CN109775218A - A kind of picking robot - Google Patents
A kind of picking robot Download PDFInfo
- Publication number
- CN109775218A CN109775218A CN201910158393.1A CN201910158393A CN109775218A CN 109775218 A CN109775218 A CN 109775218A CN 201910158393 A CN201910158393 A CN 201910158393A CN 109775218 A CN109775218 A CN 109775218A
- Authority
- CN
- China
- Prior art keywords
- sliding rail
- rack
- manipulator
- agv trolley
- crane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of picking robots, including AGV trolley, the rack being located on AGV trolley, it is set on the rack crane, if the lifting device moved up and down on the rack to crane, it is located at the manipulator grabbed on crane to cargo, it is located on crane to the translating device of manipulator control and telescopic device, manipulator is mounted on telescopic device, manipulator passes through lifting device, translating device and telescopic device carry out the movement of different spatial, the clamping device that can connect other moving goods racks is additionally provided on AGV trolley, moving goods rack by clamping device connect after with AGV trolley synchronizing moving.In the case where original commodity storing goods shelf haves no need to change, it can be according to order situation, receive the position that instruction reaches corresponding fixed goods shelf commodity storage later, the chest of corresponding storage commodity is quickly transferred on moving goods rack, to realize the purpose of picking, work efficiency is high, reduces cost of labor.
Description
Technical field
The present invention relates to a kind of intelligent robot more particularly to a kind of picking robots.
Background technique
According to the composition situation characteristic of current electric business order and commodity in the storage situation of storage, electric business is had devised
Order of storing in a warehouse sorts intelligent robot, and the sorting that electric business storage order can be applied to low cost, high efficiency is carried, same to opportunity
Device people possesses a set of intelligent distribution system, and system passes through the intellectual access of this Prospect of Robot Sorting System, and the AGV delivery that collocation is traditional
The efficient transportation of robot, staff only need to effectively raise operating efficiency, reduce people in corresponding station handling goods
Work cost, this scheme have broken " people's arrival " mode that traditional control order goes shelf to look for goods, compared to other electric business storage " goods
Frame is to people " scheme, carry out large-scale redevelopment without factory or storage, scheme is more flexible.But general general merchandise class electricity
Agreeing single-pass often has 1-8 part cargo, including present, product etc., and traditional robotic pick scheme is, if this order needs
A certain cargo then needs for the entire shelf for storing this cargo to be transported in face of operator by robot, and one
A shelf usually not only store a kind of cargo, if entire shelf carrying comes, but only one target goods, that machine
The landed cost of people will be very high, it is therefore desirable to which many robots improve whole handling efficiency.
Summary of the invention
A kind of picking robot is provided in order to solve certain or certain technical problems, the present invention existing in the prior art,
Moving goods rack can be carried, original commodity storing goods shelf haves no need to change, and can receive instruction according to order situation and arrive later
The chest of corresponding storage commodity is quickly transferred to hoistable platform or movement by the position stored up to corresponding fixed goods shelf commodity
On shelf, to realize the purpose of picking, work efficiency is high, reduces cost of labor, can be applied to electricity with low cost, high efficiency
The sorting of quotient's storage order is carried.
In order to solve the above-mentioned prior art problems, the present invention uses following scheme:
A kind of picking robot, including AGV trolley, the rack being located on the AGV trolley, the liter being located in the rack
Drop frame is located at the lifting device moved up and down in the rack to the crane, is located on the crane to cargo
The manipulator that is grabbed is located on the crane and carries out the translating device of left and right transverse shifting to the manipulator, is located at
The telescopic device of elastic control is carried out on the translating device to manipulator, the manipulator is mounted on the telescopic device
On, the manipulator carries out the movement of different spatial, institute by the lifting device, translating device and the telescopic device
The clamping device for being additionally provided on AGV trolley and can connecting other moving goods racks is stated, it is small to be connected to the AGV by the clamping device
Moving goods rack and the AGV trolley synchronizing moving on vehicle.
