CN109383965B

CN109383965B - Intelligent warehousing robot

Info

Publication number: CN109383965B
Application number: CN201810871059.6A
Authority: CN
Inventors: 喻祥祥; 黄金刚
Original assignee: Hangzhou Huiying Intelligent Technology Co ltd
Current assignee: Hangzhou Huiying Intelligent Technology Co ltd
Priority date: 2018-08-02
Filing date: 2018-08-02
Publication date: 2020-11-27
Anticipated expiration: 2038-08-02
Also published as: CN109383965A

Abstract

The invention discloses an intelligent storage robot and a working method thereof. The robot comprises a base, wherein a camera and a moving mechanism are arranged at the bottom of the base, goods shelf climbing devices are arranged on the left side and the right side of the base, a telescopic mechanism for driving the goods shelf climbing devices to open/retract is arranged on the base, a mechanical arm for grabbing articles and a rotating mechanism for driving the mechanical arm to rotate are arranged at the top of the base, the goods shelf climbing devices comprise a support, chain wheels positioned at the front end and the rear end of the support and a driving mechanism for driving the chain wheels to rotate, a controller and a wireless communication module are further arranged on the base, and the controller is respectively electrically connected with the camera, the moving mechanism, the telescopic mechanism, the mechanical arm, the rotating mechanism, the driving mechanism and the wireless. The invention does not need to carry the whole goods shelf, has lower cost and unlimited size of the goods shelf, and improves the efficiency of the workers for picking the goods.

Description

Intelligent warehousing robot

Technical Field

The invention relates to the technical field of intelligent warehousing, in particular to an intelligent warehousing robot and a working method thereof.

Background

The intelligent storage is a link in the logistics process, and the application of the intelligent storage ensures the speed and the accuracy of data input in each link of the goods warehouse management, ensures that an enterprise can timely and accurately master real data of the inventory, and reasonably keeps and controls the inventory of the enterprise. Through scientific coding, the batch, the shelf life and the like of the inventory goods can be conveniently managed.

At present, in the intelligent storage, a plurality of goods shelves for placing goods are arranged in a warehouse, a goods shelf where the goods are located is conveyed to a staff handling area from the warehouse by an intelligent storage robot according to an order of a wireless instruction, and a worker picks and scans the goods in the staff handling area. However, the intelligent storage robot can only carry the whole goods shelf, has higher requirements on the self-bearing performance and the like, has higher cost, is limited in the weight, the height and the like of the goods shelf, and has lower efficiency when a worker searches for an order and goods on the goods shelf.

Disclosure of Invention

The invention aims to overcome the technical problems that the existing intelligent storage robot can only carry the whole goods shelf, the performance requirement is high, the cost is high, the size of the goods shelf is limited, and the efficiency of workers for selecting goods is low, and provides an intelligent storage robot and a working method thereof.

In order to solve the problems, the invention adopts the following technical scheme:

the invention discloses an intelligent warehousing robot which comprises a base, wherein a camera and a moving mechanism are arranged at the bottom of the base, goods shelf climbing devices are arranged on the left side and the right side of the base, a telescopic mechanism for driving the goods shelf climbing devices to open/retract is arranged on the base, a mechanical arm for grabbing articles and a rotating mechanism for driving the mechanical arm to rotate are arranged at the top of the base, each goods shelf climbing device comprises a support, chain wheels positioned at the front end and the rear end of the support and a driving mechanism for driving the chain wheels to rotate, a controller and a wireless communication module are further arranged on the base, and the controller is respectively and electrically connected with the camera, the moving mechanism, the telescopic mechanism, the mechanical arm, the rotating mechanism, the driving mechanism and the wireless.

In this technical scheme, the camera is used for discerning the regional subaerial guide wire of storage or the navigation two-dimensional code, and the help storage robot location cooperates moving mechanism, realizes freely moving in the storage region. The intelligent warehousing robot receives the wireless instruction sent by the management center through the wireless communication module.

Be provided with a plurality of goods shelves group in the warehouse, goods shelves group all is equipped with the track that supplies goods shelves climbing device to climb including relative two first goods shelves that set up, two sides that first goods shelves are relative, and the track includes along the chain that vertically sets up two be parallel to each other, and the chain matches with the sprocket.

The intelligent storage robot is to climb when goods shelves group, move between two first goods shelves earlier, the goods shelves climbing device of the left and right sides is facing to a first goods shelves respectively, two goods shelves climbing device of telescopic machanism drive open, make around every goods shelves climbing device the sprocket at both ends and correspond two chains on the first goods shelves of one side contact engagement respectively, because two goods shelves climbing device open the first goods shelves that support both sides to both sides, drive sprocket rotates and just can drive the chain that intelligent storage robot followed first goods shelves and rise/descend.

