CN103950672B - A kind of automatic loading and unloading goods robot - Google Patents

A kind of automatic loading and unloading goods robot Download PDF

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Publication number
CN103950672B
CN103950672B CN201410137098.5A CN201410137098A CN103950672B CN 103950672 B CN103950672 B CN 103950672B CN 201410137098 A CN201410137098 A CN 201410137098A CN 103950672 B CN103950672 B CN 103950672B
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CN
China
Prior art keywords
lift car
loading plate
cargo loading
hook
moving
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Expired - Fee Related
Application number
CN201410137098.5A
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Chinese (zh)
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CN103950672A (en
Inventor
刘征
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SHENZHEN PUZHI LIANKE ROBOT TECHNOLOGY CO., LTD.
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WUXI PUZHILIANKE HIGH-TECH Co Ltd
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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 present invention relates to a kind of automatic loading and unloading goods robot, its technical characteristics is: by moving body, be arranged on wheel bottom moving body, be arranged on the lift car on moving body and the telescopic access device be arranged on lift car is formed; Described lift car comprises lift car motor, lift car chain, lift car sprocket wheel, lift car column, lift car cargo loading plate, lift car cargo loading plate wheel groove is shaped with respectively in the upper surface both sides of lift car cargo loading plate, be shaped with lift car hook mounting groove respectively in the lower surface both sides of lift car cargo loading plate, in the corner of lift car cargo loading plate, lift car guide piece be all installed and be installed together with lift car column chute.Present invention achieves with shelf tray is the automatic loading and unloading goods function of storage cell, solving storage rack each layer goods can not by the problem of concurrent shipment, the bottle diameter problem that the sorting speed overcoming restriction warehoused cargo improves, improves sorting and the access efficiency of warehoused cargo on the whole.

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 requirement according to outbound list or distribution plan, picks out from picking district or storage area by commodity, and carries out the operation process of classifying, concentrating in a certain way.At present, usually adopt batch method for sorting, the method may be summarized to be: first sort kind and sort quantity again, and 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, the quantity of each order is sorted out by off-sorting station staff, vanning outbound.
In the prior art, bear the Kiva storage dispensing robot that the above typical case that conveys goods of storage batch is Amazon Company, its work characteristics is: can carry the whole shelf having occupied article.This dispensing machine people only performs a task at every turn, and get once whole shelf, robot is only responsible for workman's picking, and workman is then responsible for picking commodity from goods and dispensing of casing.Although above-mentioned warehousing system saves the time of workman to a certain extent, improve the efficiency of dispensing, the Comparision that dispensing machine people can do is limited, and does uncertain better than workman.Traces it to its cause and be: what Kiva dispensing machine people can carry is the whole shelf having occupied article, and the product of whole shelf is all not required for this sorting! Those N/R products are owing to by the concurrent use of other orders, can not make whole storage sort efficiency and reducing.Therefore, as the pallet on how shelf is access unit and accesses goods to be categorizedly 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, is arranged on wheel bottom moving body, is arranged on the lift car on moving body and the telescopic access device be arranged on lift car is formed, 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 uprights vertical are arranged on car body upper surface corner place, described lift car motor is packed in the top of side lift car column, lift car motor connects axle drive shaft by belt, coder for testing the speed is installed on the driving 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, lift car cargo loading plate wheel groove is shaped with respectively in the upper surface both sides of lift car cargo loading plate, be shaped with lift car hook mounting groove respectively in the lower surface both sides of lift car cargo loading plate, in the corner of lift car cargo loading plate, lift car guide piece be all installed and be installed together with lift car column chute.
And, described telescopic access device comprises hook, horizontal push-pull device at fixed and longitudinal jacking system, described hook level is arranged in lift car hook mounting groove, be installed together with hook in the lift car hook mounting groove that described horizontal push-pull device at fixed is arranged on inside hook, this horizontal push-pull device at fixed is used for push-and-pull hook to doing horizontal cross motion, described longitudinal jacking system is arranged in the lift car hook mounting groove bottom hook, and this longitudinal jacking system moves up and down for driving hook.
And, described lift car guide piece comprises a pair pipe link, the axis of guide and track adjusting wheel, a pair described 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 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 realizes accessing the shelf tray on drawer-type storage rack, thus realization take shelf tray as the Multi Loading and Unloading Functions of storage cell, solving storage rack each layer goods can not by the problem of concurrent shipment, the bottle diameter problem that the sorting speed overcoming restriction warehoused cargo improves, improves sorting and the access efficiency of warehoused cargo on the whole.
Accompanying drawing explanation
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: horizontal push-pull device at fixed, 4-3: longitudinal jacking system, 5-1: shelf supports crossbeam, 5-2: shelf supports column, 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, comprises by moving body 2, is arranged on wheel 1 bottom moving body, is arranged on the lift car on moving body and the telescopic access device be arranged on lift car is formed.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 uprights vertical are arranged on car body upper surface corner place, described lift car motor is packed in the top of side lift car column, lift car motor connects axle drive shaft by belt, coder for testing the speed is installed on the driving shaft, four lift car chains and axle drive shaft mesh together, wherein two lift car chains are arranged on front side of moving body, other two lift car chains are arranged on the rear side of moving body, on front side of moving body with rear side lift car chain by being arranged on together with a lift car sprocket engagement on lift car crossbeam, on front side of moving body with another root lift car chain of rear side 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 four end points places of lift car cargo loading plate respectively, lifter motor drives the dipping and heaving of four chain row cultures by moved in coaxial thus lift car cargo loading plate is moved up and down.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, lift car cargo loading plate wheel groove 3-6 is shaped with respectively in the upper surface both sides of lift car cargo loading plate, lift car hook mounting groove 3-8 is shaped with respectively in the lower surface both sides of lift car cargo loading plate, in the corner of lift car cargo loading plate, lift car guide piece is all installed, each lift car guide piece comprises a pair pipe link, axis of guide 3-11 and track adjusting wheel 3-10, a pair described 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 lift car cargo loading plate corner place are inlaid in lift car column chute and move up and down along this chute, thus ensure to prevent 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, horizontal push-pull device at fixed 4-2 and longitudinal jacking system 4-3, described hook level is arranged in lift car hook mounting groove, the bill of this hook upward, be installed together with hook in the lift car hook mounting groove that described horizontal push-pull device at fixed is arranged on inside hook, this horizontal push-pull device at fixed is used for push-and-pull hook to doing horizontal cross motion, described longitudinal jacking system is arranged in the lift car hook mounting groove bottom hook, this longitudinal jacking system moves up and down for driving hook.After horizontal push-pull device at fixed promotion hook is laterally moved out to appointed place, two square holes of drawer-type storage rack pallet lower surface just in time aimed at by bill, now, longitudinal jacking system promotes two square holes that hook upward movement hooks pallet lower surface, then, drawer-type storage rack pallet is withdrawn on the assigned address of lifting mode cargo loading plate by horizontal push-pull device at fixed, thus realizes automatically depositing and abstraction function drawer-type storage rack goods.Above-mentioned horizontal push-pull device at fixed and longitudinal jacking system are all 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: the shelf tray track of pallet drawer from drawer-type storage rack is drawn out on cargo loading plate, or pallet drawer is pushed in the shelf tray track of drawer-type storage rack from cargo loading plate.
The structure of described drawer-type storage rack as shown in Figure 4, comprise four shelf supports crossbeam 5-1, shelf supports column 5-2 and shelf tray guide rail 5-3, four shelf supports beams comprise front shelf supports beam, rear shelf supports beam, left shelf supports beam and right shelf supports beam, four shelf supports beams are packed in both sides, front and back and the left and right sides of four support post upper ends respectively, shelf tray guide rail is the symmetrical inner side being arranged on left and right shelf supports column from top to bottom, often pair of shelf tray guide rail is provided with drawer-type storage rack pallet, drawer-type storage rack pallet can along shelf tray guide rail fore-aft travel, drawer-type storage rack pallet can deposit goods, thus form multi-layer drawer shelf.The uniform inner side being arranged on left and right shelf supports column of shelf tray guide rail forms standard goods lattice, goods lattice between shelf tray guide rail are fixed interval, in actual use, goods can be deposited 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 1 standard goods lattice, 4 standard goods lattice, 2 standard goods lattice from the bottom to top respectively, 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, uniform in the bottom of each pallet load-bearing flank row's pallet roller 6-3 is installed, drawer-type storage rack pallet can be arranged on shelf tray track by two row's pallet rollers and drawer-type storage rack pallet is moved forward and backward along shelf tray track, this pallet roller can also make hook hook pallet when moving to cargo loading plate, reduces 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 the hook of telescopic access device and designing specially, and telescopic access device two square holes hooked below pallet drive pallets to move do push-and-pull.
It is emphasized that; embodiment of the present invention is illustrative; instead of it is determinate; therefore the present invention includes the embodiment be not limited to described in detailed description of the invention; every other embodiments 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 (2)

1. an automatic loading and unloading goods robot, is characterized in that: by moving body, be arranged on wheel bottom moving body, be arranged on the lift car on moving body and the telescopic access device be arranged on lift car is formed, 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 uprights vertical are arranged on moving body upper surface corner place, described lift car motor is packed in the top of side lift car column, lift car motor connects axle drive shaft by belt, coder for testing the speed is installed on the driving 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, lift car cargo loading plate wheel groove is shaped with respectively in the upper surface both sides of lift car cargo loading plate, be shaped with lift car hook mounting groove respectively in the lower surface both sides of lift car cargo loading plate, in the corner of lift car cargo loading plate, lift car guide piece be all installed and be installed together with lift car column chute,
Described telescopic access device comprises hook, horizontal push-pull device at fixed and longitudinal jacking system, described hook level is arranged in lift car hook mounting groove, be installed together with hook in the lift car hook mounting groove that described horizontal push-pull device at fixed is arranged on inside hook, this horizontal push-pull device at fixed is used for push-and-pull hook and does horizontal cross motion, described longitudinal jacking system is arranged in the lift car hook mounting groove bottom hook, and this longitudinal jacking system moves up and down for driving hook.
2. 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 pipe link, the axis of guide and track adjusting wheel, a pair described 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 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)

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Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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CN103950672B true CN103950672B (en) 2015-12-30

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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
CN105502227B (en) * 2016-01-28 2017-11-10 苏州市职业大学 A kind of liftable goods carries handler
WO2019089923A1 (en) * 2017-11-03 2019-05-09 Labrador Systems, Inc. Autonomous domestic robotic systems for item retrieval and transport
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
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
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
NO344970B1 (en) * 2018-04-25 2020-08-03 Autostore Tech As Container-handling vehicle comprising a lifting device and method of raising or lowering a storage container relative a container-handling vehicle having a lifting device
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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Effective date of registration: 20180829

Address after: 518000 room 503, block A, sang Tai Building, Xili University, Xili street, Shenzhen, Guangdong, Nanshan District

Patentee after: SHENZHEN PUZHI LIANKE ROBOT TECHNOLOGY CO., LTD.

Address before: 214135 floor 4, block A, whale block, Wuxi (National) software park, 18, Zhen Ze Road, Wuxi New District, Jiangsu.

Patentee before: Wuxi Puzhilianke High-tech Co., Ltd.

CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20151230

Termination date: 20190404