CN103950672A - Automatic cargo loading and unloading robot - Google Patents

Automatic cargo loading and unloading robot Download PDF

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Publication number
CN103950672A
CN103950672A CN201410137098.5A CN201410137098A CN103950672A CN 103950672 A CN103950672 A CN 103950672A CN 201410137098 A CN201410137098 A CN 201410137098A CN 103950672 A CN103950672 A CN 103950672A
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CN
China
Prior art keywords
lift car
cargo loading
loading plate
hook
car
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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.)
Granted
Application number
CN201410137098.5A
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Chinese (zh)
Other versions
CN103950672B (en
Inventor
刘征
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SHENZHEN PUZHI LIANKE ROBOT TECHNOLOGY CO., LTD.
Original Assignee
WUXI PUZHILIANKE HIGH-TECH Co Ltd
Priority date (The priority date 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 date listed.)
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Priority to CN201410137098.5A priority Critical patent/CN103950672B/en
Publication of CN103950672A publication Critical patent/CN103950672A/en
Application granted granted Critical
Publication of CN103950672B publication Critical patent/CN103950672B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The invention relates to an automatic cargo loading and unloading robot. The automatic loading and unloading robot is mainly technically characterized in that the robot is formed by a mobile car body, wheels arranged at the bottom of the mobile car body, a lifting car arranged on the mobile car body and a telescopic storing and taking device arranged on the lifting car; the lifting car comprises a lifting car motor, lifting car chains, lifting car chain wheels, lifting car upright pillars and a lifting car cargo loading plate; lifting car cargo loading plate wheel slots are respectively arranged at two sides of the upper surface of the cargo loading plate of the lifting car; lifting car hook mounting slots are respectively arranged at two sides of the lower surface of the lifting car cargo loading plate; lifting car guide devices are arranged at four corners of the lifting car cargo loading plate and are mounted together with lifting car upright chutes. The automatic cargo loading and unloading function by taking a storage rack tray as a unit is realized, the problem that cargos at all layers of a storage rack cannot be unloaded in parallel is solved, the bottleneck problem that sorting speed of the storage cargos is restricted from being improved is overcome, and the sorting, taking and storing efficiency of the storage cargos are integrally improved.