When getting goods, intelligent storage robot removes to need to get between two first goods shelves of goods place goods shelves group, two goods shelves climbing device of telescopic machanism drive open, make sprocket on the goods shelves climbing device and the chain meshing that corresponds, actuating mechanism drive sprocket rotates and drives intelligent storage robot and upwards climb, it needs to get the storage goods position at goods place to climb as intelligent storage robot, the turnover case that needs to get goods is put on this storage goods position to the arm and is taken off, actuating mechanism drive sprocket rotates and drives intelligent storage robot and descends to ground, intelligent storage robot moves to corresponding workstation.

After the turnover box where goods to be taken are located is transported to the workbench by the intelligent storage robot, the management center sends goods taking instructions to the workbench, the touch screen of the workbench displays information of the goods to be taken, workers take the goods to be taken out of the turnover box according to the information displayed by the touch screen and scan the goods by a scanning gun and then place the goods on a goods shelf of the workbench, the workers output goods taking completion instructions through the touch screen, the workbench sends goods taking completion information to the management center, and the management center controls the intelligent storage robot to leave the workbench.

Preferably, the bracket is provided with a transmission rod driven by the driving mechanism, and two chain wheels of the goods shelf climbing device are respectively arranged at two ends of the transmission rod.

Preferably, the left side and the right side of the base are provided with sliding grooves which are horizontally arranged, the support is provided with sliding strips which are matched with the sliding grooves, the sliding strips on the support are positioned in the sliding grooves on one side and can slide along the sliding grooves, the telescopic mechanism comprises a transverse supporting plate which is positioned below the base, a lifting mechanism which drives the transverse supporting plate to lift, and a left opening mechanism and a right opening mechanism which are symmetrically arranged at the left end and the right end of the transverse supporting plate, the left opening mechanism comprises a left inclined supporting plate, the lower end of the left inclined supporting plate is hinged with the left end of the transverse supporting plate through a first rotating shaft, the higher end of the left inclined supporting plate is hinged with the support on the left side through a second rotating shaft, the right opening mechanism comprises a right inclined supporting plate, the lower end of the right inclined supporting plate is hinged with the right end of the transverse supporting plate through a third, the driving mechanism comprises a first transmission gear fixedly sleeved on the transmission rod of the bracket on the right side, a second transmission gear meshed with the first transmission gear, a driving motor for driving the second transmission gear to rotate, a first right belt pulley fixedly sleeved on the transmission rod of the bracket on the right side and positioned at the higher end of the right inclined supporting plate, a second right belt pulley rotatably arranged at the right end of the transverse supporting plate and coaxial with the third rotating shaft, a second left belt pulley rotatably arranged at the left end of the transverse supporting plate and coaxial with the second rotating shaft, a first left belt pulley rotatably arranged at the higher end of the left inclined supporting plate and coaxial with the first rotating shaft, a third transmission gear coaxially connected with the first left belt pulley, and a fourth transmission gear fixedly sleeved on the transmission rod of the bracket on the left side and meshed with the third transmission gear, wherein the second left belt pulley is connected with the second right belt pulley through a first belt, the first left belt pulley is connected with the second left belt pulley through a second belt, the first right belt pulley is connected with the second right belt pulley through a third belt, and the controller is electrically connected with the lifting mechanism and the driving motor respectively.

When the goods shelf climbing device needs to be driven to open, the lifting mechanism drives the transverse supporting plate to ascend, the left inclined supporting plate stretches out leftwards to push out the left side support leftwards, the sliding strip on the left side support moves leftwards along the sliding groove, the right inclined supporting plate stretches out rightwards to push out the right side support rightwards, and the sliding strip on the right side support moves rightwards along the sliding groove. When the goods shelf climbing device needs to be driven to retract, the lifting mechanism drives the transverse supporting plate to descend.

When the chain wheel needs to be driven to rotate, the driving motor drives the second transmission gear to rotate, the second transmission gear drives the first transmission gear to rotate, the first transmission gear drives the transmission rod of the right bracket to rotate, the transmission rod of the right bracket drives the chain wheels at the front end and the rear end to rotate, meanwhile, the transmission rod of the right bracket drives a first right belt pulley to rotate, the first right belt pulley drives a second right belt pulley to rotate, the second right belt pulley drives a second left belt pulley to rotate, the second left belt pulley drives a first left belt pulley to rotate, the first left belt pulley drives a third transmission gear to rotate, the third transmission gear drives a fourth transmission gear to rotate, the fourth transmission gear drives the transmission rod of the left bracket to rotate, the transmission rod of the left bracket drives chain wheels at the front end and the rear end of the transmission rod to rotate, and the rotating direction of the chain wheel on the transmission rod of the left bracket is just opposite to that of the chain wheel on the transmission rod of the right bracket. Through the mode, the driving mechanism drives the chain wheel, and the intelligent storage robot rises/falls at the goods shelf group.

