CN102642199A - Robot for carrying warehouses - Google Patents

Abstract

The invention discloses a warehouse handling robot, comprising: a vehicle frame, a ground motion mechanism installed on the vehicle frame; a support plate, a lifting mechanism connected between the vehicle frame and the support plate; a translation plate, connected to the support plate and the translation A translation mechanism between the plates; a rotating plate, a rotating mechanism connected between the rotating plate and the translation plate; an actuator connected to the rotating plate. The robot disclosed by the invention can realize the clamping, transporting and storing of goods, is an existing replacement device for manually transporting goods, reduces human physical labor, and improves production efficiency. The robot adjusts the height of the manipulator claw working platform through the lifting mechanism, so that it can transport the items to storage locations with different heights, and realizes the whole process of automatic production from cargo handling to storage.

Description

Warehouse Handling Robot

technical field

The invention relates to a warehouse handling robot, which can be used for warehouse item handling and item sorting.

Background technique

Under the background of the rapid development of my country's national economy, urbanization construction and science and technology construction, automation products are entering life faster and faster, and the management of warehouse goods is even more necessary. Most of the goods in the current warehouse are large in size, heavy in weight, and dirty on the surface. The working environment in the warehouse is poor, which is not conducive to people's work. For example, in the production workshop of the factory, many parts are covered with oil, and some parts are still Some burrs remain, which is not conducive to manual handling. At the same time, placing the goods in the warehouse also consumes a considerable amount of manpower. Therefore, there is an urgent need for a new type of handling robot that can replace manual work in warehouse handling.

Warehouse handling robot, as a kind of handling robot, can grasp goods of different sizes and shapes by opening and closing the manipulator claws, such as some irregular mechanical parts, packaged goods, cylindrical and spherical objects And some odds and ends. Warehouse handling robot, as an automatic mechanical device for handling operations in warehouses, has attracted more and more attention. The present invention mainly aims at the current demand, and provides a warehouse handling robot that can replace labor.

Contents of the invention

The technical problem to be solved by the present invention is to provide a warehouse transporter robot with a motor as the driving force and gear meshing as the transmission mechanism. This robot can be used for the handling and storage of warehouse goods, replacing human labor.

The technical solution adopted in the present invention is: a warehouse handling robot, comprising: a vehicle frame, a ground motion mechanism installed on the vehicle frame; a support plate, a lifting mechanism connected between the vehicle frame and the support plate; a translation plate, connected The translation mechanism between the support plate and the translation plate; the rotation plate, the rotation mechanism connected between the rotation plate and the translation plate; the actuator connected to the rotation plate.

The technical effect achieved by the present invention is: in the warehouse, the present invention drives the gear mechanism and the connecting rod mechanism through the motor to realize the clamping, handling and storage of goods, which is an alternative device for the existing manual handling of goods, and reduces human labor. Manual labor improves production efficiency. This warehouse handling robot can also adjust the height of the working platform of the manipulator claws through the lifting mechanism, so that it can transport items to storage locations with different heights, realizing the automatic production of the whole process from cargo handling to storage.

Description of drawings

The above and other objects, features and advantages of the present invention will be more apparent by a more specific description of preferred embodiments of the present invention shown in the accompanying drawings. Like reference numerals designate like parts throughout the drawings. The drawings are not intentionally scaled and drawn according to the actual size, and the emphasis is on illustrating the gist of the present invention.

Figures 1-4 are schematic diagrams of the overall structure of the warehouse handling robot shown from different angles.

Detailed ways

Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

The warehouse handling robot of the present invention mainly includes the following parts: a vehicle frame 1, a ground motion mechanism 2 installed on the vehicle frame 1; a support plate 3, a lifting mechanism 4 connected between the vehicle frame 1 and the support plate 3; a translation plate 5, the translation mechanism 6 connected between the support plate 3 and the translation plate 5; the rotation plate 7, the rotation mechanism 8 connected between the rotation plate 7 and the translation plate 5; the actuator 9 connected on the rotation plate 7. Each institution will be described in detail below.

