CN210823888U - Feeding agencies and intelligent storage equipment - Google Patents
Feeding agencies and intelligent storage equipment Download PDFInfo
- Publication number
- CN210823888U CN210823888U CN201921246598.7U CN201921246598U CN210823888U CN 210823888 U CN210823888 U CN 210823888U CN 201921246598 U CN201921246598 U CN 201921246598U CN 210823888 U CN210823888 U CN 210823888U
- Authority
- CN
- China
- Prior art keywords
- gripper
- clamping
- base
- cylinder
- jaw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a feeding agencies and intelligent storage equipment, wherein, this feeding agencies includes: the base is used for being connected with the single-shaft robot module; the clamping jaw assembly comprises a driving device and a mechanical jaw, the driving device is mounted on the base, the mechanical jaw is connected with the driving device, the driving device is used for driving the mechanical jaw to move relative to the base, the mechanical jaw is used for clamping and releasing a material box, and an information storage module is arranged in the material box; and the information identification device is arranged on the base and used for reading the information stored in the information storage module and transmitting the information to the control system, and the control system is used for controlling the single-shaft robot module to drive the material taking mechanism to move to a preset position. The utility model discloses a feeding agencies occupation space is less, low cost, be convenient for installation and maintenance, is fit for promoting on a large scale.
Description
Technical Field
The utility model relates to an intelligent storage technical field especially relates to a feeding agencies and intelligent storage equipment.
Background
With the rapid development of information technology and control technology, intelligent warehousing is widely and mature to be applied to various industries. But current intelligent storage equipment, for example catering industry freezer storage mechanism adopts industrial mechanical arm to realize automatic material of getting mostly, and this mode has following several kinds of shortcomings: firstly, the mechanical arm mode can occupy the originally limited space of the refrigeration storage, so that the storage amount is reduced; secondly, the cost of the mechanical arm is high, and the operation cost is greatly increased; in addition, the installation and maintenance requirements of the mechanical arm are high, and the mechanical arm is not beneficial to large-scale popularization.
SUMMERY OF THE UTILITY MODEL
On this basis, it is necessary to provide a feeding agencies and intelligent storage equipment to the above-mentioned problem, and this feeding agencies occupation space is less, low cost, be convenient for installation and maintenance are fit for promoting on a large scale.
A take-out mechanism, comprising:
the base is used for being connected with the single-shaft robot module;
the clamping jaw assembly comprises a driving device and a mechanical jaw, the driving device is mounted on the base, the mechanical jaw is connected with the driving device, the driving device is used for driving the mechanical jaw to move relative to the base, the mechanical jaw is used for clamping and releasing a material box, and an information storage module is arranged in the material box; and
the information identification device is arranged on the base and used for reading information stored in the information storage module and transmitting the information to the control system, and the control system is used for controlling the single-shaft robot module to drive the material taking mechanism to move to a preset position.
Foretell feeding agencies passes through the base and is connected with unipolar robot module, when getting the material, unipolar robot module drives feeding agencies and moves to predetermineeing the material position of getting at first, then drive arrangement drives the gripper and moves towards the magazine, the gripper presss from both sides after getting the magazine, drive arrangement drives the gripper again and moves towards information identification device, information identification device reads the information of the information storage module internal storage of magazine, and with this information transmission to control system, control system control unipolar robot module drives feeding agencies and magazine and moves to predetermineeing the blowing position, the gripper releases the magazine, the magazine can fall to predetermineeing the position, and then accomplish whole automatic material of getting, the blowing process. Compare in traditional industrial robot arm, the utility model discloses a feeding agencies compact structure, occupation space are little, low cost, be convenient for installation and maintenance are fit for promoting on a large scale.
In one embodiment, the driving device includes a linear driving element and a rotary driving element, the rotary driving element is fixed on the base, the linear driving element is fixed on the rotary output end of the rotary driving element, and the mechanical claw is fixed on the linear output end of the linear driving element.
In one embodiment, the linear driving part is a linear cylinder, the rotary driving part is a rotary cylinder, and the bottom of the linear cylinder is fixedly connected with the rotary output end of the rotary cylinder.