Preferably, the lifting mechanism comprises a screw rod arranged at the bottom of the base and a first servo motor driving the screw rod to rotate, the transverse supporting plate is provided with a threaded hole for the screw rod to pass through, the screw rod passes through the threaded hole to be in threaded connection with the transverse supporting plate, and the controller is electrically connected with the first servo motor.

Preferably, the front end and the rear end of the lower portion of the support are further provided with jacking mechanisms, each jacking mechanism comprises a guide groove and a jacking rod, each guide groove comprises an inclined portion and a horizontal portion, each inclined portion is arranged in a downward inclined mode from outside to inside, the outer end of each horizontal portion is communicated with the lower end of each inclined portion, the top end of each jacking rod is located above the corresponding horizontal portion and hinged to the support, the bottom end of each jacking rod is provided with a roller, each jacking rod is provided with a sliding block which is embedded into each guide groove and can slide along each guide groove, when the goods shelf climbing device is in a fully retracted state, each sliding block is located in each inclined portion, and when the goods shelf climbing device is in a fully opened.

When the goods shelf climbing device retracts completely, the sliding block is located in the inclined portion, the jacking rod retracts upwards, the idler wheels cannot jack up the intelligent storage robot, and the moving mechanism is in contact with the ground. When the goods shelf climbing device is completely opened, the sliding block is positioned in the horizontal part, the jacking rod extends downwards, and the roller jacks up the intelligent storage robot to enable the moving mechanism to be suspended.

When the intelligent storage robot will climb at goods shelves group, the intelligent storage robot moves between two first goods shelves earlier, the distance between intelligent storage robot both sides and two first goods shelves can not equal completely, but because there is climbing mechanism's existence, when two goods shelves climbing device of telescopic machanism drive open, climbing mechanism makes the moving mechanism unsettled with intelligent storage robot jack-up, consequently, after goods shelves climbing device and the first goods shelves contact that correspond one side as one side, the intelligent storage robot can remove to the opposite side voluntarily under the reaction force, make the goods shelves climbing device of opposite side and the first goods shelves contact that corresponds, the gyro wheel of telescopic machanism bottom will intelligent storage robot jack-up make the moving mechanism unsettled, make the intelligent storage robot remove and can not receive moving mechanism's hindrance.

Preferably, the moving mechanism comprises two walking modules arranged at the bottom of the base, each walking module comprises a driving wheel, a speed reducer and a second servo motor, the second servo motor is connected with the driving wheel through the speed reducer, and the second servo motor is electrically connected with the controller.

Preferably, the moving mechanism further comprises a plurality of universal wheels arranged at the bottom of the base.

As preferred, the walking module passes through damper and is connected with the base, damper includes the guide bar of vertical setting, guide bar top and base bottom fixed connection, the cover is equipped with and follows the gliding sliding sleeve of guide bar on the guide bar, sliding sleeve and walking module fixed connection, the guide bar bottom is equipped with the dog that blocks the sliding sleeve, still the cover is equipped with the spring on the guide bar, the spring setting is between base and sliding sleeve.

The shock absorption effect is achieved for the walking module. Simultaneously, but the elasticity through the spring automatically regulated drive wheel highly for intelligent storage robot when uneven ground removes, guarantees that the drive wheel can contact with ground all the time.

Preferably, a guide wheel is correspondingly arranged on the outer side of each chain wheel.

Each chain edge of the first shelf is provided with a guide groove parallel to the chain edge, and the bottom water level position of the guide groove is higher than that of the corresponding chain. When the chain wheels at the front end and the rear end of the goods shelf climbing device are in contact engagement with the two chains on the first goods shelf corresponding to one side respectively, the guide wheel on the outer side of each chain wheel is also located below the corresponding guide groove, and after the chain wheels rotate to drive the intelligent storage robot to move upwards, the guide wheels enter the guide grooves, so that the intelligent storage robot is ensured to stably ascend/descend along the chains.

Preferably, the mechanical arm comprises a bottom plate, an electric telescopic middle plate capable of moving along the bottom plate, and an electric telescopic top plate capable of moving along the electric telescopic middle plate, the front end and the rear end of the electric telescopic top plate are provided with stop bars, and the controller is electrically connected with the electric telescopic middle plate and the electric telescopic top plate respectively.