Further, the lifting device includes the first sliding rail for being located at the rack two sides, is located at first sliding rail
On the first sliding block, the first driving device for being moved up and down to first sliding block along first sliding rail, the liter
Drop frame is fixed on first sliding block.
Further, the translating device includes the second sliding rail being located on the crane, is slidably installed in second cunning
First slide, one end on rail be arranged in the linking arm extended in the first slide and forward, to the first slide along
The second driving device that second sliding rail is moved left and right, the telescopic device are located on the linking arm.
Further, the telescopic device includes the third sliding rail being located on the linking arm, is slidably installed in the third cunning
Adapter on rail, the third driving device that the adapter is moved forward and backward along the third sliding rail, the switching
Seat is equipped with the 4th sliding rail, and the adapter, which is equipped with, fills the manipulator along the 4th driving that the 4th sliding rail moves
It sets, the manipulator is slidably installed on the adapter by the 4th sliding rail.
Further, the manipulator includes the second slide being slidably installed on the 4th sliding rail, is located at second cunning
The 5th sliding rail on seat, the picking mechanism being slidably installed on the 5th sliding rail, cargo are grabbed and are unclamped by the picking mechanism.
Further, the picking mechanism includes that two be slidably installed on the 5th sliding rail are used to grab grabbing for cargo
Hand, the screw rod being located in the second slide, the 5th driving device that positive and negative rotation driving is carried out to screw rod, the both ends of the screw rod
Respectively positive and negative rotation screw thread, two handgrips are separately mounted to the two sides of the screw rod, pass through the 5th driving device pair
The positive and negative rotation of the screw rod realizes two handgrips to the clamping of cargo and unclamps control.
Further, the first driving device is to the 5th driving device using control cylinder or control motor and chain
The combination of item or control one of motor and the combination of screw rod.
Further, the clamping device includes the 6th sliding rail being located on the AGV trolley, is slidably installed in the 6th cunning
Two electronic sliding blocks on rail, the connecting rod being located on the electronic sliding block press from both sides moving goods rack by connecting rod control
The linking arm fastened, the clamping end of the linking arm are located at the outside of the AGV trolley of the rack.
Further, the linking arm includes two one end switching connecting rod together, to be located at the connecting rod another
The clip slot for clamping moving goods rack is held, the both ends of the connecting rod are transferred respectively on the electronic sliding block and the connecting rod,
The clip slot in two connecting rods is realized by the relative movement of the electronic sliding block to be clamped and unclamps.
Further, the side of clip slot intermediate plate with outward extension, the clamping device by the clip slot and
Intermediate plate is clamped fixation to moving goods rack simultaneously.
Compared with prior art, the beneficial effects of the present invention are:
Picking robot can carry moving goods rack, can be according to order feelings when extracting to the cargo on shelf
Condition carries out targetedly picking, it is no longer necessary to move back and forth to entire shelf, when picking only need to make picking by AGV trolley
Robot is moved to the fixed goods shelf position of corresponding cargo storage, after grabbing cargo by manipulator, then passes through lifting dress
Set, the combination of translating device and telescopic device carries out the movement of different spatial to manipulator, to make manipulator that will fix
Article is corresponded on shelf to be moved to moving goods rack or directly grab on a robotic arm, is moved to work finally by AGV trolley
Region where making personnel is unloaded, and original commodity storing goods shelf haves no need to change, and staff only need to be in corresponding station
The extraction of multiple cargos disposably may be implemented especially when cooperating picking with moving goods rack in handling goods, effective to improve
Operating efficiency reduces cost of labor, and this scheme has broken " people's arrival " mode that traditional control order goes the shelf to look for goods,
Compared to the scheme of other electric business storage " shelf to people ", large-scale redevelopment is carried out without factory or storage, scheme is more flexible, can
It is carried with the sorting for being applied to electric business storage order with low cost, high efficiency.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is attachment structure schematic diagram between manipulator and crane in the present invention；
Fig. 3 is fourth drive device in the present invention to the driving structure view of manipulator；
Fig. 4 is the structural schematic diagram of clamping device and AGV trolley in the present invention.
