CN105108736B - A kind of automatic material taking intelligent robot - Google Patents
A kind of automatic material taking intelligent robot Download PDFInfo
- Publication number
- CN105108736B CN105108736B CN201510567754.XA CN201510567754A CN105108736B CN 105108736 B CN105108736 B CN 105108736B CN 201510567754 A CN201510567754 A CN 201510567754A CN 105108736 B CN105108736 B CN 105108736B
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- Prior art keywords
- taking
- frame
- automatic
- storage rack
- rack
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- 239000000463 material Substances 0.000 title claims abstract description 83
- 238000003860 storage Methods 0.000 claims abstract description 44
- 230000009184 walking Effects 0.000 claims abstract description 6
- 239000011358 absorbing material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000007664 blowing Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000006052 feed supplement Substances 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of automatic material taking intelligent robot, including frame, storage rack is provided with described frame, it is characterised in that：Described frame is provided with cross slide way, described cross slide way is provided with can slide laterally the longitudinal rail of walking along it, the lateral driver device that described frame slides laterally provided with the longitudinal rail described in driving, described longitudinal rail provided with can along its vertically slidable walking vertical guide, the longitudinal driving device of the described vertical guide longitudinal sliding motion of described longitudinal rail driving, described vertical guide is provided with can be vertically slidable along its and from the automatic fetching device of automatic material taking on described storage rack, described vertical guide is provided with the vertically slidable vertical drive of the automatic fetching device described in driving, described frame is provided with the lateral driver device described in control, longitudinal driving device, vertical drive, the control device of automatic fetching device action.
Description
【Technical field】
The present invention relates to a kind of machinery equipment, more specifically a kind of intelligent robot.
【Background technology】
Existing warehouse, supermarket etc. need to store the place of material goods, it is necessary to manually wait for customer, and human cost is high,
And can not be interconnected with modern the Internet.Existing automatic vending machine is free by article after can only article be released from shelf
Under drop down onto automatic vending machine bottom, customer from automatic vending motor spindle extract product, fragile and vulnerable article be easy for being broken into pieces or
Damage, this can not just solve the access issues of frangible, rapid wear article.Need one kind and can solve the problem that fragile and vulnerable article is automatic
Access issues and modern logistics can be solved the problems, such as with the access arrangement of internet interconnection.
【The content of the invention】
The present invention seeks to overcome the deficiencies in the prior art there is provided one kind to automatically take out specified material from shelf simultaneously
It is transported to the automatic material taking intelligent robot of specified location.
The present invention is achieved by the following technical solutions：
Storage rack 10 is provided with a kind of automatic material taking intelligent robot, including frame 1, described frame 1, its feature exists
In：Described frame 1 is provided with cross slide way 101, and described cross slide way 101 is provided with can slide laterally the vertical of walking along it
Direction guiding rail 102, the lateral driver device 2 that described frame 1 slides laterally provided with the longitudinal rail 102 described in driving is described
Longitudinal rail 102 provided with the vertical guide 103 that can be walked along its longitudinal sliding motion, described longitudinal rail 102 is provided with driving
The longitudinal driving device 3 of the described longitudinal sliding motion of vertical guide 103 is moved, described vertical guide 103 is provided with can be vertical along its
Slide and from the automatic fetching device 104 of automatic material taking on described storage rack 10, described vertical guide 103 is provided with driving
The vertically slidable vertical drive 4 of described automatic fetching device 104, described frame 1 is provided with the transverse direction described in control
The control device 5 that drive device 2, longitudinal driving device 3, vertical drive 4, automatic fetching device 104 are acted.
Automatic material taking intelligent robot as described above, it is characterised in that：Described automatic fetching device 104 includes can be
The vertically slidable frame 141 slided in described vertical guide 103, described vertically slidable frame 141 is rotatable relative provided with energy
Material-taking rack 141a, provided with the material-taking rack described in driving between described material-taking rack 141a and described vertically slidable frame 141
Platform for placing material 141c, described platform for placing material 141c are provided with the rotating driving device 141b, described material-taking rack 141a of 141a rotations
Side is provided with out feeding mouth 141d, the described arm for taking material 141e of material-taking rack 141a provided with its relative slip of energy, and described takes
On arm for taking material drive device 141f, described arm for taking material 141e of the bin 141a provided with the arm for taking material 141e movements described in driving
Provided with the fetching device 141g for picking and placeing material.