First goods shelves include the support, are equipped with a plurality of storage goods position from last to down on the support, and storage goods position is equipped with the layer board on two inside walls about the support including the symmetry, and the distance between two layer boards is greater than the width of arm. The distance between the two supporting plates is smaller than the width of the turnover box.

The distance between the baffle bars at the front end and the rear end of the electric telescopic top plate is consistent with the length of the turnover box. When taking the turnover case from the storage position, the electric telescopic intermediate plate firstly extends out, and then the electric telescopic roof extends out, and until the electric telescopic roof is located the turnover case below, the intelligent storage robot moves upwards to enable the turnover case to enter the shelves at the front end and the rear end of the electric telescopic roof, the intelligent storage robot continues to move upwards, the electric telescopic roof supports the turnover case, and the electric telescopic intermediate plate retracts and the electric telescopic roof retracts, so that the turnover case can be placed on the base top to complete the taking out of the turnover case.

The working method of the intelligent storage robot is used for the intelligent storage robot, a plurality of goods shelf groups are arranged in a working warehouse of the intelligent storage robot, each goods shelf group comprises two first goods shelves which are oppositely arranged, rails for the goods shelf climbing devices to climb are arranged on the opposite side surfaces of the two first goods shelves, each rail comprises two chains which are longitudinally arranged and are parallel to each other, and the chains are matched with the chain wheels, and the working method of the intelligent storage robot comprises the following steps:

when the management center receives the goods taking instruction, the management center finds out the position of goods needing to be taken and dispatches the intelligent storage robot to take the goods;

the intelligent storage robot receives and removes to need to get between two first goods shelves of goods place goods shelves group after getting the goods instruction that management center sent, two goods shelves climbing device of telescopic machanism drive open, make the sprocket on the goods shelves climbing device and the chain meshing that corresponds, actuating mechanism drive sprocket rotates and drives intelligent storage robot and upwards climb, it needs to get the storage goods position at goods place to climb as intelligent storage robot, the turnover case that needs to get goods is put on this storage goods position to the arm and is taken off, actuating mechanism drive sprocket rotates and drives intelligent storage robot and descend to ground, intelligent storage robot moves to corresponding workstation.

Preferably, after the intelligent storage robot transports the turnover box where the goods to be taken are located to the workbench, the management center sends a goods taking instruction to the workbench, the touch screen of the workbench displays information of the goods to be taken, the staff takes the goods to be taken out of the turnover box according to the information displayed by the touch screen, the goods to be taken are scanned by the scanning gun and then placed on a shelf of the workbench, the staff outputs a goods taking completion instruction through the touch screen, the workbench sends goods taking completion information to the management center, and the management center controls the intelligent storage robot to leave the workbench.

when the management center receives the goods loading instruction, the management center finds out the position of the turnover box corresponding to the goods to be loaded, and dispatches the intelligent storage robot to load the goods;

the intelligent warehousing robot receives a goods loading instruction sent by a management center and then moves to a position between two first goods shelves of a goods shelf group where a turnover box corresponding to goods to be loaded is located, a telescopic mechanism drives two goods shelf climbing devices to open, so that chain wheels on the goods shelf climbing devices are meshed with corresponding chains, a driving mechanism drives the chain wheels to rotate to drive the intelligent warehousing robot to climb upwards, when the intelligent warehousing robot climbs to a goods storage position where the turnover box corresponding to the goods to be loaded is located, a mechanical arm takes down the turnover box corresponding to the goods to be loaded on the goods storage position, the driving mechanism drives the chain wheels to rotate to drive the intelligent warehousing robot to descend to the ground, and the intelligent warehousing robot moves to a corresponding working table;

after the intelligent warehousing robot transports the turnover box corresponding to goods to be loaded to the workbench, the management center sends a loading instruction to the workbench, the touch screen of the workbench displays information of the goods to be loaded, workers take out the goods to be loaded from the workbench shelf according to the information displayed by the touch screen, the turnover box corresponding to the goods to be loaded is placed after being scanned by a scanning gun, the workers output loading completion instructions through the touch screen, the workbench sends loading completion information to the management center, and the management center dispatches the intelligent warehousing robot to place the turnover box back.

The invention has the beneficial effects that: the whole goods shelf does not need to be carried, the cost is lower, the size of the goods shelf is not limited, and the efficiency of the workers for picking the goods is improved.