Description

A kind of automatic loading and unloading goods robot
Technical field
The invention belongs to logistic storage technical field, especially a kind of automatic loading and unloading goods robot.
Background technology
At present, warehoused cargo sorting refers to according to the requirement of outbound list or distribution plan, by commodity from picking district or storage area choose and take out, and classify in a certain way, concentrated operation process.At present, conventionally adopt method for sorting in batches, the method may be summarized to be: first sort kind and sort quantity again, each shipment item of multiple delivery orders or picking list is carried out Classifying Sum by storage background server; Then, specify specialized equipment according to description of cargo batch extracting goods, and be transported to goods sorting district; Finally, from single variety batch goods, sorted out the quantity of each order by off-sorting station staff, vanning outbound.
In the prior art, bearing the above typical case conveying goods in batches of storing in a warehouse is the Kiva storage dispensing robot of Amazon Company, and its work characteristics is: can carry the whole shelf that occupied article.This dispensing robot is only carried out a task at every turn, gets once whole shelf, and robot is only responsible for workman's picking, and workman is responsible for picking commodity vanning dispensing from goods.Although above-mentioned warehousing system has been saved workman's time to a certain extent, improve the efficiency of dispensing,, the Comparision that dispensing robot can do is limited, and does uncertain better than workman.Trace it to its cause and be: what Kiva dispensing robot can be carried is the whole shelf that occupied article, and the product of whole shelf is all not that this sorting is needed! Those N/R products, due to can not be by the concurrent use of other orders, make whole storage sorting Efficiency Decreasing.Therefore, as the pallet on shelf be how access unit and categorizedly access goods be problem in the urgent need to address at present.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of reasonable in design, access efficiency is high and wieldy automatic loading and unloading goods robot.
The present invention solves existing technical matters and takes following technical scheme to realize:
A kind of automatic loading and unloading goods robot, by moving body, be arranged on moving body bottom wheel, be arranged on the lift car on moving body and the telescopic access device that is arranged on lift car forms, described lift car comprises lift car motor, lift car chain, lift car sprocket wheel, lift car column, lift car cargo loading plate, four lift car columns are vertically mounted on four jiaos of places of car body upper surface, described lift car motor is packed in the top of a side lift car column, lift car motor connects axle drive shaft by belt, coder for testing the speed is installed on axle drive shaft, four lift car chains and axle drive shaft mesh together, wherein two lift car chains are positioned at the front side of moving body and are solidly installed by two forward terminals of lift car sprocket wheel and lift car cargo loading plate, other two lift car chains are positioned at the rear side of moving body and are solidly installed by two aft terminals of lift car sprocket wheel and lift car cargo loading plate, in the side of lift car cargo loading plate, lift car code reader is installed, be shaped with respectively lift car cargo loading plate wheel groove in the upper surface both sides of lift car cargo loading plate, be shaped with respectively lift car hook mounting groove in the lower surface both sides of lift car cargo loading plate, lift car guide piece be all installed and be installed together with lift car column chute at lift car cargo loading plate four jiaos.
And, described telescopic access device comprises hook, laterally push-pull device at fixed and longitudinal jacking system, described hook level is arranged in lift car hook mounting groove, described horizontal push-pull device at fixed is arranged in the lift car hook mounting groove inside hook and is installed together with hook, this horizontal push-pull device at fixed moves to making horizontal cross for push-and-pull hook, described longitudinal jacking system is arranged in the lift car hook mounting groove of hook bottom, and this longitudinal jacking system is used for driving hook to move up and down.
And, described lift car guide piece comprises a pair of pipe link, the axis of guide and track adjusting wheel, described a pair of pipe link is arranged on drift angle both sides of lift car cargo loading plate, the described axis of guide is arranged between a pair of pipe link, described track adjusting wheel is sleeved in the axis of guide, and this track adjusting wheel is inlaid in lift car column chute.
Advantage of the present invention and good effect are:
The present invention is provided with lift car cargo loading plate on moving body, flexible access device is realized the shelf tray on drawer-type storage rack is carried out to access, thereby realize the Multi Loading and Unloading Functions taking shelf tray as storage cell, having solved each layer of goods of storage rack can not be by the problem of concurrent shipment, overcome the bottle diameter problem of the sorting speed raising of restriction warehoused cargo, improved on the whole sorting and the access efficiency of warehoused cargo.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of lift car cargo loading plate;
Fig. 3 is the fundamental diagram of telescopic access device;
Fig. 4 is the structural representation of drawer-type storage rack;
Fig. 5 is the front view of drawer-type storage rack pallet;
Fig. 6 is the lateral plan of drawer-type storage rack pallet;
Fig. 7 is the upward view of drawer-type storage rack pallet.
Wherein, 1: wheel, 2: moving body, 3-0: coder, 3-1: lift car motor, 3-2: lift car chain, 3-3: lift car sprocket wheel, 3-4: lift car column, 3-5: lift car cargo loading plate, 3-6: lift car cargo loading plate wheel groove, 3-7: lift car code reader, 3-8: lift car hook mounting groove, 3-9: lift car column chute, 3-10: track adjusting wheel, 3-11: the axis of guide, 3-12: pipe link, 4-1: hook, 4-2: laterally push-pull device at fixed, 4-3: longitudinally jacking system, 5-1: shelf supporting traverse, 5-2: shelf support post, 5-3: shelf tray guide rail, 6-1: pallet drawer, 6-2: pallet load-bearing flank, 6-3: pallet pulley, 6-4: pallet square hole.
Detailed description of the invention
Below in conjunction with accompanying drawing, the embodiment of the present invention is further described.
