CN108016803A - A kind of robot automatically gets in stocks operates equipment with the unmanned warehouse logistics of heap goods - Google Patents

A kind of robot automatically gets in stocks operates equipment with the unmanned warehouse logistics of heap goods Download PDF

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Publication number
CN108016803A
CN108016803A CN201711333534.6A CN201711333534A CN108016803A CN 108016803 A CN108016803 A CN 108016803A CN 201711333534 A CN201711333534 A CN 201711333534A CN 108016803 A CN108016803 A CN 108016803A
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CN
China
Prior art keywords
plate
cylinder
stocks
frame
block
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CN201711333534.6A
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Chinese (zh)
Inventor
黄正秀
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Individual
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Individual
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Priority to CN201711333534.6A priority Critical patent/CN108016803A/en
Publication of CN108016803A publication Critical patent/CN108016803A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical

Abstract

Automatically get in stocks the present invention relates to a kind of robot and operate equipment, including U-shaped sub-frame, heap goods device and goods loading device with the unmanned warehouse logistics of heap goods, heap goods device is installed on the right side of the upper end of the U-shaped sub-frame, the rear end of U-shaped sub-frame is provided with goods loading device.The present invention can solve to need staff to get in stocks to cargo respectively and heap goods during existing warehouse logistics, process complexity is cumbersome, when getting in stocks, personnel move cargo to designated position by artificial mode, it is inefficient, during heap goods, personnel need to put cargo to designated position by ladder, people may fall down initiation security risk when working on ladder because of ladder shakiness, since cargo shape differs, efficiency when staff carries also can be different, at the same time, artificial stack goods are irregular, cause the space of storage inadequate, manual work process spent time is grown, the problems such as labor intensity is big and efficiency is low, it can realize efficient automation heap goods and the function of getting in stocks.

Description

A kind of robot automatically gets in stocks operates equipment with the unmanned warehouse logistics of heap goods
Technical field
The present invention relates to unmanned warehouse logistics technical field, nothing that more particularly to a kind of robot automatically gets in stocks with heap goods People's warehouse logistics operate equipment.
Background technology
With the continuous development of Chinese science and technology, net purchase is the essential life requirement of new era young man, therefore express delivery Logistics also high speed development therewith, nearly 2 years rising steadily with logistics labour cost, many large-scale logistics express companies all build The unmanned storehouse of Li Liao robots full-automatic operation, realizes the full automatic unmanned warehouse logistics operation of real robot, referred to as without The wisdom logistics of people's warehouse logistics, also nickname, but need staff to be carried out to cargo on respectively during warehouse logistics of today Goods and heap goods, process complexity is cumbersome, and when getting in stocks, personnel move cargo to designated position by artificial mode, inefficient, heap During goods, personnel need to put cargo to designated position, people by ladder to fall down because of ladder shakiness when working on ladder Trigger security risk, since cargo shape differs, efficiency when staff carries also can be different, meanwhile, artificial stack goods It is irregular, cause the space of storage inadequate, manual work process spent time is grown, and labor intensity is low with efficiency greatly.
The content of the invention
To solve the above-mentioned problems, the present invention provides the unmanned warehouse logistics that a kind of robot automatically gets in stocks with heap goods Equipment is operated, can solve to need staff to get in stocks to cargo respectively and heap goods during existing warehouse logistics, process is complicated Cumbersome, when getting in stocks, personnel move cargo to designated position by artificial mode, inefficient, during heap goods, personnel need by Ladder puts cargo to designated position, people may fall down initiation security risk when working on ladder because of ladder shakiness, due to Cargo shape differs, and efficiency when staff carries also can be different, meanwhile, artificial stack goods are irregular, cause storage Space is inadequate, manual work process spent time length, the problems such as labor intensity is big and efficiency is low, it is possible to achieve efficient automation Heap goods and the function of getting in stocks, automation are got in stocks and heap goods, without human intervention, it is ensured that personnel safety, automation gripping are fixed Different cargos, stack goods are neat, save space, and automation cleans barrier, and the consuming time is short, and with operation letter The advantages that single, labor intensity is small high with work efficiency.
To achieve these goals, the present invention uses following technical scheme：A kind of robot automatically gets in stocks and heap goods Unmanned warehouse logistics operate equipment, including U-shaped sub-frame, heap goods device and goods loading device, heap goods device arrange cargo, on Goods device drives cargo to be elevated to designated position, and heap goods device is provided with the right side of the upper end of the U-shaped sub-frame, U-shaped sub-frame Rear end is provided with goods loading device.
The heap goods device includes moving mechanism, adjusting mechanism, grasping mechanism, two one mechanisms of folder, two two machines of folder Structure and arranging mechanism, moving mechanism are installed on the middle part of U-shaped sub-frame, adjusting mechanism are provided with moving mechanism, adjusting mechanism Right end is provided with grasping mechanism, and the front end of grasping mechanism is symmetrically installed with two one mechanisms of folder, and the rear end of grasping mechanism is symmetrically pacified Equipped with two two mechanisms of folder, and two one mechanisms of folder arrange that arranging mechanism is installed on U-shaped sub-frame in opposite directions with two two mechanisms of folder Rear end, moving mechanism drive heap goods device to be moved, and adjusting mechanism drives grasping mechanism to adjust to suitable angle, gripper Structure drives two one mechanisms of folder to be gripped with two two mechanisms of folder to cargo, and the cargo that arranging mechanism puts heap well is put Just, carry out automation crawl to cargo of different shapes, automate the neat cargo of heap, save space, without artificial stack goods, It ensure that personnel safety, it is easy to operate, it is time-consuming short, labor intensity is reduced, is improved work efficiency.
The adjusting mechanism turns plate, electric rotating machine, master including regulation motor, ring flat-plate, rotation slide bar, sliding slot, two Axis, flap, turn telescopic rod, fixture block, solid block, annulus frame, clamping side chain, Circular Plate, two faggings, mobile jib, take offence from bar, band Cylinder, electronic straight telescopic rod and coordinate cylinder, regulation motor by floor installation in moving mechanism, on the output shaft of regulation motor Annulate lamella is installed, the lower end of ring flat-plate is uniformly provided with rotation slide bar, rotates slide bar and is connected by way of being slidably matched with sliding slot, Sliding slot is installed in moving mechanism, and two are installed in moving mechanism plate, and two are arranged symmetrically plate, and two between plate Main shaft is provided with by bearing, the rear end of main shaft is connected by shaft coupling with the output shaft of electric rotating machine, and electric rotating machine leads to Floor installation is crossed on ring flat-plate, the front end of main shaft is installed on flap, and flap is circumferentially uniformly provided with solid block along it, Gu block Outside is installed on annulus frame inner wall, and sliding groove is provided with annulus frame, and flap is circumferentially uniformly provided with along it turns telescopic rod, The top for turning telescopic rod is installed on fixture block, and fixture block is connected by way of being slidably matched with sliding groove, and two faggings are installed on On ring flat-plate, and two faggings are arranged symmetrically, and the upper end of two faggings is installed in Circular Plate, and the inner wall of Circular Plate is circumferential equal along it It is even that clamping side chain is installed, mobile jib is installed, the lower end of mobile jib is provided with cylinder of taking offence by axis pin, drives cylinder on main shaft Top be installed on by axis pin from bar, be installed on from the left end of bar by axis pin on mobile jib, pass through pin from the side wall of bar Axis is provided with cooperation cylinder, coordinates the top of cylinder to be installed on by axis pin on electronic straight telescopic rod, electronic straight telescopic rod it is upper End is installed on from the right side of bar, regulation motor by axis pin to be rotated in the auxiliary lower band rotating ring plate for rotating slide bar and sliding slot, Electric rotating machine drives mobile jib to be rotated, and drives cylinder to drive and is adjusted from bar, and electronic straight telescopic rod automatic telescopic is to properly Position, while rotation, turn telescopic rod and drive fixture block to carry out clamping with clamping side chain to prevent regulation motor from driving ring flat-plate to carry out Loosened after rotating to designated position, when needing to rotate again, clamping side chain is adjusted laterally allows fixture block smooth Rotated, it is easy to operate, it is time-consuming short, labor intensity is reduced, is improved work efficiency.
The clamping side chain includes clamping cylinder, arc plate and clamping block, and clamping cylinder is installed on the inner wall of Circular Plate, The top of clamping cylinder is installed on arc plate by flange, and clamping block is provided with arc plate, and clamping cylinder drives arc plate to be stretched Contracting is adjusted, and clamping block plays fixture block spacing effect, improves work efficiency.