Referring to Fig. 2, the ground motion mechanism 2 includes a driving wheel 21 which is rotated at the bottom of the vehicle frame 1, a straight-running rotary motor 22, and the straight-running rotary motor 22 is connected to the driving wheel 21 through a gear reduction box 23 and a rotating shaft; it also includes: two steering wheels Wheel 24; two "L"-shaped steering shafts 25, each steering wheel 24 is respectively rotated and connected to one section of a steering shaft 25, and the other section of the steering shaft 25 that is not connected to the steering wheel 24 is rotated and arranged on the vehicle frame 1 above; steering rack 26, the two ends of the steering rack 26 are respectively connected to the other section of each steering shaft 25 in rotation; the steering gear 27 meshed with the steering rack 26 drives the steering rotating motor 28 of the steering gear 27, The steering rotating motor 28 is fixed on the vehicle frame 1 . This steering mode has an ingenious structure, and the rotation angles of the two steering wheels 24 can be guaranteed to be the same through simple component connections.

Referring to Fig. 1, the lifting mechanism 4 includes: an "X"-shaped connecting rod pair 41 formed by rotating the middle parts of two connecting rods. ""-shaped connecting rod pairs 41 are sequentially connected to form an "X"-shaped connecting rod assembly; one end of the bottom of the "X"-shaped connecting rod assembly is fixedly connected to the top of the vehicle frame 1, and the other end is slidably connected to the sliding rod 42 and connected to the lifting straight line The output end of the motor 43, the lower rod 42 and the lifting linear motor 43 are all fixed on the top of the frame 1; one end of the top of the "X"-shaped connecting rod assembly is fixed to the bottom of the support plate 3, and the other end is slidably connected to the upper slide rod 44 , the upper slide bar 44 is fixed on the bottom of the support plate 3 . The above-mentioned lifting mechanism 4 forms a scissor jack structure.

Referring to FIG. 4 , the translation mechanism 6 includes a cylindrical guide rail 61 fixed on the top of the support plate 3 , a slider 62 fixed on the bottom of the translation plate 5 and cooperating with the cylindrical guide rail 61 , and the slider 62 is slidably arranged on the cylindrical guide rail 61 It also includes a translation rack 63 fixed on the top of the support plate 3, a translation gear 64 meshed with the translation rack 63; a translation rotation motor 65 fixedly connected with the translation gear 64, and the translation rotation motor 65 is fixed on the translation plate 5 .

Referring to Fig. 3, described rotating mechanism 8 comprises the rotating shaft 81 that is fixed on the top of translation plate 5, and rotating plate 7 is rotatably connected on rotating shaft 81; The gear 83 is a rotating and rotating motor 84 fixedly connected with the rotating gear 83 , and the rotating and rotating motor 84 is fixed on the top of the translation plate 5 .

Referring to Fig. 2, the actuator 9 includes two mechanical jaws 91 that are rotatably connected to the top of the rotating plate 7, and an executing linear motor 92 fixed on the top of the rotating plate 7, and the output shaft of the executing linear motor 92 is fixed to the distribution piece 93, and said distribution piece 93 is respectively rotatably connected to each mechanical claw 91 through two connecting pieces 94.

The above warehouse handling robot has the following degrees of freedom of movement: first, the straight-line rotating motor 22 drives the driving wheel 21, and then drives the robot to move on the ground; The root "L"-shaped steering shaft 25 rotates, and the two steering wheels 24 rotate at a predetermined angle to realize the robot's steering on the ground; third, the lifting linear motor 43 pushes the "X"-shaped connecting rod assembly to drive the support plate 3 to lift; fourth , the translation rotation motor 65 drives the translation gear 64 to move relative to the translation rack 63, then the slider 62 slides on the cylindrical guide rail 61, so that the translation plate 5 slides relative to the support plate 3; the 5th, the rotation rotation motor 84 drives the rotation gear 83, and then Drive the internal gear 82 to make the rotating plate 7 rotate relative to the translation plate 5; sixth, the linear motor 92 drives the distribution piece 93 to advance and retreat, and pushes the connecting piece 94 to separate or close, so that the two mechanical claws 91 open and close.