In one embodiment, the mechanical claw comprises a clamping claw cylinder and two clamping claws connected to two opposite sides of the clamping claw cylinder, and the clamping claw cylinder is used for driving the two clamping claws to approach or move away from each other.
In one embodiment, the opposite sides of the two clamping jaws are respectively provided with a clamping pad.
In one embodiment, an avoidance unfilled corner is arranged on one side, close to the other clamping jaw, of the free end of the clamping jaw.
In one embodiment, the gripper further comprises a detection device mounted on the gripper cylinder, and the detection device is used for detecting whether the magazine exists between the two grippers.
In one embodiment, the material taking mechanism further comprises an alarm device electrically connected with the detection device, and when the detection device detects that no material box exists between the two clamping jaws in the process of clamping and conveying the material box by the mechanical jaws, the alarm device sends an alarm signal.
In one embodiment, the information storage module is a chip built in the cartridge, and the information identification device comprises a radio frequency identification device.
An intelligent storage device comprises a storage shelf and the material taking mechanism.
Drawings
Fig. 1 is a schematic structural view of a material taking mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic view of a gripper of the take-off mechanism;
fig. 3 is a schematic diagram of the material taking mechanism and the single-axis robot module according to an embodiment.
10. Base, 11, first mounting panel, 21, linear drive spare, 211, second mounting panel, 22, rotary drive spare, 23, gripper, 231, clamping jaw cylinder, 232, clamping jaw, 233, press from both sides tight pad, 234, third mounting panel, 235, fourth mounting panel, 236, detection device, 237, mount pad, 30, information recognition device, 40, support, 41, horizontal direction unipolar robot, 42, vertical direction unipolar robot, 100, magazine.
Detailed Description
In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only. In the present invention, the terms "first", "second", "third" and "fourth" do not denote any particular quantity or order, but are merely used to distinguish names.
The utility model provides an intelligent storage equipment includes storage goods shelves, unipolar robot module and feeding agencies, feeding agencies and unipolar robot module group link. Wherein, unipolar robot module includes a plurality of unipolar robots that remove along different directions, for example, in an embodiment, as shown in fig. 3, unipolar robot module includes support 40, be fixed in horizontal direction unipolar robot 41 on support 40, and the vertical direction unipolar robot 42 who is connected with horizontal direction unipolar robot 41, material taking mechanism is connected with vertical direction unipolar robot 42, horizontal direction unipolar robot 41 is used for driving vertical direction unipolar robot 42 along horizontal direction reciprocating motion, vertical direction unipolar robot 42 is used for driving material taking mechanism along vertical direction reciprocating motion, thereby can drive the arbitrary predetermined coordinate position to intelligent storage goods shelves with material taking mechanism. Through the cooperation of unipolar robot module and feeding agencies, can realize getting the automatic clamp of magazine 100 on the goods shelves. The following description will be directed primarily to embodiments of the take-out mechanism.
Referring to fig. 1, a material taking mechanism includes a base 10, a jaw assembly and an information recognition device 30. Wherein, the base 10 is used for connecting with a single-shaft robot module; the clamping jaw assembly comprises a driving device and a mechanical jaw 23, the driving device is mounted on the base 10, the mechanical jaw 23 is connected with the driving device, the driving device is used for driving the mechanical jaw 23 to move relative to the base 10, the mechanical jaw 23 is used for clamping and releasing the material box 100, and an information storage module is arranged in the material box 100; the information identification device 30 is installed on the base 10, the information identification device 30 is used for reading information stored in the information storage module and transmitting the information to the control system, and the control system is used for controlling the single-axis robot module to drive the material taking mechanism to move to a preset position.