The goods loading device includes get in stocks plate, two pushing mechanisms and propulsive mechanism, and plate of getting in stocks is installed on U-shaped sub-frame On, two pushing mechanisms, which are installed on, gets in stocks on plate, and two pushing mechanisms are arranged symmetrically, and pass through propulsion between two pushing mechanisms Mechanism is connected, and two pushing mechanisms carry out cargo to scoop up fixation, and propulsive mechanism carries out secondary fixation to cargo, and it is suitable to be elevated to During position, cargo is released and is kept completely separate until with goods loading device by propulsive mechanism, and two pushing mechanisms carry out lifting to cargo and remove Fortune, propulsive mechanism carry out secondary fixation to cargo, and after being transported to designated position, propulsive mechanism pushes away away cargo, nothing Need to manually it carry, it is ensured that personnel safety, it is time-consuming short, labor intensity is reduced, is improved work efficiency.
The pushing mechanism includes two symmetrical sliding slots, two symmetrical slide bars, promotes rack, pushing motor, promotes tooth Wheel, U-shaped push bracket, limit sliding chutes, position limiting slide block, drive motor, promote leading screw, pushing block, promote shovel, to shovel, mobile cylinder, promotion Expansion plate and gripping plate, two symmetrical sliding slots, which are installed on, gets in stocks on plate, and symmetrical sliding slot is by way of being slidably matched and symmetrical sliding Bar is connected, and two symmetrical slide bars have pushing motor on the front end of U-shaped push bracket, the side wall of U-shaped push bracket by floor installation, Promotion gear is installed on the output shaft of pushing motor, promotes and promotion rack is engaged with gear, promotes rack to be installed on and gets in stocks On plate, there is drive motor in the lower end of U-shaped push bracket by floor installation, drives on the output shaft of motor by shaft coupling with promoting silk Thick stick is connected, and promotes the upper end of leading screw to be installed on by bearing in U-shaped push bracket, promotes and is provided with pushing block, the front end of pushing block on leading screw Position limiting slide block is installed, position limiting slide block is connected by way of being slidably matched with limit sliding chutes, and limit sliding chutes are installed on U-shaped push bracket On, the rear end of pushing block is provided with promotion shovel, promotes and is provided with the inside of shovel to shovel, promotes and mobile cylinder is provided with the outside of shovel, The top of mobile cylinder is installed on by flange and promoted on expansion plate, promotes and gripping plate is provided with the outside of expansion plate, promotes electricity Machine is moved by the kind of drive of wheel and rack, auxiliary of the pushing motor in two symmetrical sliding slots and two symmetrical slide bars It is lower to drive U-shaped push bracket to be moved, drive motor to drive and promote leading screw to be rotated, pushing block is being pushed away by the kind of drive of screw thread Lifted on dynamic leading screw, pushing block, which drives, promotes shovel to be lifted after being scooped up to cargo, and mobile cylinder drives gripping plate to cargo Both sides are fixed, and two pushing mechanisms carry out cargo automation lifting and carry, without manually carrying, it is ensured that Ren Yuanan Entirely, it is time-consuming short, labor intensity is reduced, is improved work efficiency.
As a preferred technical solution of the present invention, the moving mechanism includes two main expansion plates, master cylinder, consolidates Determine motor, rotating threaded shaft, auxiliary movable block, L-type and move frame, multi-stage expansion plate, auxiliary slider and auxiliary chute, two main expansion plate peaces On U-shaped sub-frame, and two main expansion plates are arranged symmetrically, and the lower end of the main expansion plate of front side is provided with master cylinder, master cylinder Top be installed on the upper end of the main expansion plate in front side, the main expansion plate of rear end is provided with fixed motor, fixed electricity by motor cabinet The output shaft of machine is connected by shaft coupling with the rear end of rotating threaded shaft, and the front end of rotating threaded shaft is stretched by bearing installed in front side master Auxiliary movable block is provided with contracting plate, on rotating threaded shaft, be provided with auxiliary movable block L-type move frame, L-type move frame right end be provided with it is more Level expansion plate, the lower end of multi-stage expansion plate are provided with auxiliary slider, and auxiliary slider is by way of being slidably matched and auxiliary chute It is connected, auxiliary chute is installed on U-shaped sub-frame, and moving mechanism drives heap goods device to carry out left and right shifting and lifting, reduces labor Fatigue resistance, improves work efficiency.
As a preferred technical solution of the present invention, the grasping mechanism includes square plate, rotary chute, rotary column, steady Rack, crawl gear, stand-by motor, bi-directional expansion plate, two telescopic cylinders, two reciprocating air cylinders, two strip plates, permanent tooth bar With two solid sliding slots, square plate is installed on the lower end of adjusting mechanism, and rotary chute is provided with square plate, and rotary chute is matched somebody with somebody by sliding The mode of conjunction is connected with rotary column, and steady rack is provided with the outer wall of rotary column, and crawl gear, crawl gear peace are engaged with steady rack On the output shaft of stand-by motor, for stand-by motor by floor installation in square plate, the lower end of rotary column is installed on bi-directional expansion On plate, and circular trough is symmetrically arranged with bi-directional expansion plate, two telescopic cylinders, and two are installed on the right side of bi-directional expansion plate Telescopic cylinder is arranged symmetrically, and the top of telescopic cylinder is installed on the outside of bi-directional expansion plate by flange, pacifies on bi-directional expansion plate Equipped with two reciprocating air cylinders, and two reciprocating air cylinders are arranged symmetrically, and the top of each reciprocating air cylinder is installed on strip by flange On plate, strip plate is connected by way of being slidably matched with solid sliding slot, Gu sliding slot is installed on bi-directional expansion plate, and the two of strip plate Side is provided with permanent tooth bar, and according to the pattern of cargo, grasping mechanism is adjusted, and stand-by motor drives crawl gear to be rotated, Crawl gear drives steady rack to be rotated on rotary chute, and two telescopic cylinders drive bi-directional expansion plate to stretch to both sides, Two reciprocating air cylinders drive permanent tooth bar to be moved under the auxiliary of two solid sliding slots, are adjusted according to size automation to suitable Angle and length, without human intervention, it is ensured that personnel safety, it is easy to operate, it is time-consuming short, labor intensity is reduced, is improved Work efficiency.
As a preferred technical solution of the present invention, one mechanism of folder and two mechanisms of folder are structure, size is homogeneous The same mechanism of cause, one mechanism of folder include circular block, adjustment gear, connecting plate, grasping plate, working cylinder, gripping pawl, connection Cylinder, a flexible bar and fine adjustment block, circular block are connected by way of being slidably matched with circular trough, and the upper end of circular block is provided with Adjustment gear, is engaged with permanent tooth bar in adjustment gear, the lower end of circular block is provided with connecting plate, and the lower end of connecting plate is installed by axis pin There is working cylinder, the top of working cylinder is installed in grasping plate by axis pin, and the upper end of grasping plate is installed on connecting plate by axis pin, Connection cylinder is provided with by axis pin on the side wall of grasping plate, the top for connecting cylinder is installed on gripping pawl by axis pin, gripping The upper end of pawl is installed in grasping plate by axis pin, grips and a flexible bar is uniformly provided with the side wall of pawl, the top for the bar that stretches In fine adjustment block, as requested, the reciprocating air cylinder on grasping mechanism drives permanent tooth bar to be moved under the auxiliary of solid sliding slot Dynamic, Gu rack drives adjustment gear carries out angular adjustment, adjustment gear drives circular block to be rotated, and working cylinder drives grasping plate It is adjusted, connection cylinder drives gripping pawl to carry out angular adjustment, and according to the shape of cargo, the bar that stretches drives fine adjustment block to goods Thing surface is clamped, and automation crawl is carried out to cargo of different shapes, time-consuming short, is reduced labor intensity, is improved work Make efficiency.
As a preferred technical solution of the present invention, the arranging mechanism includes two electronic sliding blocks, square slide, electricity Dynamic support telescopic rod, electronic auxiliary telescopic rod, T-shaped solid frame, operation cylinder and two ajust side chain, and two electronic sliding blocks are installed on U-shaped On sub-frame, square slide is provided with two electronic sliding blocks, the upper end of square slide is provided with electronic support telescopic rod, electronic support telescopic rod On electronic auxiliary telescopic rod is installed, the right end of electronic auxiliary telescopic rod is provided with operation cylinder by axis pin, operates the top of cylinder It is installed on by axis pin on T-shaped solid frame, T-shaped solid frame is installed on electronic auxiliary telescopic rod by axis pin, and two are provided with T-shaped solid frame It is a to ajust side chain, and two are ajusted unbranched symmetric arrangement, two electronic sliding blocks drive arranging mechanism to be moved, and electronic support is stretched Bar is adjusted with electronic auxiliary telescopic rod drives arranging mechanism to be moved to suitable position, after two are ajusted side chain gripping stacking Cargo, operation cylinder drive T-shaped solid frame progress angular adjustment that the cargo after stacking is ajusted into type, and two electronic sliding blocks drive Cargo carries out being moved to designated position, automates the neat cargo of heap, saves space, time-consuming short, reduces labor intensity, improves Work efficiency.