The typical working process of this warehouse handling robot is: first step, turn on the power, judge the spatial position of the goods relative to the mechanical claw 91, the ground motion mechanism 2 makes the robot move to the vicinity of the goods; second step, the lifting mechanism 4 makes the mechanical claw 91 moves to match the height of the goods; in the third step, the mechanical jaws 91 are opened, and the translation mechanism 6 pushes the mechanical jaws 91 to stretch out and approach the goods, the mechanical jaws 91 close and grab the goods, and the translation mechanism 6 drives the mechanical jaws The claw 91 and the goods are retracted; the fourth step, the pose of the robot is changed, for example, the lifting mechanism 4 drives the mechanical claw 91 and the cargo lifts, the rotating mechanism 8 drives the mechanical claw 91 and the cargo rotates, and the ground motion mechanism 2 drives the mechanical claw 91 and goods advance and retreat in individual or combined movement modes until they reach the target position; in the fifth step, the translation mechanism 6 pushes the mechanical jaw 91 and the goods out, the mechanical jaw 91 opens and unloads the goods, and the translation mechanism 6 Push the mechanical claw 91 to retract.

Although the present invention is disclosed as above with preferred embodiments, it is not used to limit the claims. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the present invention The scope of protection should be based on the scope defined by the claims of the present invention.

Claims (7)

1. A warehouse handling robot is characterized in that it comprises: a vehicle frame, a ground motion mechanism installed on the vehicle frame; a support plate, a lifting mechanism connected between the vehicle frame and the support plate; a translation plate, connected between the support plate and the support plate The translation mechanism between the translation plates; the rotation plate, the rotation mechanism connected between the rotation plate and the translation plate; the actuator connected to the rotation plate. 2. The warehouse handling robot according to claim 1, wherein the ground motion mechanism comprises: rotating the driving wheel arranged at the bottom of the vehicle frame, and a straight-moving rotating motor connected through a gear reduction box and a rotating shaft driving wheel. 3. The warehouse handling robot according to claim 1, wherein the ground motion mechanism comprises: two steering wheels; two "L"-shaped steering shafts, each steering wheel is respectively connected to a steering wheel One section of the steering shaft, the other section of the steering shaft that is not connected to the steering wheel is rotatably arranged on the vehicle frame; the steering rack, the two ends of the steering rack are respectively connected to the other section of each steering shaft for rotation; and the steering rack The meshed steering gear drives the steering rotation motor of the steering gear, and the steering rotation motor is fixed on the vehicle frame. 4. The warehouse handling robot according to claim 1, characterized in that, the lifting mechanism includes: an "X"-shaped connecting rod pair formed by rotating the middle parts of two connecting rods, and more than two pairs of the "X" The connecting rod pairs are connected in turn to form an "X" connecting rod assembly; one end of the bottom of the "X" connecting rod assembly is fixedly connected to the top of the frame, and the other end is slidably connected to the lower rod and connected to the output end of the lifting linear motor , the lower rod and the lifting linear motor are fixed on the top of the frame; one end of the top of the "X"-shaped connecting rod assembly is fixed to the bottom of the support plate, and the other end is slidably connected to the upper slide rod, which is fixed on the bottom of the support plate . 5. The warehouse handling robot according to claim 1, wherein the translation mechanism comprises a cylindrical guide rail fixed on the top of the support plate, a slide block fixed on the bottom of the translation plate and matched with the cylindrical guide rail, the slide The blocks are slidingly arranged on the cylindrical guide rail; the translation rack fixed on the top of the support plate, the translation gear meshed with the translation rack, and the translation rotation motor fixedly connected with the translation gear, and the translation rotation motor is fixed on the translation plate. 6. The warehouse handling robot according to claim 1, wherein the rotating mechanism includes a rotating shaft fixed on the top of the translation plate, and the rotating plate is rotatably connected to the rotating shaft; the internal gear fixed on the bottom of the rotating plate is connected with the A rotating gear engaged with the internal gear; a rotating and rotating motor fixedly connected with the rotating gear, and the rotating and rotating motor is fixed on the top of the translation plate. 7. The warehouse handling robot according to claim 1, wherein the actuator includes two mechanical claws that are rotatably connected to the top of the rotating plate, and an executing linear motor fixed on the top of the rotating plate, and the implementing linear motor The output shaft of the output shaft is fixed to the dial, and the dial is connected to each mechanical claw through two connecting pieces for rotation.

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