A kind of automatic loading and unloading goods robot, as shown in Figures 1 and 2, comprise by moving body 2, be arranged on moving body bottom wheel 1, be arranged on the lift car on moving body and the telescopic access device that is arranged on lift car forms.Described lift car comprises lift car motor 3-1, lift car chain 3-2, lift car sprocket wheel 3-3, lift car column 3-4, lift car cargo loading plate 3-5, four lift car columns are vertically mounted on four jiaos of places of car body upper surface, described lift car motor is packed in the top of a side lift car column, lift car motor connects axle drive shaft by belt, coder for testing the speed is installed on axle drive shaft, four lift car chains and axle drive shaft mesh together, wherein two lift car chains are arranged on moving body front side, other two lift car chains are arranged on the rear side of moving body, a lift car chain of moving body front side and rear side is by being arranged on together with a lift car sprocket engagement on lift car crossbeam, another root lift car chain of moving body front side and rear side is by being arranged on together with two lift car sprocket engagement on lift car crossbeam, the lower extreme point of four lift car chains is packed in respectively four end points places of lift car cargo loading plate, thereby lifter motor drives the dipping and heaving of four chain row cultures that lift car cargo loading plate is moved up and down by moved in coaxial.Lift car code reader 3-7 is installed for recording the distance of lift car lifting in the side of lift car cargo loading plate, be shaped with respectively lift car cargo loading plate wheel groove 3-6 in the upper surface both sides of lift car cargo loading plate, be shaped with respectively lift car hook mounting groove 3-8 in the lower surface both sides of lift car cargo loading plate, four jiaos at lift car cargo loading plate are all provided with lift car guide piece, each lift car guide piece comprises a pair of pipe link, axis of guide 3-11 and track adjusting wheel 3-10, described a pair of pipe link is arranged on the drift angle both sides of lift car cargo loading plate, the described axis of guide is arranged between pipe link, described track adjusting wheel is sleeved in the axis of guide, this track adjusting wheel is inlaid in lift car column chute 3-9, because four track adjusting wheels at four jiaos of places of lift car cargo loading plate are inlaid in lift car column chute and move up and down along this chute, thereby ensure to prevent that lift car cargo loading plate from shaking.
As shown in Figure 3, described telescopic access device is arranged in the lift car hook mounting groove of AGV lift car cargo loading plate lower surface, this telescopic access device comprises hook 4-1, laterally push-pull device at fixed 4-2 and longitudinally jacking system 4-3, described hook level is arranged in lift car hook mounting groove, the bill of this hook upward, described horizontal push-pull device at fixed is arranged in the lift car hook mounting groove inside hook and is installed together with hook, this horizontal push-pull device at fixed moves to making horizontal cross for push-and-pull hook, described longitudinal jacking system is arranged in the lift car hook mounting groove of hook bottom, this longitudinal jacking system is used for driving hook to move up and down.When promoting hook, horizontal push-pull device at fixed is laterally moved out to behind appointed place, bill is just in time aimed at two square holes of drawer-type storage rack pallet lower surface, now, longitudinally jacking system promotion hook upward movement hooks two square holes of pallet lower surface, then, laterally push-pull device at fixed is withdrawn into drawer-type storage rack pallet on the assigned address of lifting mode cargo loading plate, thereby realizes automatically depositing and abstraction function drawer-type storage rack goods.Above-mentioned horizontal push-pull device at fixed and longitudinally jacking system are all to work under the control of AGV controller.
This automatic loading and unloading goods robot can carry out accessing operation to the drawer type tray on drawer-type storage rack, that is: pallet drawer is drawn out on cargo loading plate from the shelf tray track of drawer-type storage rack, or by pallet drawer in cargo loading plate is pushed into the shelf tray track of drawer-type storage rack.
The structure of described drawer-type storage rack as shown in Figure 4, comprise four shelf supporting traverse 5-1, shelf support post 5-2 and shelf tray guide rail 5-3, four shelf support beams comprise front shelf support beam, rear shelf support beam, left shelf support beam and right shelf support beam, four shelf support beams are packed in respectively both sides, front and back and the left and right sides of four support post upper ends, shelf tray guide rail is the symmetrical inner side that is arranged on left and right shelf support post from top to bottom, on every pair of shelf tray guide rail, drawer-type storage rack pallet is installed, drawer-type storage rack pallet can be along activity before and after shelf tray guide rail, on drawer-type storage rack pallet, can deposit goods, thereby form multi-layer drawer shelf.The uniform inner side that is arranged on left and right shelf support post of shelf tray guide rail forms standard goods lattice, goods lattice between shelf tray guide rail are fixed interval, in actual use, can deposit goods according to standard goods lattice, also multiple standard goods lattice can be merged and form actual goods lattice and deposit goods according to the height of goods, three class goods shown in Fig. 4 take respectively 1 standard goods lattice, 4 standard goods lattice, 2 standard goods lattice from the bottom to top, in order to make full use of storage space.
As shown in Fig. 5, Fig. 6 and Fig. 7, drawer-type storage rack pallet comprises pallet drawer 6-1, pallet load-bearing flank 6-2, described pallet load-bearing flank is arranged on pallet drawer both sides, at the uniform row's pallet roller 6-3 that is provided with in the bottom of each pallet load-bearing flank, drawer-type storage rack pallet can be arranged on shelf tray track and drawer-type storage rack pallet is moved forward and backward along shelf tray track by two row's pallet rollers, when this pallet roller can also make hook hook pallet to move to cargo loading plate, reduce the friction force between pallet and cargo loading plate.Be shaped with two square hole 6-4 in the lower surface of pallet drawer, above-mentioned two square frames are specially for the hook of telescopic access device designs, and two square holes that telescopic access device hooks pallet below drive pallet to move do push-and-pull.
It is emphasized that; embodiment of the present invention is illustrative; instead of determinate; therefore the present invention includes and be not limited to the embodiment described in detailed description of the invention; every other embodiments that drawn by those skilled in the art's technical scheme according to the present invention, belong to the scope of protection of the invention equally.