As a preferred technical solution of the present invention, the side chain of ajusting includes symmetrical cylinder, L-type balladeur train, grabs surely Plate is installed on T-shaped solid frame with steady cylinder, symmetrical cylinder is grabbed, and the top of symmetrical cylinder is installed on L-type balladeur train by flange, L Type balladeur train is connected by way of being slidably matched with T-shaped solid frame, is provided with the side wall of L-type balladeur train by axis pin and is grabbed steady cylinder, Grab the top of steady cylinder and be installed on by axis pin and grab steady plate, grab steady plate and be installed on by hinge on L-type balladeur train, symmetrical cylinder drives L-type balladeur train stretches, and grabs steady cylinder drive and grabs steady plate progress angular adjustment, automates fixed cargo, reduce labor intensity, Improve work efficiency.
As a preferred technical solution of the present invention, the propulsive mechanism includes two to expansion plate, slab, propulsion gas Cylinder, pushing plate, longitudinal cylinder and two cooperation side chains, between two are installed on two pushing mechanisms to expansion plate, two to expansion plate Front end slab is installed, slab is installed on and gets in stocks on plate, and two are uniformly provided with propulsion cylinder to the rear end of expansion plate, promote gas The top of cylinder is installed on pushing plate by flange, and the both ends of pushing plate are provided with two cooperation side chains, and two cooperation side chains It is arranged symmetrically, longitudinal cylinder is installed on pushing plate, the top of longitudinal cylinder is installed on by flange is coordinated on side chain, promotes gas Cylinder drives pushing plate to be moved to suitable position, and longitudinal cylinder, which drives, coordinates side chain to carry out secondary fixation to cargo, and two to flexible Plate plays the role of connection support, and propulsive mechanism carries out secondary fixation to cargo, and after being transported to designated position, propulsive mechanism is to goods Thing pushes away away, time-consuming short, reduces labor intensity, improves work efficiency.
As a preferred technical solution of the present invention, the cooperation side chain includes stretching plate, L-type clamping plate, sliding cylinder And movable pulley, stretch plate and be connected by way of being slidably matched with pushing plate, and stretch and square groove is provided with plate, stretch and be provided with plate Sliding cylinder, the top of sliding cylinder is installed on L-type clamping plate by flange, and auxiliary groove is provided with L-type clamping plate, is led in auxiliary groove Cross axis pin and movable pulley is uniformly installed, L-type clamping plate is connected by way of being slidably matched with square groove, sliding when needing fixed Cylinder of taking offence drives L-type clamping plate to be moved rearwards, and two longitudinal cylinders drive two to stretch plate and are adjusted so that two L-type clamping plates are to goods Thing carries out secondary fixation, and when needing to push away cargo, sliding cylinder drives L-type clamping plate to move forward, the longitudinal cylinder band of upside Dynamic upper side extending plate is adjusted up, and since movable pulley reduces the frictional force between cargo and L-type clamping plate, propulsion cylinder, which drives, to be coordinated Side chain is adjusted forward coordinates side chain to be away from cargo until two, and automation is fixed with pushing away, time-consuming short, and it is strong to reduce work Degree, improves work efficiency.
During work, first, the present invention is placed into mobile equipment by staff, second step, and heap goods device is started to work, Moving mechanism drives heap goods device to be moved, and adjusting mechanism drives grasping mechanism to adjust to suitable angle, grasping mechanism band Dynamic two one mechanisms of folder grip cargo with two two mechanisms of folder, and the cargo that arranging mechanism puts heap well is ajusted, it Afterwards, moving mechanism starts to work, and moving mechanism drives heap goods device to carry out left and right shifting and lifting, and afterwards, adjusting mechanism starts Work, the regulation motor on adjusting mechanism is rotated in the auxiliary lower band rotating ring plate for rotating slide bar and sliding slot, electric rotating machine band Dynamic mobile jib is rotated, and is driven cylinder to drive and is adjusted from bar, electronic straight telescopic rod automatic telescopic to suitable position, rotation While, turn telescopic rod and drive fixture block to prevent regulation motor from driving ring flat-plate to carry out rotating to specific bit with the progress clamping of clamping side chain Postpone and loosen, when needing to rotate again, clamping side chain is adjusted laterally allows fixture block to be smoothed out rotating, clamping Side chain is started to work, and clamping cylinder drives arc plate to carry out telescopic adjustment, and clamping block plays fixture block spacing effect, afterwards, grabs Mechanism is taken to start to work, according to the pattern of cargo, grasping mechanism is adjusted, and stand-by motor drives crawl gear to be rotated, Crawl gear drives steady rack to be rotated on rotary chute, and two telescopic cylinders drive bi-directional expansion plate to stretch to both sides, Two reciprocating air cylinders drive permanent tooth bar to be moved under the auxiliary of two solid sliding slots, afterwards, two one mechanisms of folder and two folders Two mechanisms cooperate with each other, as requested, the reciprocating air cylinder on grasping mechanism driven under the auxiliary of solid sliding slot permanent tooth bar into Row movement, Gu rack drives adjustment gear carries out angular adjustment, adjustment gear drives circular block to be rotated, and working cylinder drives Grasping plate is adjusted, and connection cylinder drives gripping pawl to carry out angular adjustment, and according to the shape of cargo, the bar that stretches drives fine adjustment block Cargo surfaces are clamped, afterwards, arranging mechanism is started to work, and the electronic sliding block of two on arranging mechanism drives arranging mechanism Moved, electronic support telescopic rod and electronic auxiliary telescopic rod, which are adjusted, drives arranging mechanism to be moved to suitable position, two The cargo after side chain gripping is stacked is ajusted, the T-shaped solid frame of operation cylinder drive carries out angular adjustment and causes the cargo after stacking into type Ajust, two electronic sliding blocks drive cargo to carry out being moved to designated position, ajust side chain start-up operation, and symmetrical cylinder drives L-type Balladeur train stretches, and grabs steady cylinder drive and grabs steady plate progress angular adjustment, the 3rd step, two pushing mechanisms of goods loading device start Work, the pushing motor on pushing mechanism is moved by the kind of drive of wheel and rack, and pushing motor is symmetrical at two Sliding slot drives motor to drive and promotes leading screw to be rotated, push away with driving U-shaped push bracket to be moved under the auxiliary of two symmetrical slide bars Block is lifted by the kind of drive of screw thread on leading screw is promoted, and pushing block, which drives, promotes shovel to be lifted after being scooped up to cargo, Mobile cylinder drives gripping plate that cargo both sides are fixed, and propulsive mechanism is started to work, the propulsion cylinder band on propulsive mechanism Dynamic pushing plate is moved to suitable position, and longitudinal cylinder, which drives, coordinates side chain to carry out secondary fixation to cargo, and two rise to expansion plate To the effect of connection support, side chain is coordinated to start to work, when needing fixed, sliding cylinder drives L-type clamping plate to be moved rearwards, and two A longitudinal cylinder drives two to stretch plate and is adjusted so that two L-type clamping plates are to the secondary fixation of cargo progress, when needing to push away goods During thing, sliding cylinder drives L-type clamping plate to move forward, and the longitudinal cylinder of upside drives upper side extending plate to be adjusted up, due to sliding Wheel reduces the frictional force between cargo and L-type clamping plate, and propulsion cylinder, which drives, coordinates side chain to adjust forward until two coordinate branch Chain is away from cargo, it is possible to achieve efficient automation heap goods and the function of getting in stocks.
The beneficial effects of the present invention are：
1st, the present invention can solve to need staff to get in stocks to cargo respectively and heap goods, mistake during existing warehouse logistics Journey complexity is cumbersome, and when getting in stocks, personnel move cargo to designated position by artificial mode, inefficient, during heap goods, Ren Yuanxu Cargo is put to designated position by ladder, it is hidden that people may fall down initiation safety when working on ladder because of ladder shakiness Suffer from, since cargo shape differs, efficiency when staff carries also can be different, meanwhile, artificial stack goods are irregular, cause The space of storage is inadequate, manual work process spent time length, the problems such as labor intensity is big and efficiency is low, it is possible to achieve efficient Automation heap goods and the function of getting in stocks, automation are got in stocks and heap goods, without human intervention, it is ensured that personnel safety, automation folder Fixed different cargo is taken, stack goods are neat, save space, and automation cleans barrier, and the consuming time is short, and with behaviour Make the advantages that simple, labor intensity is small and work efficiency is high；
2nd, the present invention is provided with heap goods device, and automation crawl is carried out to cargo of different shapes, automates the neat cargo of heap, Space is saved, without artificial stack goods, it is ensured that personnel safety, it is easy to operate, it is time-consuming short, labor intensity is reduced, is carried High work efficiency；
3rd, the present invention is provided with goods loading device, and two pushing mechanisms carry out lifting carrying to cargo, and propulsive mechanism is to cargo Secondary fixation is carried out, after being transported to designated position, propulsive mechanism pushes away away cargo, without manually carrying, it is ensured that Personnel safety, it is time-consuming short, labor intensity is reduced, is improved work efficiency.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the first structure schematic diagram between heap goods device of the present invention and U-shaped sub-frame；
Fig. 3 is the second structure diagram between heap goods device of the present invention and U-shaped sub-frame；
Fig. 4 is the structure diagram of goods loading device of the present invention；
The structure diagram that Fig. 5 is pushing mechanism of the present invention between plate of getting in stocks；
Fig. 6 is the structure diagram of propulsive mechanism of the present invention；
Fig. 7 is the Y-direction partial enlarged view of Fig. 2 of the present invention；
Fig. 8 is the Z-direction partial enlarged view of Fig. 2 of the present invention.