Drawings

FIG. 1 is a schematic diagram of an embodiment of the present invention;

FIG. 2 is a cross-sectional view A-A of FIG. 1;

FIG. 3 is a schematic bottom view of the present invention;

FIG. 4 is a schematic block diagram of a circuit of the present invention;

FIG. 5 is a schematic view of the rack climbing device when fully retracted;

FIG. 6 is a schematic view of the structure of the group of shelves;

FIG. 7 is a top view of the group of shelves;

fig. 8 is an enlarged view at B in fig. 7.

In the figure: 1. a base, 2, a camera, 3, a moving mechanism, 4, a telescopic mechanism, 5, a mechanical arm, 6, a rotating mechanism, 7, a support, 8, a chain wheel, 9, a driving mechanism, 10, a transmission rod, 11, a slide bar, 12, a transverse supporting plate, 13, a left inclined supporting plate, 14, a right inclined supporting plate, 15, a first transmission gear, 16, a second transmission gear, 17, a first right belt pulley, 18, a second right belt pulley, 19, a second left belt pulley, 20, a first left belt pulley, 21, a third transmission gear, 22, a fourth transmission gear, 23, a screw rod, 24, a guide groove, 25, a jacking rod, 26, an inclined part, 27, a horizontal part, 28, a roller, 29, a driving wheel, 30, a speed reducer, 31, a second servo motor, 32, a universal wheel, 33, a guide rod, 34, a sliding sleeve, 35, a stop block, 36, a spring, 37, a guide wheel, 38, a bottom plate, 39. electric telescopic intermediate plate, 40, electric telescopic top plate, 41, barrier strip, 42, controller, 43, intelligent storage robot, 44, first goods shelves, 45, second goods shelves, 46, turnover case, 47, chain, 48, guide way, 49, wireless communication module.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.

Example (b): the intelligent warehousing robot of this embodiment, as shown in fig. 1, fig. 2, fig. 3, fig. 4, including base 1, base 1 bottom is equipped with camera 2 and moving mechanism 3, the base 1 left and right sides is equipped with goods shelf climbing device, be equipped with the telescopic machanism 4 that drives goods shelf climbing device and open/retract on base 1, base 1 top is equipped with the arm 5 that is used for snatching article and drives arm 5 pivoted slewing mechanism 6, goods shelf climbing device includes support 7, be located sprocket 8 and the drive mechanism 9 of drive sprocket 8 pivoted at both ends around support 7, still be equipped with controller 42 and wireless communication module 49 on the base 1, controller 42 is connected with camera 2, moving mechanism 3, telescopic machanism 4, arm 5, slewing mechanism 6, drive mechanism 9 and wireless communication module 49 electricity respectively.

The bracket 7 is provided with a transmission rod 10 driven by a driving mechanism 9, two chain wheels 8 of the goods shelf climbing device are respectively arranged at two ends of the transmission rod 10, and the outer side of each chain wheel 8 is correspondingly provided with a guide wheel 37. The left side and the right side of the base 1 are provided with sliding grooves which are horizontally arranged, the bracket 7 is provided with sliding strips 11 which are matched with the sliding grooves, the sliding strips 11 on the bracket 7 are positioned in the sliding grooves at one side and can slide along the sliding grooves, the telescopic mechanism 4 comprises a transverse supporting plate 12 positioned below the base 1, a lifting mechanism for driving the transverse supporting plate 12 to lift, a left opening mechanism and a right opening mechanism which are symmetrically arranged at the left end and the right end of the transverse supporting plate 12, the left opening mechanism comprises a left inclined supporting plate 13, the lower end of the left inclined supporting plate 13 is hinged with the left end of the transverse supporting plate 12 through a first rotating shaft, the higher end of the left inclined supporting plate 13 is hinged with the bracket 7 at the left side through a second rotating shaft, the right opening mechanism comprises a right inclined supporting plate 14, the lower end of the right inclined supporting plate 14 is hinged with the right end of the transverse supporting plate 12 through a, the driving mechanism 9 comprises a first transmission gear 15 fixedly sleeved on the transmission rod 10 of the right bracket 7, a second transmission gear 16 meshed with the first transmission gear 15, a driving motor for driving the second transmission gear 16 to rotate, a first right belt pulley 17 fixedly sleeved on the transmission rod 10 of the right bracket 7 and positioned at the higher end of the right inclined support plate 14, a second right belt pulley 18 rotatably arranged at the right end of the transverse support plate 12 and coaxial with the third rotating shaft, a second left belt pulley 19 rotatably arranged at the left end of the transverse support plate 12 and coaxial with the second rotating shaft, a first left belt pulley 20 rotatably arranged at the higher end of the left inclined support plate 13 and coaxial with the first rotating shaft, a third transmission gear 21 coaxially connected with the first left belt pulley 20, and a fourth transmission gear 22 fixedly sleeved on the transmission rod 10 of the left bracket 7 and meshed with the third transmission gear 21, the second left belt pulley 19 is connected with the second right belt pulley 18 through a first belt, the first left belt pulley 20 is connected with the second left belt pulley 19 through a second belt, the first right belt pulley 17 is connected with the second right belt pulley 18 through a third belt, and the controller 42 is electrically connected with the lifting mechanism and the driving motor respectively.