Claims (3)

1. an automatic loading and unloading goods robot, is characterized in that: by moving body, be arranged on moving body bottom wheel, be arranged on the lift car on moving body and the telescopic access device that is arranged on lift car forms, described lift car comprises lift car motor, lift car chain, lift car sprocket wheel, lift car column, lift car cargo loading plate, four lift car columns are vertically mounted on four jiaos of places of car body upper surface, described lift car motor is packed in the top of a side lift car column, lift car motor connects axle drive shaft by belt, coder for testing the speed is installed on axle drive shaft, four lift car chains and axle drive shaft mesh together, wherein two lift car chains are positioned at the front side of moving body and are solidly installed by two forward terminals of lift car sprocket wheel and lift car cargo loading plate, other two lift car chains are positioned at the rear side of moving body and are solidly installed by two aft terminals of lift car sprocket wheel and lift car cargo loading plate, in the side of lift car cargo loading plate, lift car code reader is installed, be shaped with respectively lift car cargo loading plate wheel groove in the upper surface both sides of lift car cargo loading plate, be shaped with respectively lift car hook mounting groove in the lower surface both sides of lift car cargo loading plate, lift car guide piece be all installed and be installed together with lift car column chute at lift car cargo loading plate four jiaos.
2. a kind of automatic loading and unloading goods robot according to claim 1, it is characterized in that: described telescopic access device comprises hook, laterally push-pull device at fixed and longitudinally jacking system, described hook level is arranged in lift car hook mounting groove, described horizontal push-pull device at fixed is arranged in the lift car hook mounting groove inside hook and is installed together with hook, this horizontal push-pull device at fixed moves to making horizontal cross for push-and-pull hook, described longitudinal jacking system is arranged in the lift car hook mounting groove of hook bottom, this longitudinal jacking system is used for driving hook to move up and down.
3. a kind of automatic loading and unloading goods robot according to claim 1, it is characterized in that: described lift car guide piece comprises a pair of pipe link, the axis of guide and track adjusting wheel, described a pair of pipe link is arranged on drift angle both sides of lift car cargo loading plate, the described axis of guide is arranged between a pair of pipe link, described track adjusting wheel is sleeved in the axis of guide, and this track adjusting wheel is inlaid in lift car column chute.
CN201410137098.5A 2014-04-04 2014-04-04 A kind of automatic loading and unloading goods robot Expired - Fee Related CN103950672B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410137098.5A CN103950672B (en) 2014-04-04 2014-04-04 A kind of automatic loading and unloading goods robot