The material taking mechanism is connected with the single-shaft robot module through the base 10, when materials are taken, firstly, the single-shaft robot module drives the material taking mechanism to move to a preset material taking position, then the driving device drives the mechanical claw 23 to move towards the material box 100, after the material box 100 is clamped by the mechanical claw 23, the driving device drives the mechanical claw 23 to move towards the information identification device 30, the information identification device 30 reads information stored in an information storage module of the material box 100 and transmits the information to the control system, the control system controls the single-shaft robot module to drive the material taking mechanism and the material box 100 to move to the preset material placing position, the mechanical claw 23 releases the material box 100, the material box 100 can fall to the preset position, and then the whole automatic material taking and material placing process is completed. Compare in traditional industrial robot arm, the utility model discloses a feeding agencies compact structure, occupation space are little, low cost, be convenient for installation and maintenance are fit for promoting on a large scale.
In one embodiment, the driving device includes a linear driving member 21 and a rotary driving member 22, the rotary driving member 22 is fixed to the base 10, the linear driving member 21 is fixed to a rotary output end of the rotary driving member 22, and the gripper 23 is fixed to a linear output end of the linear driving member 21. The linear driving part 21 is used for driving the mechanical claw 23 to move to a position suitable for clamping the material box 100, and the linear driving part 21 can be specifically an air cylinder, a hydraulic cylinder, a linear motor and the like; the rotary driving member 22 is used to drive the gripper 23 and the magazine 100 to rotate to a position suitable for the information recognition device 30 to read information, and the rotary driving member 22 may be a rotary cylinder, a rotary hydraulic cylinder, a rotary motor, or the like.
Specifically, as shown in fig. 1, the information recognition device 30 is mounted on one side of the base 10 through a first mounting plate 11, the linear driving member 21 is a linear cylinder, the rotary driving member 22 is a rotary cylinder, and the bottom of the linear cylinder is fixed to the rotary output end of the rotary cylinder through a second mounting plate 211. After the single-axis robot module drives the material taking mechanism to move to the preset material taking position, the linear driving member 21 pushes the mechanical claw 23 forward, after the mechanical claw 23 clamps the material box 100, the linear driving member 21 drives the mechanical claw 23 and the material box 100 to retract, and then the rotary driving member 22 drives the mechanical claw 23 and the material box 100 to rotate by a certain angle (for example, 180 °), so that the material box 100 is located above the information recognition device 30, and information of the material box 100 can be conveniently read. After the information identification device 30 reads the information stored in the information storage module of the material box 100, the information can be transmitted to an upper computer system through a PLC (programmable logic controller), after the upper computer system sends a corresponding operation instruction, the single-shaft robot module drives the material taking mechanism and the material box 100 to move to a preset material placing position, the linear driving piece 21 pushes the mechanical claw 23 forwards, the material box 100 is moved out of the information identification device 30, the mechanical claw 23 releases the material box 100, the material box 100 can fall to the preset position, and then the whole automatic material taking and material placing process is completed.
Further, referring to fig. 2, the mechanical gripper 23 includes a gripper cylinder 231 and two grippers 232 connected to opposite sides of the gripper cylinder 231, and the gripper cylinder 231 is used for driving the two grippers 232 to approach or move away from each other. Specifically, the rear side of the clamping jaw air cylinder 231 is provided with a third mounting plate 234, the clamping jaw air cylinder 231 is fixed on the linear output end of the linear driving part 21 through the third mounting plate 234, the driving ends of the left side and the right side of the clamping jaw air cylinder 231 are respectively connected with a fourth mounting plate 235, and the two clamping jaws 232 are respectively fixed on the two fourth mounting plates 235. After the clamping jaw cylinder 231 is ventilated, the two clamping jaws 232 can be driven to approach or move away from each other, so that the material box 100 can be clamped or released.
Further, the opposite sides of the two clamping jaws 232 are respectively provided with a clamping pad 233. The clamping pad 233 may be a rubber pad, a silicone pad, etc., and the specific structure and material thereof may be designed according to the shape, rigidity, mass, etc. of the magazine 100, which is not limited herein. The clamping pads 233 are arranged on the clamping jaws 232, so that the material box 100 can be well clamped and prevented from slipping, and the material box 100 is prevented from falling off in the moving process.