Embodiment
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention easy to understand, tie below Conjunction is specifically illustrating, and the present invention is further explained.It should be noted that in the case where there is no conflict, embodiment in the application and Feature in embodiment can be combined with each other.
As shown in Figures 1 to 8, to achieve these goals, the present invention uses following technical scheme：A kind of robot is complete certainly Dynamic get in stocks operates equipment, including U-shaped sub-frame 115, heap goods device 2 and goods loading device 4, heap goods dress with the unmanned warehouse logistics of heap goods Put 2 pairs of cargos to arrange, goods loading device 4 drives cargo to be elevated to designated position, the upper end right side of the U-shaped sub-frame 115 Heap goods device 2 is installed, the rear end of U-shaped sub-frame 115 is provided with goods loading device 4.
The heap goods device 2 includes 24, two moving mechanism 21, adjusting mechanism 22, grasping mechanism one mechanisms 26, two of folder Two mechanisms 27 of a folder and arranging mechanism 28, moving mechanism 21 are installed on the middle part of U-shaped sub-frame 115, are provided with moving mechanism 21 Adjusting mechanism 22, the right end of adjusting mechanism 22 are provided with grasping mechanism 24, and the front end of grasping mechanism 24 is symmetrically installed with two folders One mechanism 26, the rear end of grasping mechanism 24 are symmetrically installed with two two mechanisms 27 of folder, and two one mechanisms 26 of folder and two folders two Mechanism 27 arranges that arranging mechanism 28 is installed on the rear end of U-shaped sub-frame 115 in opposite directions, and moving mechanism 21 drives heap goods device 2 to be moved Dynamic, adjusting mechanism 22 drives grasping mechanism 24 to adjust and arrives suitable angle, and grasping mechanism 24 drives two one mechanisms 26 and two of folder Two mechanisms 27 of a folder grip cargo, and the cargo that arranging mechanism 28 puts heap well is ajusted, to cargo of different shapes Automation crawl is carried out, the neat cargo of heap is automated, space is saved, without artificial stack goods, it is ensured that personnel safety, operation Simply, it is time-consuming short, labor intensity is reduced, is improved work efficiency.
The adjusting mechanism 22 includes regulation motor 221, ring flat-plate 222, rotates slide bar 223, sliding slot 224, two to plate 225th, electric rotating machine 226, main shaft 227, flap 228, turn telescopic rod 229, fixture block 230, solid block 231, annulus frame 232, clamping Side chain 233,234, two faggings 235 of Circular Plate, mobile jib 236, from bar 237, drive cylinder 238, electronic straight telescopic rod 239 and match somebody with somebody Cylinder 240 is closed, in moving mechanism 21, ring is provided with the output shaft of regulation motor 221 by floor installation for regulation motor 221 Plate 222, the lower end of ring flat-plate 222, which is uniformly provided with, rotates slide bar 223, rotates slide bar 223 by way of being slidably matched and sliding slot 224 are connected, and sliding slot 224 is installed in moving mechanism 21, and two are installed in moving mechanism 21 plate 225, and two to plate 225 Be arranged symmetrically, two to being provided with main shaft 227 by bearing between plate 225, the rear end of main shaft 227 passes through shaft coupling and rotation The output shaft of rotating motor 226 is connected, and electric rotating machine 226 by floor installation on ring flat-plate 222, install by the front end of main shaft 227 On flap 228, flap 228 is circumferentially uniformly provided with solid block 231 along it, Gu the outside of block 231 is installed on 232 inner wall of annulus frame On, and sliding groove is provided with annulus frame 232, flap 228 is circumferentially uniformly provided with along it turns telescopic rod 229, turns telescopic rod 229 Top be installed on fixture block 230 on, fixture block 230 is connected by way of being slidably matched with sliding groove, and two faggings 235 are installed on On ring flat-plate 222, and two faggings 235 are arranged symmetrically, and the upper end of two faggings 235 is installed in Circular Plate 234, Circular Plate 234 Inner wall along its circumferentially clamping side chain 233 is uniformly installed, mobile jib 236 is installed, the lower end of mobile jib 236 leads on main shaft 227 Cross axis pin and be provided with cylinder 238 of taking offence, drive the top of cylinder 238 to be installed on by axis pin from bar 237, from a left side for bar 237 End is installed on mobile jib 236 by axis pin, is provided with from the side wall of bar 237 by axis pin and is coordinated cylinder 240, coordinates cylinder 240 top is installed on electronic straight telescopic rod 239 by axis pin, and the upper end of electronic straight telescopic rod 239 is installed on by axis pin From the right side of bar 237, regulation motor 221 is rotated in rotation slide bar 223 and the auxiliary lower band rotating ring plate 222 of sliding slot 224, is revolved Rotating motor 226 drives mobile jib 236 to be rotated, and drives cylinder 238 to drive from bar 237 and is adjusted, and electronic straight telescopic rod 239 is certainly It is dynamic to stretch to suitable position, while rotation, turn telescopic rod 229 and drive fixture block 230 to be prevented with the progress clamping of clamping side chain 233 Regulation motor 221 drives ring flat-plate 222 loosened after rotating to designated position, when needing to rotate again, clamping side chain 233 adjustings laterally allow fixture block 230 to be smoothed out rotating, easy to operate, time-consuming short, reduce labor intensity, improve Work efficiency.
The clamping side chain 233 includes clamping cylinder 2331, arc plate 2332 and clamping block 2333, and clamping cylinder 2331 is pacified On the inner wall of Circular Plate 234, the top of clamping cylinder 2331 is installed on arc plate 2332 by flange, is pacified on arc plate 2332 Equipped with clamping block 2333, clamping cylinder 2331 drives arc plate 2332 to carry out telescopic adjustment, and clamping block 2333 plays limit to fixture block 230 The effect of position, improves work efficiency.
The goods loading device 4 includes getting in stocks 44, two pushing mechanisms 41 of plate and propulsive mechanism 43, plate 44 of getting in stocks are installed on On U-shaped sub-frame 115, two pushing mechanisms 41, which are installed on, gets in stocks on plate 44, and two pushing mechanisms 41 are arranged symmetrically, two promotions It is connected between mechanism 41 by propulsive mechanism 43, two pushing mechanisms 41 carry out cargo to scoop up fixation, and propulsive mechanism 43 is to goods Thing carries out secondary fixation, and when being elevated to suitable position, cargo is released and is kept completely separate until with goods loading device 4 by propulsive mechanism 43, Two pushing mechanisms 41 carry out cargo lifting carrying, and propulsive mechanism 43 carries out secondary fixation to cargo, is transported to designated position Afterwards, propulsive mechanism 43 pushes away away cargo, without manually carrying, it is ensured that personnel safety, it is time-consuming short, and reduce work Intensity, improves work efficiency.