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Application Number Priority Date Filing Date Title
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104495251A (en) * 2014-12-22 2015-04-08 济南东普机器制造有限公司 Fixed-point lifting-type push-and-pull mechanism
CN105502227A (en) * 2016-01-28 2016-04-20 苏州市职业大学 Liftable cargo loading and unloading device
CN107976046A (en) * 2017-11-23 2018-05-01 广西桂林林博士家具有限公司 A kind of plank drying equipment
CN108126903A (en) * 2017-12-18 2018-06-08 合肥超凡快递咨询有限公司界首营业部 A kind of express sorter device people with high particle carrying capacity
CN108713946A (en) * 2018-05-18 2018-10-30 佛山市业鹏机械有限公司 A kind of furniture displaying trial system
CN109795826A (en) * 2017-11-16 2019-05-24 北京京东尚科信息技术有限公司 The modularization access device and repository of repository
CN110422575A (en) * 2019-08-09 2019-11-08 广州华恒物流有限公司 AGV railcar
CN111727158A (en) * 2017-11-03 2020-09-29 拉布拉多系统公司 Indoor automatic robot system for object picking, placing and transporting
CN112041242A (en) * 2018-04-25 2020-12-04 自动存储科技股份有限公司 Container transporting vehicle

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CN201198134Y (en) * 2008-05-19 2009-02-25 昆明理工大学 Cylindrical storehouse stacking robot
EP2330059A1 (en) * 2009-12-02 2011-06-08 Weets, Jakob Vertical conveyer
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104495251A (en) * 2014-12-22 2015-04-08 济南东普机器制造有限公司 Fixed-point lifting-type push-and-pull mechanism
CN105502227A (en) * 2016-01-28 2016-04-20 苏州市职业大学 Liftable cargo loading and unloading device
CN111727158A (en) * 2017-11-03 2020-09-29 拉布拉多系统公司 Indoor automatic robot system for object picking, placing and transporting
CN109795826B (en) * 2017-11-16 2021-10-15 北京京东乾石科技有限公司 Modular access device of storage library and storage library
CN109795826A (en) * 2017-11-16 2019-05-24 北京京东尚科信息技术有限公司 The modularization access device and repository of repository
CN107976046A (en) * 2017-11-23 2018-05-01 广西桂林林博士家具有限公司 A kind of plank drying equipment
CN108126903A (en) * 2017-12-18 2018-06-08 合肥超凡快递咨询有限公司界首营业部 A kind of express sorter device people with high particle carrying capacity
CN108126903B (en) * 2017-12-18 2019-10-01 浙江福嗳科技有限公司 A kind of express sorter device people with high particle carrying capacity
CN112041242A (en) * 2018-04-25 2020-12-04 自动存储科技股份有限公司 Container transporting vehicle
CN108713946A (en) * 2018-05-18 2018-10-30 佛山市业鹏机械有限公司 A kind of furniture displaying trial system
CN110422575A (en) * 2019-08-09 2019-11-08 广州华恒物流有限公司 AGV railcar

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