In addition, the side of the free end of the clamping jaw 232 close to the other clamping jaw 232 is provided with an avoidance unfilled corner. Therefore, the interference between the end of the clamping jaw 232 and the material box 100 in the process of clamping the material box 100 can be avoided, so that the clamping jaw 232 can quickly and accurately clamp the material box 100, and the material taking efficiency is improved.
As shown in fig. 2, in an embodiment, the gripper 23 further includes a detecting device 236 mounted on the gripper cylinder 231, and the detecting device 236 is configured to detect whether the two grippers 232 grip the magazine 100. Specifically, the detecting device 236 is fixed on the clamping jaw cylinder 231 through the mounting seat 237, and the detecting device 236 may be a photoelectric switch sensor, an infrared sensor, an ultrasonic sensor, or the like, for example, in an embodiment, the detecting device 236 is a photoelectric switch sensor, and the photoelectric switch sensor includes a light emitting head and a light receiving head, when the two clamping jaws 232 clamp the magazine 100, a light signal emitted by the light emitting head is reflected by the obstruction of the magazine 100 and can be received by the light receiving head; when the two jaws 232 do not grip the magazine 100, the optical signal emitted by the light emitting head cannot be received by the light receiving head. Thus, whether the magazine 100 exists between the two jaws 232 can be determined by whether the light receiving head receives the light signal. The clamping condition of the clamping jaw 232 can be detected and tracked in real time through the detection device 236, so that whether the clamping jaw 232 is abnormal or not in the material taking process can be mastered in real time.
Further, the material taking mechanism further comprises an alarm device electrically connected with the detection device 236, and when the detection device 236 detects that the two clamping jaws 232 do not clamp the material box 100 in the process of clamping and transporting the material box 100 by the mechanical claw 23, the alarm device sends an alarm signal, wherein the alarm signal may be a sound signal or an optical signal. For example, if the gripper 23 fails to smoothly grip the magazine 100 when the gripper 23 grips the magazine 100, or the magazine 100 falls off during transportation after the gripper 23 grips the magazine 100, the alarm device will send an alarm signal to facilitate the staff to perform troubleshooting and handling in time.
In one embodiment, the information storage module is a chip embedded in the material box 100, and the information identification device 30 is a Radio Frequency Identification Device (RFID) capable of reading information in the chip of the material box 100 conveniently and quickly. Of course, in other embodiments, the information storage module may be a bar code or a two-dimensional code adhered to the surface of the cartridge 100, and accordingly, the information recognition device 30 is an information scanning apparatus that can be used to scan the bar code or the two-dimensional code.
The utility model discloses an intelligent storage equipment includes storage goods shelves and feeding agencies. The material taking mechanism has the advantages that the material taking mechanism has a specific structure according to the embodiment, and the intelligent warehousing equipment at least has all the beneficial effects brought by the technical scheme because the technical scheme of the embodiment is adopted, so that the material taking mechanism is not repeated.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. A material taking mechanism, comprising:
the base is used for being connected with the single-shaft robot module;
the clamping jaw assembly comprises a driving device and a mechanical jaw, the driving device is mounted on the base, the mechanical jaw is connected with the driving device, the driving device is used for driving the mechanical jaw to move relative to the base, the mechanical jaw is used for clamping and releasing a material box, and an information storage module is arranged in the material box; and
the information identification device is arranged on the base and used for reading information stored in the information storage module and transmitting the information to the control system, and the control system is used for controlling the single-shaft robot module to drive the material taking mechanism to move to a preset position.
2. The reclaiming mechanism as claimed in claim 1 wherein said drive means includes a linear drive member and a rotary drive member, said rotary drive member being fixed to said base, said linear drive member being fixed to a rotary output of said rotary drive member, said gripper being fixed to a linear output of said linear drive member.
3. The material taking mechanism as claimed in claim 2, wherein the linear driving member is a linear cylinder, the rotary driving member is a rotary cylinder, and a bottom of the linear cylinder is fixedly connected with a rotary output end of the rotary cylinder.