The camera is used for discerning the regional subaerial guide line of storage or the navigation two-dimensional code, and the location of help storage robot cooperates moving mechanism, realizes freely moving in the storage region. The intelligent warehousing robot receives the wireless instruction sent by the management center through the wireless communication module.

As shown in fig. 6, 7, and 8, a plurality of shelf groups are arranged in a warehouse where the smart storage robot 43 works, each shelf group includes two first shelves 44 which are arranged oppositely, two second shelves 45 which are arranged oppositely, each of the first shelves 44 and the second shelves 45 is a rectangular shelf, the side surfaces of the two first shelves 44 which are opposite to each other and the side surfaces of the two second shelves 45 which are opposite to each other are enclosed to form a rectangular space, the side surfaces of the two first shelves 44 which are opposite to each other are provided with a track for the shelf climbing device to climb, the track includes two mutually parallel chains 47 which are arranged longitudinally, the chains 47 are matched with the chain wheels 8, and the inner side of each chain 47 is provided with a guide groove 48 matched with the guide wheel 37.

When the goods shelf climbing device needs to be driven to open, the lifting mechanism drives the transverse supporting plate to ascend, the left inclined supporting plate stretches out leftwards to push out the left side support leftwards, the sliding strip on the left side support moves leftwards along the sliding groove, the right inclined supporting plate stretches out rightwards to push out the right side support rightwards, and the sliding strip on the right side support moves rightwards along the sliding groove. When the goods shelf climbing device needs to be driven to retract, the lifting mechanism drives the transverse supporting plate to descend. The fully retracted state of the rack climbing device is shown in fig. 5. The open position of the rack climbing device is shown in fig. 2.

The intelligent storage robot is to climb when goods shelves group, move the rectangle space bottom that two first goods shelves relative sides and two second goods shelves relative sides enclose earlier, the goods shelves climbing device of the left and right sides is facing to a first goods shelves respectively, two goods shelves climbing device of telescopic machanism drive open, make the sprocket at both ends around every goods shelves climbing device and correspond two chains on the first goods shelves of one side and contact the meshing respectively, because two goods shelves climbing device open the first goods shelves that support both sides to both sides, drive sprocket rotates and just can drive intelligent storage robot and rise/descend along the chain of first goods shelves.

When getting goods, intelligent storage robot removes the rectangle space bottom that needs to get goods place goods shelves group, as shown in fig. 7, fig. 8, the goods shelves climbing device of the left and right sides is facing to a first goods shelves respectively, two goods shelves climbing device of telescopic machanism drive open, make sprocket on the goods shelves climbing device and the chain meshing that corresponds, actuating mechanism drive sprocket rotates and drives intelligent storage robot 43 and upwards climb, when intelligent storage robot climbs the storage position that needs to get goods place, the turnover case that the arm was put the needs goods on with this storage position is taken off, actuating mechanism drive sprocket rotates and drives intelligent storage robot and descend to ground, intelligent storage robot removes to corresponding workstation.

The lifting mechanism comprises a screw rod 23 arranged at the bottom of the base 1 and a first servo motor driving the screw rod 23 to rotate, a threaded hole for the screw rod 23 to pass through is formed in the transverse supporting plate 12, the screw rod 23 passes through the threaded hole to be in threaded connection with the transverse supporting plate 12, and the controller 42 is electrically connected with the first servo motor.

The front end and the rear end of the lower portion of the support 7 are further provided with jacking mechanisms, each jacking mechanism comprises a guide groove 24 and a jacking rod 25, each guide groove 24 comprises an inclined portion 26 and a horizontal portion 27, each inclined portion 26 is arranged from outside to inside in an inclined manner, the outer end of each horizontal portion 27 is communicated with the lower end of each inclined portion 26, the top end of each jacking rod 25 is located above each horizontal portion 27 and hinged to the support 7, the bottom end of each jacking rod 25 is provided with a roller 28, each jacking rod 25 is provided with a sliding block which is embedded into each guide groove 24 and can slide along the corresponding guide groove 24, when the goods shelf climbing device is in a fully retracted state, each sliding block is located in each inclined portion 26, and when the.

The moving mechanism 3 comprises two walking modules arranged at the bottom of the base 1, each walking module comprises a driving wheel 29, a speed reducer 30 and a second servo motor 31, each second servo motor 31 is connected with the driving wheel 29 through the speed reducer 30, and each second servo motor 31 is electrically connected with the controller 42.

When the goods shelf climbing device retracts completely, the sliding block is located in the inclined portion, the jacking rod retracts upwards, the horizontal position of the roller is higher than that of the driving wheel, the roller cannot jack up the intelligent storage robot, and the moving mechanism is in contact with the ground. When the goods shelf climbing device is completely opened, the sliding block is positioned in the horizontal part, the jacking rod extends downwards, the horizontal position of the roller is lower than that of the driving wheel, and the roller jacks up the intelligent storage robot to enable the moving mechanism to be suspended.

When the intelligent storage robot will climb at goods shelves group, the intelligent storage robot moves the rectangle space bottom of goods shelves group earlier, the distance between intelligent storage robot both sides and two first goods shelves can not equal completely, but because there is climbing mechanism's existence, when two goods shelves climbing device of telescopic machanism drive open, climbing mechanism makes the moving mechanism unsettled with intelligent storage robot jack-up, consequently, after goods shelves climbing device and the first goods shelves contact that correspond one side as one side, the intelligent storage robot can remove to the opposite side voluntarily under the reaction force, make the goods shelves device that climbs of opposite side and the first goods shelves contact that corresponds, the gyro wheel of telescopic machanism bottom makes the moving mechanism unsettled with intelligent storage robot jack-up, make intelligent storage robot remove and can not receive moving mechanism's hindrance.

The moving mechanism 3 further comprises four universal wheels 32 arranged at the bottom of the base 1.

The walking module passes through damper and is connected with base 1, damper includes the guide bar 33 of vertical setting, guide bar 33 top and base 1 bottom fixed connection, the cover is equipped with can follow the gliding sliding sleeve 34 of guide bar 33 on the guide bar 33, sliding sleeve 34 and walking module fixed connection, the guide bar 33 bottom is equipped with the dog 35 that blocks sliding sleeve 34, still the cover is equipped with spring 36 on the guide bar 33, spring 36 sets up between base 1 and sliding sleeve 34.

The mechanical arm 5 comprises a bottom plate 38, an electric telescopic middle plate 39 capable of moving along the bottom plate 38 and an electric telescopic top plate 40 capable of moving along the electric telescopic middle plate 39, the front end and the rear end of the electric telescopic top plate 40 are provided with baffle bars 41, and a controller 42 is electrically connected with the electric telescopic middle plate 39 and the electric telescopic top plate 40 respectively.

First goods shelves and second goods shelves all include the support body, are equipped with a plurality of storage goods position from last to down on the support body, and storage goods position is equipped with the layer board on two inside walls about the support body including the symmetry, and the distance between two layer boards is greater than the width of arm, and the distance between two layer boards is less than the width of turnover case.

The working method of the intelligent warehousing robot in the embodiment is used for the intelligent warehousing robot, a plurality of goods shelf groups are arranged in a warehouse where the intelligent warehousing robot works, each goods shelf group comprises two first goods shelves which are arranged oppositely, the opposite sides of the two first goods shelves are provided with tracks for the goods shelf climbing device to climb, each track comprises two mutually parallel chains which are arranged longitudinally, and the chains are matched with the chain wheels, and the working method comprises the following steps:

Claims

1. The intelligent warehousing robot is characterized by comprising a base (1), wherein a camera (2) and a moving mechanism (3) are arranged at the bottom of the base (1), shelf climbing devices are arranged on the left and right sides of the base (1), a telescopic mechanism (4) for driving the shelf climbing devices to open/retract is arranged on the base (1), a mechanical arm (5) for grabbing articles and a rotating mechanism (6) for driving the mechanical arm (5) to rotate are arranged at the top of the base (1), each shelf climbing device comprises a support (7), chain wheels (8) positioned at the front end and the rear end of the support (7) and a driving mechanism (9) for driving the chain wheels (8) to rotate, a controller (42) and a wireless communication module (49) are further arranged on the base (1), and the controller (42) is respectively connected with the camera (2), the moving mechanism (3) and the driving mechanism (8), The telescopic mechanism (4), the mechanical arm (5), the rotating mechanism (6), the driving mechanism (9) and the wireless communication module (49) are electrically connected; the front end and the rear end of the lower part of the bracket (7) are also provided with jacking mechanisms, each jacking mechanism comprises a guide groove (24) and a jacking rod (25), each guide groove (24) comprises an inclined part (26) and a horizontal part (27), each inclined part (26) is obliquely arranged from outside to inside, the outer end of each horizontal part (27) is communicated with the lower end of each inclined part (26), the top end of each jacking rod (25) is positioned above the corresponding horizontal part (27) and hinged with the bracket (7), the bottom end of each jacking rod (25) is provided with a roller (28), each jacking rod (25) is provided with a sliding block which is embedded into each guide groove (24) and can slide along the corresponding guide groove (24), when the goods shelf climbing device is in a fully retracted state, each sliding block is positioned in the corresponding inclined part (26), and when the goods shelf climbing device is in a fully opened state, each sliding block is; arm (5) include bottom plate (38), can follow electric telescopic intermediate lamella (39) that bottom plate (38) removed, can follow electric telescopic roof (40) that electric telescopic intermediate lamella (39) removed, both ends are equipped with shelves strip (41) around electric telescopic roof (40), controller (42) are connected with electric telescopic intermediate lamella (39) and electric telescopic roof (40) electricity respectively.

2. The intelligent warehousing robot as claimed in claim 1, characterized in that the rack (7) is provided with a transmission rod (10) driven by a driving mechanism (9), and two chain wheels (8) of the rack climbing device are respectively arranged at two ends of the transmission rod (10).

3. The intelligent warehousing robot as claimed in claim 2, wherein the left and right sides of the base (1) are provided with horizontally arranged sliding grooves, the support (7) is provided with sliding strips (11) matched with the sliding grooves, the sliding strips (11) on the support (7) are positioned in the sliding grooves on one side and can slide along the sliding grooves, the telescoping mechanism (4) comprises a transverse support plate (12) positioned below the base (1), a lifting mechanism driving the transverse support plate (12) to lift, and a left opening mechanism and a right opening mechanism symmetrically arranged at the left and right ends of the transverse support plate (12), the left opening mechanism comprises a left inclined support plate (13), the lower end of the left inclined support plate (13) is hinged with the left end of the transverse support plate (12) through a first rotating shaft, the higher end of the left inclined support plate (13) is hinged with the left support (7) through a second rotating shaft, the right side opens the mechanism and includes right inclined support plate (14), the lower one end of right inclined support plate (14) is articulated through third pivot and horizontal backup pad (12) right-hand member, the higher one end of right inclined support plate (14) is passed through the bearing and is connected with transfer line (10) on support (7) on right side, actuating mechanism establishes first drive gear (15) on transfer line (10) of support (7) on right side including fixed cover, second drive gear (16) with first drive gear (15) meshing, drive second drive gear (16) pivoted driving motor, fixed cover and establishes on transfer line (10) of support (7) on right side and be located first right belt pulley (17) of the higher one end of right inclined support plate (14), rotate and set up at horizontal backup pad (12) right-hand member and with third pivot coaxial second right belt pulley (18), Rotate and set up in horizontal backup pad (12) left end and with the coaxial left belt pulley of second pivot (19), rotate and set up in the higher one end of left inclined support plate (13) and with the coaxial left belt pulley of first pivot (20), with the third drive gear (21) of first left belt pulley (20) coaxial coupling, fix the cover and establish on transfer line (10) of left support (7) and in fourth drive gear (22) of third drive gear (21) meshing, second left belt pulley (19) are connected through first belt with second right belt pulley (18), first left belt pulley (20) are connected through the second belt with second left belt pulley (19), first right belt pulley (17) are connected through the third belt with second right belt pulley (18), controller (42) are connected with elevating system and driving motor electricity respectively.

4. The intelligent warehousing robot as claimed in claim 1, 2 or 3, wherein the moving mechanism (3) comprises two walking modules arranged at the bottom of the base (1), the walking modules comprise driving wheels (29), a speed reducer (30) and a second servo motor (31), the second servo motor (31) is connected with the driving wheels (29) through the speed reducer (30), and the second servo motor (31) is electrically connected with the controller (42).

5. A smart warehousing robot as claimed in claim 4, characterized in that said moving mechanism (3) further comprises a plurality of universal wheels (32) arranged at the bottom of the base (1).

6. The intelligent warehousing robot as claimed in claim 4, wherein the walking module is connected with the base (1) through a damping mechanism, the damping mechanism comprises a guide rod (33) which is longitudinally arranged, the top of the guide rod (33) is fixedly connected with the bottom of the base (1), a sliding sleeve (34) which can slide along the guide rod (33) is sleeved on the guide rod (33), the sliding sleeve (34) is fixedly connected with the walking module, a stop block (35) which blocks the sliding sleeve (34) is arranged at the bottom of the guide rod (33), a spring (36) is further sleeved on the guide rod (33), and the spring (36) is arranged between the base (1) and the sliding sleeve (34).