Automatic material taking intelligent robot as described above, it is characterised in that：Described rotating driving device 141b is fixation
Rotary cylinder on described vertically slidable frame 141, described material-taking rack 141a is fixedly connected on its output shaft.
Automatic material taking intelligent robot as described above, it is characterised in that：Described arm for taking material drive device 141f includes
It is arranged on the straight line Rodless cylinder 141h on described material-taking rack 141a, described arm for taking material 141e is fixedly connected on described straight
On line Rodless cylinder 141h sliding block, described straight line Rodless cylinder 141h cylinder barrel is fixed on described material-taking rack 141a.
Automatic material taking intelligent robot as described above, it is characterised in that：Described fetching device 141g includes being installed on
Axle 1411 is picked and placeed on described arm for taking material 141e, described picks and places the one end of axle 1411 equipped with the sucker for absorbing material
1412。
Automatic material taking intelligent robot as described above, it is characterised in that：Described arm for taking material 141e and described sucker
Buffer spring 1413 is provided between 1412.
Automatic material taking intelligent robot as described above, it is characterised in that：Described material-taking rack 141a, which is provided with, to be used to sweep
Retouch the scanning means 1410 that material obtains material positional information.
Automatic material taking intelligent robot as described above, it is characterised in that：Described storage rack 10 includes and described machine
The storage rack guide rail 11 that frame 1 is connected, described storage rack guide rail 11 is provided with the storage rack sliding block 12 that can be slid on, described
Storage rack sliding block 12 be provided with storing support body 13, described storing support body 13 is provided with multiple storing laminates 14.
Automatic material taking intelligent robot as described above, it is characterised in that：The described one end bottom of storing support body 13 is provided with
Externally protrude out in be equipped with the support shaft 15 of described storing support body 13, described support shaft 15 and be used for the branch when shelf pull out frame 1
The support frame 16 of shelf is supportted, the described bottom of support frame 16 is provided with roller 161, and described support shaft 15 is provided with radial direction pin-and-hole
151, described radial direction pin-and-hole 151 is built with anticreep latch 152.
Automatic material taking intelligent robot as described above, it is characterised in that：Described storage rack guide rail 11 is 2, described
Storage rack sliding block 12 to be multiple, be separately positioned on described storage rack guide rail 11, including close to described support shaft 15 1
The half bag sliding block 12a at the end and full bag sliding block 12b away from described one end of support shaft 15.
Compared with prior art, the present invention has the following advantages：
1st, the present invention can automatically take out specified material from shelf and be transported to specified location, easy to use, can be set many
Storage rack is arranged, increases storage capacity.
2nd, during feeding blowing of the present invention, steadily picked and placeed by the fetching device of automatic fetching device on platform for placing material,
Steadily conveyed by the line slideway of robot, fetching process is steady, course of conveying is steady, no strenuous vibration or dropping process,
Solve various frangible, fragile goods storages, pick and place.
3rd, the present invention can be used in the logistics program in last 200 meters of " internet+" epoch, undertake the carrier of transport
Goods can be stored and send information and notify customer, information control machine people's automatic material taking is inputted by patron self-service, save people
Power, solves last 200 meters of logistical problem of " internet+" epoch, it is not necessary to manually wait for customer, saves artificial；
4th, automatically scanning material of the present invention, can accurately know material positional information, and send information and notify customer, Gu Keke
According to the self-service feeding of the arrangement of time of oneself, without being sent in set time fixed location waiting carrier, to realize that goods is believed
The automatic identification of breath and data interconnection intercommunication.
【Brief description of the drawings】
Fig. 1 is stereogram of the present invention；
Fig. 2 is the present invention without storage rack stereogram；
Fig. 3 is partial perspective view of the present invention；
Fig. 4 is partial perspective view of the present invention；
Fig. 5 is automatic fetching device stereogram of the present invention；
Fig. 6 is that the present invention replenishes state stereogram；
Fig. 7 is storage rack stereogram of the present invention.
【Embodiment】
The present invention is described in further detail below in conjunction with the accompanying drawings.