4. The material extracting mechanism as claimed in claim 1, wherein the gripper comprises a gripper cylinder and two grippers connected to opposite sides of the gripper cylinder, the gripper cylinder being configured to move the two grippers toward or away from each other.
5. The material take-off mechanism as claimed in claim 4, wherein the opposing sides of the jaws are provided with respective clamping pads.
6. The material take-off mechanism as claimed in claim 4, wherein a side of the free end of the jaw adjacent to the other jaw is provided with an undercut.
7. The material extracting mechanism as claimed in claim 4, wherein the gripper further comprises a detection device mounted on the gripper cylinder for detecting whether the magazine is present between the two grippers.
8. The material taking mechanism according to claim 7, further comprising an alarm device electrically connected to the detection device, wherein when the detection device detects that the magazine is not present between the two clamping jaws during the process of clamping and transporting the magazine by the mechanical gripper, the alarm device sends an alarm signal.
9. The material taking mechanism according to any one of claims 1 to 8, wherein the information storage module is a chip built in the material box, and the information identification device is a radio frequency identification device.
10. An intelligent warehousing device, characterized by comprising a warehousing shelf and a material taking mechanism according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921246598.7U CN210823888U (en) | 2019-08-03 | 2019-08-03 | Feeding agencies and intelligent storage equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921246598.7U CN210823888U (en) | 2019-08-03 | 2019-08-03 | Feeding agencies and intelligent storage equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210823888U true CN210823888U (en) | 2020-06-23 |
Family
ID=71251500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921246598.7U Active CN210823888U (en) | 2019-08-03 | 2019-08-03 | Feeding agencies and intelligent storage equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210823888U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111994541A (en) * | 2020-09-16 | 2020-11-27 | 苏州星科智达智能科技有限公司 | Six-dimensional driving medicine taking manipulator mechanism |
-
2019
- 2019-08-03 CN CN201921246598.7U patent/CN210823888U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111994541A (en) * | 2020-09-16 | 2020-11-27 | 苏州星科智达智能科技有限公司 | Six-dimensional driving medicine taking manipulator mechanism |
| CN111994541B (en) * | 2020-09-16 | 2021-11-05 | 苏州星科智达智能科技有限公司 | Six-dimensional driving medicine taking manipulator mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106607925A (en) | Novel garbage disposal manipulator system and intelligent control method thereof | |
| CN113753529A (en) | Automatic picking and positioning device for optical lens mold | |
| CN210823888U (en) | Feeding agencies and intelligent storage equipment | |
| CN110626812A (en) | 3D vision guide carton intelligent unstacking and stacking integrated system and unstacking and stacking method | |
| CN114643382B (en) | Automatic blade batch loading and unloading method based on robot system | |
| CN210823887U (en) | Intelligent warehousing equipment | |
| CN210640189U (en) | Automatic detection system for wafer process environment | |
| CN115646855A (en) | Use method of robot vision device | |
| CN212424295U (en) | LED lamp bead storing and taking device | |
| CN215354796U (en) | Nut disappearance automated inspection sorting device | |
| CN215507866U (en) | Movable push rod sorting system based on intelligent vision | |
| CN212483843U (en) | Testing device | |
| CN209777638U (en) | Blind pole machine plastic shell grabbing and transferring mechanism | |
| CN209531490U (en) | Manipulator sorts product device | |
| CN209758492U (en) | Sweep sign indicating number balance machine | |
| CN112897045A (en) | Manipulator feeding and discharging system for automatic blade measurement | |
| CN115483445A (en) | Method and device for automatically processing battery and computer readable storage medium | |
| CN108263856B (en) | Robot intelligent rapid carrying device based on machine vision and carrying method thereof | |
| CN113401402A (en) | Chip assembling system | |
| CN214638335U (en) | Defective product sorting machine | |
| CN210084145U (en) | 3D satellite vehicle seat intelligence vertical warehouse | |
| CN214692027U (en) | Loading and unloading device | |
| CN113945909A (en) | Testing device | |
| CN218143650U (en) | Automatic storage device based on seven robots | |
| CN220411121U (en) | Self-adjusting fixture tool and automatic packing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |