to claim 1, wherein the material moving assembly further comprises a fixed block (304) arranged on the first bottom plate (301) and a power member (305) for driving the clamping arm (303) to move, a sliding groove for accommodating sliding of the clamping arm (303) is arranged on the fixed block (304), and the first blocking part (302) is arranged on one side of the fixed block (304) close to the loading box (11).
3. An automatic warehouse device for arranging robots according to claim 1, characterized in that the first base plate (301) is provided with two clamping arms (303) which can be relatively close to and far away from each other, the flip cover assembly and the material moving assembly are composed of the same group of clamping arms (303), the two clamping arms (303) are relatively close to the clamping box cover and perform a flip action to enable the box cover to flip, the two clamping arms (303) are relatively close to the clamping box body, and the loading box (11) moves along with the first base plate (301).
4. An arrangement robot automated warehouse arrangement according to any of claims 1-3, characterized in that the transfer assembly (3) further comprises a first sensor (306) electrically connected to the electrical control system, the first sensor (306) being adapted to sense the loading magazine (11) in front of the gripping arm (303).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810738911.2A CN108910374B (en) | 2018-07-06 | 2018-07-06 | Automatic storage device of arrangement robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810738911.2A CN108910374B (en) | 2018-07-06 | 2018-07-06 | Automatic storage device of arrangement robot |
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| CN108910374A CN108910374A (en) | 2018-11-30 |
| CN108910374B true CN108910374B (en) | 2023-12-19 |
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| CN113910215A (en) * | 2021-11-02 | 2022-01-11 | 合肥佳富特机器人科技有限责任公司 | A finished product seedling centre gripping and stacking manipulator for vegetables grafting |
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| JPH06198587A (en) * | 1993-01-05 | 1994-07-19 | Pola Chem Ind Inc | Industrial robot with protective device |
| CN102794770A (en) * | 2012-08-20 | 2012-11-28 | 重庆市电力公司电力科学研究院 | Manipulator for electric energy meter verification |
| CN105236096A (en) * | 2015-10-26 | 2016-01-13 | 深圳博美柯自动化设备有限公司 | Device for moving jig |
| CN105857751A (en) * | 2016-06-13 | 2016-08-17 | 中山鑫辉精密技术股份有限公司 | Automatic packaging box opening device |
| CN206502399U (en) * | 2017-01-13 | 2017-09-19 | 广州广学教学设备有限公司 | A kind of realia vertical rotary storage device |
| CN107457741A (en) * | 2017-09-13 | 2017-12-12 | 东莞市思榕智能装备有限公司 | A kind of mobile phone tears screen equipment open |
| CN208485142U (en) * | 2018-07-06 | 2019-02-12 | 梅木精密工业(珠海)有限公司 | A kind of automatic stored device of arrangement robot |
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| CN108910374A (en) | 2018-11-30 |
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