The pushing mechanism 41 includes the symmetrical slide bar 412 of two symmetrical sliding slots 411, two, promotion rack 423, promotion Motor 424, promote gear 425, U-shaped push bracket 413, limit sliding chutes 414, position limiting slide block 415, drive motor 416, promotion leading screw 417th, pushing block 426, promotion shovel 418, to shovel 419, mobile cylinder 420, promotion expansion plate 421 and gripping plate 422, and two symmetrically slide Groove 411 is installed on and gets in stocks on plate 44, and symmetrical sliding slot 411 is connected by way of being slidably matched with symmetrical slide bar 412, and two symmetrical Slide bar 412 has pushing motor 424 on the front end of U-shaped push bracket 413, the side wall of U-shaped push bracket 413 by floor installation, pushes away It is provided with the output shaft of dynamic motor 424 and promotes gear 425, is promoted to be engaged with promoting rack 423 on gear 425, promote rack 423 installed in getting in stocks on plate 44, and the lower end of U-shaped push bracket 413 has by floor installation drives motor 416, drives the defeated of motor 416 The upper end of leading screw 417 is promoted to be installed on U-shaped push bracket 413 by bearing with promoting leading screw 417 to be connected by shaft coupling on shaft On, promote and be provided with pushing block 426 on leading screw 417, the front end of pushing block 426 is provided with position limiting slide block 415, and position limiting slide block 415 passes through The mode being slidably matched is connected with limit sliding chutes 414, and limit sliding chutes 414 are installed in U-shaped push bracket 413, the rear end peace of pushing block 426 Equipped with shovel 418 is promoted, promote the inner side of shovel 418 to be provided with and promote the outside of shovel 418 that mobile cylinder 420 is installed to shovel 419, The top of mobile cylinder 420 is installed on by flange and promoted on expansion plate 421, promotes the outside of expansion plate 421 to be provided with gripping Plate 422, pushing motor 424 are moved by the kind of drive of wheel and rack, and pushing motor 424 is in two symmetrical sliding slots 411, with driving U-shaped push bracket 413 to be moved under the auxiliary of two symmetrical slide bars 412, drive motor 416 to drive and promote leading screw 417 Rotated, pushing block 426 is lifted by the kind of drive of screw thread on leading screw 417 is promoted, and pushing block 426, which drives, promotes shovel 418 pairs of cargos lift after scooping up, and mobile cylinder 420 drives gripping plate 422 that cargo both sides are fixed, two promotion machines Structure 41 carries out cargo to automate lifting carrying, without manually carrying, it is ensured that personnel safety, it is time-consuming short, and reduce work by force Degree, improves work efficiency.
The moving mechanism 21 includes two main expansion plates 211, master cylinder 212, fixed motor 213, rotating threaded shaft 214th, auxiliary movable block 215, L-type move frame 216, multi-stage expansion plate 217, auxiliary slider 218 and auxiliary chute 219, and two masters are flexible Plate 211 is installed on U-shaped sub-frame 115, and two main expansion plates 211 are arranged symmetrically, the lower end installation of the main expansion plate 211 of front side There is master cylinder 212, the top of master cylinder 212 is installed on the upper end of the main expansion plate 211 in front side, and the main expansion plate 211 of rear end passes through Motor cabinet is provided with fixed motor 213, and the output shaft of fixed motor 213 is connected by shaft coupling with the rear end of rotating threaded shaft 214, The front end of rotating threaded shaft 214 is installed on the main expansion plate 211 in front side by bearing, and auxiliary movable block is provided with rotating threaded shaft 214 215, L-type is installed on auxiliary movable block 215 and moves frame 216, the right end that L-type moves frame 216 is provided with multi-stage expansion plate 217, and multistage is stretched The lower end of contracting plate 217 is provided with auxiliary slider 218, auxiliary slider 218 by way of being slidably matched with 219 phase of auxiliary chute Even, auxiliary chute 219 is installed on U-shaped sub-frame 115, and moving mechanism 21 drives heap goods device 2 to carry out left and right shifting and lifting, subtracts Small labor intensity, improves work efficiency.
The grasping mechanism 24 includes square plate 241, rotary chute 242, rotary column 243, steady rack 244, crawl gear 245th, stand-by motor 246,249, two strip plates 250 of the reciprocating air cylinder of telescopic cylinder 248, two of bi-directional expansion plate 247, two, Permanent tooth bar 251 and two solid sliding slots 252, square plate 241 are installed on the lower end of adjusting mechanism 22, and rotation is provided with square plate 241 and is slided Groove 242, rotary chute 242 are connected by way of being slidably matched with rotary column 243, and steady rack is provided with the outer wall of rotary column 243 244, crawl gear 245 is engaged with steady rack 244, crawl gear 245 is installed on the output shaft of stand-by motor 246, auxiliary Motor 246 is by floor installation in square plate 241, and the lower end of rotary column 243 is installed on bi-directional expansion plate 247, and bi-directional expansion Circular trough is symmetrically arranged with plate 247, the right side of bi-directional expansion plate 247 is provided with two telescopic cylinders 248, and two flexible gas Cylinder 248 is arranged symmetrically, and the top of telescopic cylinder 248 is installed on the outside of bi-directional expansion plate 247, bi-directional expansion plate by flange Two reciprocating air cylinders 249 are installed on 247, and two reciprocating air cylinders 249 are arranged symmetrically, the top of each reciprocating air cylinder 249 leads to Flange is crossed on strip plate 250, strip plate 250 is connected by way of being slidably matched with solid sliding slot 252, Gu sliding slot 252 On bi-directional expansion plate 247, the both sides of strip plate 250 are provided with permanent tooth bar 251, according to the pattern of cargo, grasping mechanism 24 are adjusted, and stand-by motor 246 drives crawl gear 245 to be rotated, and crawl gear 245 drives steady rack 244 rotating Rotated on sliding slot 242, two telescopic cylinders 248 drive bi-directional expansion plate 247 to stretch to both sides, two reciprocating air cylinders 249 Drive permanent tooth bar 251 to be moved under the auxiliary of two solid sliding slots 252, according to size automation adjust to suitable angle with Length, without human intervention, it is ensured that personnel safety, it is easy to operate, it is time-consuming short, labor intensity is reduced, improves work effect Rate.
One mechanism 26 of folder and two mechanisms 27 of folder are structure, the consistent same mechanism of size, one machine of folder Structure 26 includes circular block 261, adjustment gear 262, connecting plate 263, grasping plate 264, working cylinder 265, gripping pawl 266, connection cylinder 267th, flexible a bar 268 and fine adjustment block 269, circular block 261 are connected by way of being slidably matched with circular trough, circular block 261 Upper end adjustment gear 262 is installed, permanent tooth bar 251 is engaged with adjustment gear 262, the lower end of circular block 261 is provided with company Plate 263, the lower end of connecting plate 263 are provided with working cylinder 265 by axis pin, and the top of working cylinder 265 is installed on by axis pin In grasping plate 264, the upper end of grasping plate 264 is installed on connecting plate 263 by axis pin, is provided with the side wall of grasping plate 264 by axis pin Cylinder 267 is connected, the top for connecting cylinder 267 is installed on gripping pawl 266 by axis pin, and the upper end of gripping pawl 266 passes through pin Axis is installed in grasping plate 264, is gripped and is uniformly provided with a flexible bar 268 on the side wall of pawl 266, the top peace for the bar 268 that stretches In fine adjustment block 269, as requested, the reciprocating air cylinder 249 on grasping mechanism 24 drives permanent tooth under the auxiliary of solid sliding slot 252 Bar 251 is moved, permanent tooth bar 251 drive adjustment gear 262 carry out angular adjustment, adjustment gear 262 drive circular block 261 into Row rotates, and working cylinder 265 drives grasping plate 264 to be adjusted, and connection cylinder 267 drives gripping pawl 266 to carry out angular adjustment, root According to the shape of cargo, a flexible bar 268 drives fine adjustment block 269 to be clamped cargo surfaces, and cargo of different shapes is carried out Automation crawl, it is time-consuming short, labor intensity is reduced, is improved work efficiency.
The arranging mechanism 28 includes two electronic sliding blocks 281, square slide 282, electronic support telescopic rod 283, electronic auxiliary Telescopic rod 284, T-shaped solid frame 285, operation cylinder 286 and two ajust side chain 287, and two electronic sliding blocks 281 are installed on U-shaped auxiliary On frame 115, square slide 282 is provided with two electronic sliding blocks 281, the upper end of square slide 282 is provided with electronic support telescopic rod 283, electronic auxiliary telescopic rod 284 is installed on electronic support telescopic rod 283, the right end of electronic auxiliary telescopic rod 284 is installed by axis pin There is operation cylinder 286, the top for operating cylinder 286 is installed on T-shaped solid frame 285 by axis pin, and T-shaped solid frame 285 passes through axis pin On electronic auxiliary telescopic rods 284, two are provided with T-shaped solid frame 285 and ajusts side chain 287, and two to ajust side chain 287 right Claim arrangement, two electronic sliding blocks 281 drive arranging mechanism 28 to be moved, electronic support telescopic rod 283 and electronic auxiliary telescopic rod 284 It is adjusted and drives arranging mechanism 28 to be moved to suitable position, two is ajusted the cargo after the gripping of side chain 287 is stacked, and operate gas Cylinder 286 drives T-shaped solid frame 285 to carry out angular adjustment so that the cargo after stacking is ajusted into type, and two electronic sliding blocks 281 drive goods Thing carries out being moved to designated position, automates the neat cargo of heap, saves space, time-consuming short, reduces labor intensity, improves work Make efficiency.