Storage rack 10, described frame are provided with a kind of automatic material taking intelligent robot, including frame 1, described frame 1
1 is provided with cross slide way 101, and described cross slide way 101 is provided with can slide laterally the longitudinal rail 102 of walking, institute along it
The lateral driver device 2 that the frame 1 stated slides laterally provided with the longitudinal rail 102 described in driving, described longitudinal rail 102
Provided with the vertical guide 103 that can be walked along its longitudinal sliding motion, described longitudinal rail 102 is provided with vertically leading described in driving
The longitudinal driving device 3 of the longitudinal sliding motion of rail 103, described vertical guide 103 is provided with can be vertically slidable along its and from described
The automatic fetching device 104 of automatic material taking on storage rack 10, described vertical guide 103 is provided with the automatic material taking described in driving
The vertically slidable vertical drive 4 of device 104, described frame 1 is provided with the lateral driver device 2 described in control, longitudinal direction
The control device 5 that drive device 3, vertical drive 4, automatic fetching device 104 are acted.It is described lateral driver device 2, vertical
It is the driving of servomotor electric synchronous band to drive device 3, vertical drive 4.
Described automatic fetching device 104 includes the vertically slidable frame 141 that can be slided in described vertical guide 103,
Described vertically slidable frame 141 provided with can rotatable relative material-taking rack 141a, described material-taking rack 141a with it is described perpendicular
To between travelling carriage 141 be provided with rotating driving device 141b, material-taking rack described to drive the rotating driving device 141b
141a rotates, and platform for placing material 141c is provided with described material-taking rack 141a, described platform for placing material 141c sides are provided with out feeding mouth
141d, the described arm for taking material 141e of material-taking rack 141a provided with its relative slip of energy, described material-taking rack 141a, which is provided with, to be driven
The arm for taking material drive device 141f of described arm for taking material 141e movements is moved, described arm for taking material 141e, which is provided with, picks and places taking for material
Put device 141g.
Described rotating driving device 141b is the rotary cylinder being fixed on described vertically slidable frame 141, described
Material-taking rack 141a is fixedly connected on its output shaft.
Described arm for taking material drive device 141f includes the straight line Rodless cylinder being arranged on described material-taking rack 141a
141h, the arm for taking material 141e described in straight line Rodless cylinder 141h are fixedly connected on described straight line Rodless cylinder 141h sliding block
On, described straight line Rodless cylinder 141h cylinder barrel is fixed on described material-taking rack 141a.It can be reduced using Rodless cylinder
Volume, saves space.
Described fetching device 141g, which includes being installed on described arm for taking material 141e, picks and places axle 1411, and described picks and places
The one end of axle 1411 is equipped with the sucker 1412 for absorbing material.Fetching device can also be the structure of the other forms such as drag hook.
Buffer spring 1413 is provided between described arm for taking material 141e and described sucker 1412, prevent fetching device or by
Material is picked and placeed to be damaged.
Described material-taking rack 141a, which is provided with, to be used to scan the scanning means 1410 that material obtains material positional information.Automatically
Material is scanned, material positional information can be accurately known, be easy to automatic material taking.
Described storage rack 10 includes the storage rack guide rail 11 being connected with described frame 1, described storage rack guide rail 11
Provided with the storage rack sliding block 12 that can be slid on, described storage rack sliding block 12 is provided with storing support body 13, described storage
Bin body 13 is provided with multiple storing laminates 14.
The described one end bottom of storing support body 13 is provided with the support shaft 15 for externally protruding out in described storing support body 13, described branch
The support frame 16 for being equipped with axle 15 and being used for that shelf to be supported when shelf pull out frame 1 is supportted, the described bottom of support frame 16 is provided with rolling
Wheel 161, described support shaft 15 is provided with radial direction pin-and-hole 151, and described radial direction pin-and-hole 151 is built with anticreep latch 152.
Described storage rack guide rail 11 is 2, and described storage rack sliding block 12 is multiple, is separately positioned on described storing
On frame guide rail 11, including half bag sliding block 12a close to described one end of support shaft 15 and away from described one end of support shaft 15
Full bag sliding block 12b.Full bag sliding block can pull out frame completely to prevent storage rack, storage rack one end is supported on storing guide rail all the time
On.
Operation principle of the present invention：
Feeding：When control device 5 receives the order for needing feeding, the material that control device 5 is positioned according to advance surface sweeping
Positional information control lateral driver device 2, longitudinal driving device 3, vertical drive 4 arrive material along three coordinate direction walkings
Position, drives the dynamic material-taking rack rotations of 141b by rotating driving device and uses the material that feeding mouth alignment needs to capture.Start
Straight line Rodless cylinder 141h drives fetching device 141g movements, sucker 1412 is close to material, starts the negative-pressure ward of sucker 1412,
Material is sucked, straight line Rodless cylinder 141h drives fetching device 141g to be back moved to release material in material-taking rack 141a, control
Device 5 processed control lateral driver device 2, longitudinal driving device 3, vertical drive 4 are along three coordinate direction rows to the window that discharges
Mouthful, fetching device 141g discharges material in discharging window.
Feed supplement：Storage rack 10 is pulled out from the side of frame 1 makes support shaft 15 expose to frame, and support frame 16 is sleeved on into branch
Support on axle 15, continue to pull out the end that storage rack 10 is stuck in storage rack guide rail 11 to full bag sliding block, whole storage rack is just outer
It is exposed to frame 1, you can replenished on conventional storage rack.
Claims (6)
1. it is provided with storage rack (10), its feature in a kind of automatic material taking intelligent robot, including frame (1), described frame (1)
It is：Described frame (1) is provided with cross slide way (101), and described cross slide way (101) is provided with and can slid laterally along it
The longitudinal rail (102) of walking, the transverse direction that described frame (1) slides laterally provided with the longitudinal rail (102) described in driving
Drive device (2), described longitudinal rail (102) is described provided with the vertical guide (103) that can be walked along its longitudinal sliding motion
Longitudinal driving device (3) of the longitudinal rail (102) provided with vertical guide (103) longitudinal sliding motion described in driving, described is perpendicular
Direction guiding rail (103) is provided with can be vertically slidable along its and from the automatic fetching device of automatic material taking on described storage rack (10)
(104), described vertical guide (103) is provided with the vertically slidable vertical driving of the automatic fetching device (104) described in driving
Device (4), described frame (1) is provided with the lateral driver device (2) described in control, longitudinal driving device (3), vertical driving
Device (4), the control device (5) of automatic fetching device (104) action, described automatic fetching device (104) includes can be in institute
The vertically slidable frame (141) slided in the vertical guide (103) stated, described vertically slidable frame (141) is provided with can be with respect to it
The material-taking rack (141a) of rotation, is provided with rotation driving between described material-taking rack (141a) and described vertically slidable frame (141)
Device (141b), the rotating driving device (141b) material-taking rack (141a) rotation described to drive, described material-taking rack
Platform for placing material (141c) is provided with (141a), described platform for placing material (141c) side is provided with out feeding mouth (141d), described feeding
The arm for taking material (141e) of frame (141a) provided with its relative slip of energy, described material-taking rack (141a) is provided with taking described in driving
Expect the mobile arm for taking material drive device (141f) of arm (141e), described arm for taking material (141e) be provided with pick and place material pick and place dress
Put (141g), described arm for taking material drive device (141f) includes the straight line being arranged on described material-taking rack (141a) without bar gas
Cylinder (141h), described arm for taking material (141e) is fixedly connected on the sliding block of described straight line Rodless cylinder (141h), described
The cylinder barrel of straight line Rodless cylinder (141h) is fixed on described material-taking rack (141a), described storage rack (10) include with it is described
Frame (1) connection storage rack guide rail (11), described storage rack guide rail (11) is provided with the storage rack that can be slid on
Sliding block (12), described storage rack sliding block (12) is provided with storing support body (13), and described storing support body (13) is provided with multiple
Storing laminate (14), described storing support body (13) one end bottom is provided with the support shaft for externally protruding out in described storing support body (13)
(15) support frame (16) for being used for that shelf to be supported when shelf pull out frame (1), is housed in described support shaft (15), it is described
Support frame (16) bottom is provided with roller (161), and described support shaft (15) is provided with radial direction pin-and-hole (151), described radial peg
Hole (151) is built with anticreep latch (152).
2. automatic material taking intelligent robot according to claim 1, it is characterised in that：Described rotating driving device
(141b) is the rotary cylinder being fixed on described vertically slidable frame (141), and described material-taking rack (141a) is fixedly connected on
On the output shaft of described rotary cylinder.
3. automatic material taking intelligent robot according to claim 1, it is characterised in that：Described fetching device (141g) bag
Include to be installed on described arm for taking material (141e) and pick and place axle (1411), described axle (1411) one end that picks and places is equipped with for drawing
The sucker (1412) of material.
4. automatic material taking intelligent robot according to claim 3, it is characterised in that：Described arm for taking material (141e) and institute
Buffer spring (1413) is provided between the sucker (1412) stated.
5. automatic material taking intelligent robot according to claim 1, it is characterised in that：Set on described material-taking rack (141a)
There is the scanning means (1410) that material positional information is obtained for scanning material.
6. automatic material taking intelligent robot according to claim 1, it is characterised in that：Described storage rack guide rail (11) is
2, described storage rack sliding block (12) is multiple, is separately positioned on described storage rack guide rail (11), including close to described
Support shaft (15) one end half bag sliding block (12a) and away from described support shaft (15) one end full bag sliding block (12b).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510567754.XA CN105108736B (en) | 2015-09-08 | 2015-09-08 | A kind of automatic material taking intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510567754.XA CN105108736B (en) | 2015-09-08 | 2015-09-08 | A kind of automatic material taking intelligent robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105108736A CN105108736A (en) | 2015-12-02 |
| CN105108736B true CN105108736B (en) | 2017-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510567754.XA Expired - Fee Related CN105108736B (en) | 2015-09-08 | 2015-09-08 | A kind of automatic material taking intelligent robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105108736B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107372375A (en) * | 2017-07-18 | 2017-11-24 | 肥西县金牛蚕桑农民专业合作社 | One kind is easy to nursing to remove sand rail mounted intelligence silkworm cultivation apparatus |
| WO2019184757A1 (en) * | 2018-03-28 | 2019-10-03 | 黄自升 | Automatic vending system using automatic guided transport vehicle and aisle-type storage box |
| CN109719710A (en) * | 2018-06-20 | 2019-05-07 | 深圳市太惠科技有限公司 | A kind of twin shaft single arm robot having shopping box |
| CN114193472B (en) * | 2021-12-17 | 2024-05-24 | 重庆特斯联智慧科技股份有限公司 | Hotel guest room article taking and delivering robot and system thereof |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0334033A1 (en) * | 1988-03-22 | 1989-09-27 | Siemens Aktiengesellschaft | Position controlling means for sensor driven portal type robot |
| CN201249887Y (en) * | 2008-06-26 | 2009-06-03 | 武汉人天包装技术有限公司 | Label delivery device |
| CN101564241B (en) * | 2009-06-03 | 2011-06-15 | 东北大学 | Document automatic access device and control method |
| CN201565960U (en) * | 2009-09-27 | 2010-09-01 | 联茂(无锡)电子科技有限公司 | Carrying machine tool and vacuum suction devices thereof |
| CN102408011B (en) * | 2010-09-24 | 2013-08-28 | 鸿富锦精密工业（深圳）有限公司 | Feeding device |
| US9346210B2 (en) * | 2011-12-02 | 2016-05-24 | Exco Technologies Limited | Extrusion die pre-heating system, apparatus and method |
| CN203158831U (en) * | 2013-01-27 | 2013-08-28 | 广东顺德劳佰得机器人科技有限公司 | Full-automatic portal frame stacker crane |
| CN203611953U (en) * | 2013-11-28 | 2014-05-28 | 西安航天精密机电研究所 | Trunk picking device of electric automobile automatic battery replacing mechanism |
| CN204104240U (en) * | 2014-07-11 | 2015-01-14 | 北京文武科技发展有限公司 | A kind of rack being convenient to maintenance of equipment |
| CN104354158A (en) * | 2014-10-31 | 2015-02-18 | 桐乡市洲泉纺织五金加弹厂 | Automatic yarn hanging mechanical hand |
| CN205043768U (en) * | 2015-09-08 | 2016-02-24 | 广东科捷龙机器人有限公司 | Automatic get material intelligent robot |
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2015
- 2015-09-08 CN CN201510567754.XA patent/CN105108736B/en not_active Expired - Fee Related
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|---|---|
| CN105108736A (en) | 2015-12-02 |
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