The side chain 287 of ajusting includes symmetrical cylinder 2871, L-type balladeur train 2872, grabs steady plate 2873 and grab steady cylinder 2874, symmetrical cylinder 2871 is installed on T-shaped solid frame 285, and the top of symmetrical cylinder 2871 is installed on L-type balladeur train by flange On 2872, L-type balladeur train 2872 is connected by way of being slidably matched with T-shaped solid frame 285, is passed through on the side wall of L-type balladeur train 2872 Axis pin, which is provided with, grabs steady cylinder 2874, grabs the top of steady cylinder 2874 and is installed on by axis pin and grab steady plate 2873, grabs steady plate 2873 It is installed on by hinge on L-type balladeur train 2872, symmetrical cylinder 2871 drives L-type balladeur train 2872 to stretch, and grabs steady cylinder 2874 Drive grabs steady plate 2873 and carries out angular adjustment, automates fixed cargo, reduces labor intensity, improve work efficiency.
The propulsive mechanism 43 includes two to expansion plate 431, slab 432, propulsion cylinder 433, pushing plate 434, longitudinal direction Cylinder 436 and two cooperation side chains 435, between two are installed on two pushing mechanisms 41 to expansion plate 431, two to expansion plate 431 Front end slab 432 is installed, slab 432 is installed on and gets in stocks on plate 44, and two are uniformly provided with propulsion to the rear end of expansion plate 431 Cylinder 433, the top of propulsion cylinder 433 are installed on pushing plate 434 by flange, and the both ends of pushing plate 434 are provided with two Coordinate side chain 435, and two coordinate side chain 435 to be arranged symmetrically, and longitudinal cylinder 436, longitudinal cylinder are provided with pushing plate 434 436 top is installed on by flange to be coordinated on side chain 435, and propulsion cylinder 433 drives pushing plate 434 to be moved to suitable position Put, longitudinal cylinder 436, which drives, coordinates side chain 435 to carry out secondary fixation to cargo, and two play the work of connection support to expansion plate 431 With propulsive mechanism 43 carries out secondary fixation to cargo, and after being transported to designated position, propulsive mechanism 43 pushes away out cargo Go, it is time-consuming short, labor intensity is reduced, is improved work efficiency.
The cooperation side chain 435 includes stretching plate 4351, L-type clamping plate 4352, sliding cylinder 4353 and movable pulley 4354, stretches Plate 4351 is connected by way of being slidably matched with pushing plate 434, and is stretched and be provided with square groove on plate 4351, is stretched and is pacified on plate 4351 Equipped with sliding cylinder 4353, the top of sliding cylinder 4353 is installed on L-type clamping plate 4352 by flange, and L-type clamping plate 4352 On be provided with auxiliary groove, movable pulley 4354 is uniformly installed by axis pin in auxiliary groove, L-type clamping plate 4352 is by way of being slidably matched It is connected with square groove, when needing fixed, sliding cylinder 4353 drives L-type clamping plate 4352 to be moved rearwards, two longitudinal cylinders 436 Drive two to stretch plate 4351 to be adjusted so that two L-type clamping plates 4352 are to the secondary fixation of cargo progress, when needing to push away cargo When, sliding cylinder 4353 drives L-type clamping plate 4352 to move forward, and the longitudinal cylinder 436 of upside drives upper side extending plate 4351 upward Adjust, since movable pulley 4354 reduces the frictional force between cargo and L-type clamping plate 4352, propulsion cylinder 433, which drives, coordinates branch Chain 435 is adjusted forward coordinates side chain 435 to be away from cargo until two, and automation is fixed with pushing away, time-consuming short, reduces work Intensity, improves work efficiency.
During work, first, the present invention is placed into mobile equipment by staff, second step, and heap goods device 2 starts work Making, moving mechanism 21 drives heap goods device 2 to be moved, and adjusting mechanism 22 drives grasping mechanism 24 to adjust and arrives suitable angle, Grasping mechanism 24 drives two one mechanisms 26 of folder to be gripped with two two mechanisms 27 of folder to cargo, and arranging mechanism 28 puts heap well Cargo ajusted, afterwards, moving mechanism 21 starts to work, moving mechanism 21 drive heap goods device 2 carry out left and right shifting and Lifting, afterwards, adjusting mechanism 22 is started to work, and the regulation motor 221 on adjusting mechanism 22 is rotating slide bar 223 and sliding slot 224 Auxiliary lower band rotating ring plate 222 rotated, electric rotating machine 226 drive mobile jib 236 rotated, drive cylinder 238 drive from Bar 237 is adjusted, electronic straight 239 automatic telescopic of telescopic rod to suitable position, while rotation, turns telescopic rod 229 and drives Fixture block 230 carries out clamping with clamping side chain 233 prevents regulation motor 221 from driving ring flat-plate 222 go out after rotating to designated position Now loosen, when needing to rotate again, clamping side chain 233 is adjusted laterally allows fixture block 230 to be smoothed out rotating, clamping Side chain 233 is started to work, and clamping cylinder 2331 drives arc plate 2332 to carry out telescopic adjustment, and clamping block 2333 plays fixture block 230 Spacing effect, afterwards, grasping mechanism 24 are started to work, and according to the pattern of cargo, grasping mechanism 24 is adjusted, stand-by motor 246 drive crawl gear 245 to be rotated, and crawl gear 245 drives steady rack 244 to be rotated on rotary chute 242, and two A telescopic cylinder 248 drives bi-directional expansion plate 247 to stretch to both sides, auxiliary of two reciprocating air cylinders 249 in two solid sliding slots 252 Lower drive permanent tooth bar 251 is moved, and afterwards, two one mechanisms 26 of folder are cooperated with each other with two two mechanisms 27 of folder, according to It is required that the reciprocating air cylinder 249 on grasping mechanism 24 drives permanent tooth bar 251 to be moved under the auxiliary of solid sliding slot 252, permanent tooth bar 251 drive adjustment gear 262 to carry out angular adjustment, and adjustment gear 262 drives circular block 261 to be rotated, 265 band of working cylinder Dynamic grasping plate 264 is adjusted, and connection cylinder 267 drives gripping pawl 266 to carry out angular adjustment, according to the shape of cargo, stretches one Bar 268 drives fine adjustment block 269 to be clamped cargo surfaces, and afterwards, arranging mechanism 28 is started to work, and two on arranging mechanism 28 A electronic sliding block 281 drives arranging mechanism 28 to be moved, and electronic support telescopic rod 283 is adjusted with electronic auxiliary telescopic rod 284 Arranging mechanism 28 is driven to be moved to suitable position, two are ajusted the cargo after the gripping of side chain 287 is stacked, and operate 286 band of cylinder Dynamic T-shaped solid frame 285 carries out angular adjustment and the cargo after stacking is ajusted into type, and two electronic sliding blocks 281 drive cargo to carry out Designated position is moved to, side chain 287 is ajusted and starts to work, symmetrical cylinder 2871 drives L-type balladeur train 2872 to stretch, and grabs steady gas Cylinder 2874, which drives, grabs the steady progress of plate 2873 angular adjustment, the 3rd step, and two pushing mechanisms 41 of goods loading device 4 are started to work, pushed away Pushing motor 424 on motivation structure 41 is moved by the kind of drive of wheel and rack, and pushing motor 424 is symmetrical at two Sliding slot 411 drives motor 416 to drive and promotes silk with driving U-shaped push bracket 413 to be moved under the auxiliary of two symmetrical slide bars 412 Thick stick 417 is rotated, and pushing block 426 is lifted by the kind of drive of screw thread on leading screw 417 is promoted, and pushing block 426 drives and pushes away 418 pairs of cargos of dynamic shovel lift after scooping up, and mobile cylinder 420 drives gripping plate 422 that cargo both sides are fixed, pusher Structure 43 is started to work, and the propulsion cylinder 433 on propulsive mechanism 43 drives pushing plate 434 to be moved to suitable position, longitudinal cylinder 436 drive cooperation side chain 435 to carry out secondary fixation to cargo, and two play the role of connection support to expansion plate 431, coordinate side chain 435 start to work, and when needing fixed, sliding cylinder 4353 drives L-type clamping plate 4352 to be moved rearwards, two longitudinal cylinders 436 Drive two to stretch plate 4351 to be adjusted so that two L-type clamping plates 4352 are to the secondary fixation of cargo progress, when needing to push away cargo When, sliding cylinder 4353 drives L-type clamping plate 4352 to move forward, and the longitudinal cylinder 436 of upside drives upper side extending plate 4351 upward Adjust, since movable pulley 4354 reduces the frictional force between cargo and L-type clamping plate 4352, propulsion cylinder 433, which drives, coordinates branch Chain 435 is adjusted forward until two coordinate side chains 435 to be away from cargo, realizes efficient automation heap goods and the work(got in stocks Can, need staff to be got in stocks respectively to cargo and heap goods when solving existing warehouse logistics, process complexity is cumbersome, gets in stocks When, personnel move cargo to designated position by artificial mode, inefficient, and during heap goods, personnel are needed goods by ladder Thing is put to designated position, and people may fall down initiation security risk when working on ladder because of ladder shakiness, due to cargo shape Differing, efficiency when staff carries also can be different, meanwhile, artificial stack goods are irregular, cause the space of storage inadequate, Manual work process spent time is grown, and the problems such as labor intensity is big and efficiency is low, have reached purpose.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description simply illustrates the present invention Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and change Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent Define.

Claims (10)

1. a kind of robot automatically gets in stocks operates equipment, including U-shaped sub-frame (115), heap goods with the unmanned warehouse logistics of heap goods Device (2) and goods loading device (4), it is characterised in that:Heap goods device is installed on the right side of the upper end of the U-shaped sub-frame (115) (2), the rear end of U-shaped sub-frame (115) is provided with goods loading device (4)；
The heap goods device (2) includes moving mechanism (21), adjusting mechanism (22), grasping mechanism (24), two one mechanisms of folder (26), two two mechanisms of folder (27) and arranging mechanism (28), moving mechanism (21) is installed on the middle part of U-shaped sub-frame (115), mobile Adjusting mechanism (22) is installed, the right end of adjusting mechanism (22) is provided with grasping mechanism (24), grasping mechanism in mechanism (21) (24) front end is symmetrically installed with two one mechanisms of folder (26), and the rear end of grasping mechanism (24) is symmetrically installed with two two mechanisms of folder (27), and two one mechanisms of folder (26) arrange that arranging mechanism (28) is installed on U-shaped sub-frame in opposite directions with two two mechanisms of folder (27) (115) rear end；
The goods loading device (4) includes get in stocks plate (44), two pushing mechanisms (41) and propulsive mechanism (43), plate of getting in stocks (44) On U-shaped sub-frame (115), two pushing mechanisms (41), which are installed on, to be got in stocks on plate (44), and two pushing mechanisms (41) are right Claim arrangement, be connected between two pushing mechanisms (41) by propulsive mechanism (43)；
The pushing mechanism (41) include two symmetrical sliding slots (411), two symmetrical slide bars (412), promotion rack (423), Pushing motor (424), promote gear (425), U-shaped push bracket (413), limit sliding chutes (414), position limiting slide block (415), drive motor (416), leading screw (417), pushing block (426) are promoted, promotes shovel (418), to shovel (419), mobile cylinder (420), promotion expansion plate (421) and plate (422) is gripped, two symmetrical sliding slots (411), which are installed on, to be got in stocks on plate (44), and symmetrical sliding slot (411) passes through slip The mode of cooperation is connected with symmetrical slide bar (412), and two symmetrical slide bars (412) are installed on the front end of U-shaped push bracket (413), U-shaped to push away There is pushing motor (424) by floor installation on the side wall of frame (413), promotion is installed on the output shaft of pushing motor (424) Gear (425), promotes to be engaged with promoting rack (423) on gear (425), promotes rack (423) to be installed on and get in stocks on plate (44), There is drive motor (416) in the lower end of U-shaped push bracket (413) by floor installation, drives and passes through shaft coupling on the output shaft of motor (416) Device promotes the upper end of leading screw (417) to be installed on by bearing in U-shaped push bracket (413), promotes silk with promoting leading screw (417) to be connected Pushing block (426) is provided with thick stick (417), the front end of pushing block (426) is provided with position limiting slide block (415), and position limiting slide block (415) passes through The mode being slidably matched is connected with limit sliding chutes (414), and limit sliding chutes (414) are installed in U-shaped push bracket (413), pushing block (426) Rear end be provided with promotion shovel (418), promote shovel (418) on the inside of being provided with to shovel (419), promote shovel (418) outside peace Equipped with mobile cylinder (420), the top of mobile cylinder (420) is installed on by flange to promote on expansion plate (421), promotes flexible Gripping plate (422) is installed on the outside of plate (421).
2. a kind of robot according to claim 1 automatically gets in stocks operates equipment with the unmanned warehouse logistics of heap goods, its It is characterized in that：The moving mechanism (21) includes two main expansion plates (211), master cylinder (212), fixed motor (213), rotation Turn leading screw (214), auxiliary movable block (215), L-type and move frame (216), multi-stage expansion plate (217), auxiliary slider (218) and auxiliary cunning Groove (219), two main expansion plates (211) are installed on U-shaped sub-frame (115), and two main expansion plates (211) are arranged symmetrically, preceding The lower end of the main expansion plate (211) of side is provided with master cylinder (212), and the top of master cylinder (212) is installed on the main expansion plate in front side (211) upper end, the main expansion plate (211) of rear end are provided with fixed motor (213) by motor cabinet, fixed motor (213) Output shaft is connected by shaft coupling with the rear end of rotating threaded shaft (214), before the front end of rotating threaded shaft (214) is installed on by bearing On the main expansion plate in side (211), auxiliary movable block (215) is provided with rotating threaded shaft (214), L-type is installed on auxiliary movable block (215) Frame (216) is moved, the right end that L-type moves frame (216) is provided with multi-stage expansion plate (217), and the lower end of multi-stage expansion plate (217) is provided with Auxiliary slider (218), auxiliary slider (218) are connected by way of being slidably matched with auxiliary chute (219), auxiliary chute (219) it is installed on U-shaped sub-frame (115).
3. a kind of robot according to claim 1 automatically gets in stocks operates equipment with the unmanned warehouse logistics of heap goods, its It is characterized in that：The adjusting mechanism (22) includes regulation motor (221), ring flat-plate (222), rotates slide bar (223), sliding slot (224), two to plate (225), electric rotating machine (226), main shaft (227), flap (228), turn telescopic rod (229), fixture block (230), solid block (231), annulus frame (232), clamping side chain (233), Circular Plate (234), two faggings (235), mobile jibs (236), from bar (237), drive cylinder (238), electronic straight telescopic rod (239) and cooperation cylinder (240), regulation motor (221) By floor installation in moving mechanism (21), annulate lamella (222), ring flat-plate (222) are installed on the output shaft of regulation motor (221) Lower end be uniformly provided with rotate slide bar (223), rotate slide bar (223) be connected by way of being slidably matched with sliding slot (224), Sliding slot (224) is installed in moving mechanism (21), and two are installed in moving mechanism (21) plate (225), and two to plate (225) be arranged symmetrically, two to being provided with main shaft (227) by bearing between plate (225), the rear end of main shaft (227) leads to The output shaft that shaft coupling is crossed with electric rotating machine (226) is connected, and electric rotating machine (226) on ring flat-plate (222), is led by floor installation The front end of shaft (227) is installed on flap (228), and flap (228) is circumferentially uniformly provided with solid block (231) along it, Gu block (231) outside is installed on annulus frame (232) inner wall, and sliding groove is provided with annulus frame (232), flap (228) along its Circumferential be uniformly provided with turns telescopic rod (229), and the top for turning telescopic rod (229) is installed on fixture block (230), and fixture block (230) is logical Cross the mode being slidably matched with sliding groove to be connected, two faggings (235) are installed on ring flat-plate (222), and two faggings (235) are right Title arrangement, the upper end of two faggings (235) are installed in Circular Plate (234), and the inner wall of Circular Plate (234) is circumferentially uniformly pacified along it Equipped with clamping side chain (233), mobile jib (236) is installed on main shaft (227), the lower end of mobile jib (236) is provided with by axis pin Cylinder (238) is driven, drives the top of cylinder (238) to be installed on by axis pin from bar (237), leads to from the left end of bar (237) Axis pin is crossed on mobile jib (236), is provided with from the side wall of bar (237) by axis pin and coordinates cylinder (240), coordinate cylinder (240) top is installed on electronic straight telescopic rod (239) by axis pin, and the upper end of electronic straight telescopic rod (239) passes through axis pin Installed in from the right side of bar (237).
4. a kind of robot according to claim 3 automatically gets in stocks operates equipment with the unmanned warehouse logistics of heap goods, its It is characterized in that：The clamping side chain (233) includes clamping cylinder (2331), arc plate (2332) and clamping block (2333), clamping Cylinder (2331) is installed on the inner wall of Circular Plate (234), and the top of clamping cylinder (2331) is installed on arc plate by flange (2332) on, clamping block (2333) is installed on arc plate (2332).
5. a kind of robot according to claim 1 automatically gets in stocks operates equipment with the unmanned warehouse logistics of heap goods, its It is characterized in that：The grasping mechanism (24) include square plate (241), rotary chute (242), rotary column (243), steady rack (244), Capture gear (245), stand-by motor (246), bi-directional expansion plate (247), two telescopic cylinders (248), two reciprocating air cylinders (249), the solid sliding slot (252) of two strip plates (250), permanent tooth bar (251) and two, square plate (241) are installed on adjusting mechanism (22) lower end, rotary chute (242) is provided with square plate (241), rotary chute (242) is by way of being slidably matched with turning Column (243) is connected, and steady rack (244) is provided with the outer wall of rotary column (243), crawl gear is engaged with steady rack (244) (245), capture gear (245) to be installed on the output shaft of stand-by motor (246), stand-by motor (246) is existed by floor installation In square plate (241), the lower end of rotary column (243) is installed on bi-directional expansion plate (247), and is symmetrically set on bi-directional expansion plate (247) Circular trough is equipped with, two telescopic cylinders (248) are installed, and two telescopic cylinders (248) are right on the right side of bi-directional expansion plate (247) Claim arrangement, the top of telescopic cylinder (248) is installed on the outside of bi-directional expansion plate (247), bi-directional expansion plate (247) by flange On two reciprocating air cylinders (249) are installed, and two reciprocating air cylinders (249) are arranged symmetrically, the top of each reciprocating air cylinder (249) It is installed on by flange on strip plate (250), strip plate (250) is connected by way of being slidably matched with solid sliding slot (252), Gu Sliding slot (252) is installed on bi-directional expansion plate (247), and the both sides of strip plate (250) are provided with permanent tooth bar (251).
6. a kind of robot according to claim 1 automatically gets in stocks operates equipment with the unmanned warehouse logistics of heap goods, its It is characterized in that：One mechanism of folder (26) and two mechanisms of folder (27) are structure, the consistent same mechanism of size, the folder One mechanism (26) includes circular block (261), adjustment gear (262), connecting plate (263), grasping plate (264), working cylinder (265), folder Pawl (266), connection cylinder (267), a flexible bar (268) and fine adjustment block (269), circular block (261) is taken to pass through what is be slidably matched Mode is connected with circular trough, and the upper end of circular block (261) is provided with adjustment gear (262), is engaged with adjustment gear (262) solid Rack (251), the lower end of circular block (261) are provided with connecting plate (263), and the lower end of connecting plate (263) is provided with work by axis pin Cylinder (265), the top of working cylinder (265) are installed in grasping plate (264) by axis pin, and the upper end of grasping plate (264) passes through pin Axis is installed on connecting plate (263), and connection cylinder (267) is provided with by axis pin on the side wall of grasping plate (264), connects cylinder (267) top is installed on gripping pawl (266) by axis pin, and the upper end of gripping pawl (266) is installed on grasping plate by axis pin (264) on, a flexible bar (268) is uniformly installed on the side wall of gripping pawl (266), the top of a flexible bar (268) is installed on In fine adjustment block (269).
7. a kind of robot according to claim 1 automatically gets in stocks operates equipment with the unmanned warehouse logistics of heap goods, its It is characterized in that：The arranging mechanism (28) includes two electronic sliding blocks (281), square slide (282), electronic support telescopic rods (283), electronic auxiliary telescopic rod (284), T-shaped solid frame (285), operation cylinder (286) and two ajust side chain (287), two electricity Movable slider (281) is installed on U-shaped sub-frame (115), and square slide (282), square slide are provided with two electronic sliding blocks (281) (282) upper end is provided with electronic support telescopic rod (283), and electronic auxiliary telescopic rod is provided with electronic support telescopic rod (283) (284), the right end of electronic auxiliary telescopic rod (284) is provided with operation cylinder (286), the top of operation cylinder (286) by axis pin It is installed on by axis pin on T-shaped solid frame (285), T-shaped solid frame (285) is installed on electronic auxiliary telescopic rod (284) by axis pin, T Type, which is consolidated on frame (285), to be provided with two and ajusts side chain (287), and two are ajusted side chain (287) and are arranged symmetrically.
8. a kind of robot according to claim 7 automatically gets in stocks operates equipment with the unmanned warehouse logistics of heap goods, its It is characterized in that：The side chain (287) of ajusting includes symmetrical cylinder (2871), L-type balladeur train (2872), grabs steady plate (2873) and grab Steady cylinder (2874), symmetrical cylinder (2871) are installed on T-shaped solid frame (285), and the top of symmetrical cylinder (2871) passes through flange On L-type balladeur train (2872), L-type balladeur train (2872) is connected by way of being slidably matched with T-shaped solid frame (285), and L-type is slided It is provided with the side wall of frame (2872) by axis pin and grabs steady cylinder (2874), the top for grabbing steady cylinder (2874) is installed by axis pin Steady plate (2873) is being grabbed, steady plate (2873) is being grabbed and is installed on by hinge on L-type balladeur train (2872).
9. a kind of robot according to claim 1 automatically gets in stocks operates equipment with the unmanned warehouse logistics of heap goods, its It is characterized in that：The propulsive mechanism (43) includes two to expansion plate (431), slab (432), propulsion cylinder (433), pushing plate (434), longitudinal cylinder (436) and two cooperation side chains (435), two are installed on two pushing mechanisms (41) to expansion plate (431) Between, two are provided with slab (432) to the front end of expansion plate (431), and slab (432) is installed on and gets in stocks on plate (44), and two to stretching The rear end of contracting plate (431) is uniformly provided with propulsion cylinder (433), and the top of propulsion cylinder (433) is installed on by flange to be promoted On plate (434), the both ends of pushing plate (434) are provided with two and coordinate side chain (435), and two cooperation side chain (435) symmetrical cloth Put, longitudinal cylinder (436) is installed on pushing plate (434), the top of longitudinal cylinder (436) is installed on by flange coordinates side chain (435) on.
10. a kind of robot according to claim 9 automatically gets in stocks operates equipment with the unmanned warehouse logistics of heap goods, its It is characterized in that：The cooperation side chain (435) includes stretching plate (4351), L-type clamping plate (4352), sliding cylinder (4353) and slides Take turns (4354), stretch plate (4351) and be connected by way of being slidably matched with pushing plate (434), and stretch the side of being provided with plate (4351) Shape groove, stretches and sliding cylinder (4353) is provided with plate (4351), and the top of sliding cylinder (4353) is pressed from both sides by flange installed in L-type On plate (4352), and auxiliary groove is provided with L-type clamping plate (4352), movable pulley (4354), L are uniformly installed by axis pin in auxiliary groove Type clamping plate (4352) is connected by way of being slidably matched with square groove.
CN201711333534.6A 2017-12-14 2017-12-14 A kind of robot automatically gets in stocks operates equipment with the unmanned warehouse logistics of heap goods Withdrawn CN108016803A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108453498A (en) * 2018-05-14 2018-08-28 张晓锋 A kind of electric power fastener Intelligent Installation robot
CN108673078A (en) * 2018-05-14 2018-10-19 张晓锋 A kind of electric power fastener installation equipment
CN115057147A (en) * 2022-08-08 2022-09-16 湖南工商大学 Commodity circulation transportation is with anticollision type express delivery storage device and get and put device

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CN103896057A (en) * 2014-04-16 2014-07-02 苏州博众精工科技有限公司 Full-automatic discharging mechanism
CN205771639U (en) * 2016-06-30 2016-12-07 宁波宫铁智能科技有限公司 A kind of automatic feeding device
CN205802155U (en) * 2016-06-15 2016-12-14 浙江德尚智能科技有限公司 Hopper stacking system based on robot
CN206265699U (en) * 2016-12-13 2017-06-20 东莞市创丰科技发展有限公司 A kind of fully automatic stereo warehousing system

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Publication number Priority date Publication date Assignee Title
CN202201412U (en) * 2011-08-09 2012-04-25 山东矿机迈科建材机械有限公司 Tray temporary storage device
CN103896057A (en) * 2014-04-16 2014-07-02 苏州博众精工科技有限公司 Full-automatic discharging mechanism
CN205802155U (en) * 2016-06-15 2016-12-14 浙江德尚智能科技有限公司 Hopper stacking system based on robot
CN205771639U (en) * 2016-06-30 2016-12-07 宁波宫铁智能科技有限公司 A kind of automatic feeding device
CN206265699U (en) * 2016-12-13 2017-06-20 东莞市创丰科技发展有限公司 A kind of fully automatic stereo warehousing system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108453498A (en) * 2018-05-14 2018-08-28 张晓锋 A kind of electric power fastener Intelligent Installation robot
CN108673078A (en) * 2018-05-14 2018-10-19 张晓锋 A kind of electric power fastener installation equipment
CN108453498B (en) * 2018-05-14 2019-11-08 徐州欧普莱斯工业机械有限公司 A kind of electric power fastener Intelligent Installation robot
CN115057147A (en) * 2022-08-08 2022-09-16 湖南工商大学 Commodity circulation transportation is with anticollision type express delivery storage device and get and put device
CN115057147B (en) * 2022-08-08 2022-11-01 湖南工商大学 Commodity circulation transportation is with anticollision type express delivery storage device and get and put device

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Application publication date: 20180511