In figure: AGV trolley 1, rack 2, two driving devices 3, the first sliding block 4, translating device 5, first slide 6, first are sliding
Rail 7, first driving device 8, lifting device 9, the second sliding rail 10, crane 11, linking arm 12, telescopic device 13, third sliding rail
14, manipulator 15, clamping device 16, third driving device 17, adapter 18, fourth drive device 19, second slide the 20, the 5th
Sliding rail 21, picking mechanism 22, handgrip 23, screw rod 24, the 5th driving device 25, the 4th sliding rail 26, gear 27, rack gear 28, control
Motor 29, chain 30, connecting rod 31, intermediate plate 32, clip slot 33, connecting rod 34, linking arm 35, electronic sliding block 36, the 6th sliding rail 37.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
As shown in figures 1-4, a kind of picking robot including AGV trolley 1, the rack 2 being located on the AGV trolley 1, is set
In the rack 2 crane 11, be located at the lifting device 9 that the crane 11 is moved up and down in the rack 2,
Be located at the manipulator 15 grabbed on the crane 11 to cargo, be located on the crane 11 to the manipulator 15 into
The translating device 5 of row left and right transverse shifting is located at and carries out elastic control to manipulator 15 on the translating device 5 and stretch
Device 13, the manipulator 15 are mounted on the telescopic device 13, and the manipulator 15 passes through the lifting device 9, translation
Device 5 and the telescopic device 13 carry out the movement of different spatial, and other shiftings can be connected by being additionally provided on the AGV trolley 1
The clamping device 16 of dynamic shelf, the moving goods rack and the AGV being connected to by the clamping device 16 on the AGV trolley 1
1 synchronizing moving of trolley.
In actual use, rack 2 is mounted on 1 school bus of AGV trolley, and crane 11 is installed by lifting device 9
In rack 2, after lifting device 9 starts after starting, crane 11 is driven to carry out the movement in upper and lower orientation, and translating device 5
It is then mounted on crane 11, the control for carrying out height has been driven by crane 11, telescopic device 13 is mounted on translating device 5
On, the control of moving for the position that telescopic device 13 is controlled along rack 2 is realized by translating device 5, manipulator 15 is installed
Extension and contraction control on translating device 5 and before and after carrying out, to make manipulator 15 in lifting device 9, translating device 5 and flexible dress
The control for realizing Z axis, X-axis and Y-axis in the control process of 13 threes respectively is set, enables manipulator 15 in different space bits
It sets and is moved and positioned, at least one is especially additionally provided on AGV trolley 1 can connect the clamping device of other moving goods racks
16, after moving goods rack is clamped fixed by clamping device 16, moving goods rack is able to drive by the movement of AGV trolley 1
Movement is synchronized with AGV trolley 1, to be placed directly into moving goods rack after so that manipulator 15 is grabbed cargo from fixed goods shelf
On, picking robot can carry moving goods rack, when extracting to the cargo on shelf, can be carried out according to order situation
Targetedly picking, it is no longer necessary to entire shelf be moved back and forth, when picking only need to make picking machine by AGV trolley 1
Then the fixed goods shelf position that people is moved to corresponding cargo storage passes through lifting device after grabbing cargo by manipulator 15
9, the combination of translating device 5 and telescopic device 13 carries out the movement of different spatial to manipulator 15, to make manipulator 15
Article will be corresponded on fixed goods shelf to be moved to moving goods rack or directly grab on manipulator 15, finally by AGV trolley 1
Region where being moved to staff is unloaded, and original commodity storing goods shelf haves no need to change, and staff only need to be
Corresponding station handling goods disposably may be implemented the extraction of multiple cargos, have especially when cooperating picking with moving goods rack
Effect improves operating efficiency, reduces cost of labor, this scheme broken traditional control order go shelf look for goods " people arrives
Goods " mode carries out large-scale redevelopment without factory or storage, scheme is more compared to the scheme of other electric business storage " shelf to people "
Add flexibly, the sorting that electric business storage order can be applied to low cost, high efficiency is carried, and the picking robot is in addition to for taking
Outside goods, arrangement of goods can be also used for.
Preferably, the lifting device 9 is slided including being located at the first sliding rail 7 of 2 two sides of rack, being located at described first
The first sliding block 4 on rail 7, the first driving device 8 for being moved up and down to first sliding block 4 along first sliding rail 7,
The crane 11 is fixed on first sliding block 4.
Rack 2 is N-shaped or quadrilateral frame structure, and cost is lower, and the first sliding rail 7 is mounted on the two sides of rack 2, lifting
The two sides of frame 11 are fixed on the first sliding block 4, in the control for carrying out height to crane 11 and manipulator 15 by lifting device 9
When, it is moved up and down by the first sliding block 4 of drive of first driving device 8 along the first sliding rail 7 to control, structure is simple, behaviour
Make simplicity, examination is at low cost, and first driving device 8 can use control cylinder or control the combination or control of motor 29 and chain 30
Motor 29 processed is controlled with one of the combination of screw rod mode, especially when first driving device 8 is using control motor 29
When combination with chain 30 is controlled, can will control motor 29 and be installed to the top or bottom of rack 2, chain 30 it is upper
Lower both ends pass through a shaft connection respectively, and the first sliding block 4 is installed on chain 30, when control motor 29 drives wherein one turn
When axis positive and negative rotation, chain 30 is driven to move up and down, to realize moving up and down for the first sliding block 4, the moving range energy of height
Enough reach maximization, chain 30 can be using the replacement such as belt wheel；And when using cylinder machine is controlled, then pass through a company
Extension bar links together two the first sliding blocks 4, is then connect by the piston rod of control cylinder with connecting rod, to pass through work
The control of the flexible realization height of stopper rod；When using the combination of control motor 29 and screw rod, sliding block can be mounted directly to
On screw rod, driven after first two the first sliding blocks 4 can also link together by a screw rod and a control motor 29.
Further, the translating device 5 includes the second sliding rail 10 being located on the crane 11, is slidably installed in described the
The attachment base 12 extended in the first slide 6 and forward is arranged in, to described in first slide 6, one end on two sliding rails 10
The second driving device 3 that one slide 6 is moved left and right along second sliding rail 10, the telescopic device 13 are located at the company
On joint chair 12.
It is flat in the front of crane 11 when carrying out the mobile control of left-right position to manipulator 15 by translating device 5
Row is provided with the second sliding rail of 1-3 root 10, and the basal sliding of first slide 6 is connected on the second sliding rail 10,3 energy of the second driving device
It is enough that first slide 6 is moved left and right along the second sliding rail 10, when first slide 6 is moved left and right, peace can be driven
Attachment base 12 mounted in thereon, which synchronizes, to be moved left and right, to realize moving left and right for manipulator 15, structure is simple and convenient,
Second driving device 3 can be using the combination of control cylinder or control motor 29 and chain 30 or the group of control motor 29 and screw rod
One of conjunction mode is controlled, described in the first driving device 8 in specific mode of operation and lifting device 9
Implementation structure is similar, and the general combination using control motor 29 and chain 30 is controlled, and control motor 29 is mounted on lifting
One end of frame 11, first slide 6 are connected in chain 30, when chain 30 is driven by control motor 29, realize first slide 6
It moves left and right, and one end of attachment base 12 is mounted in first slide 6 and is extended forward, and the mobile fixed goods of AGV trolley 1 can be made
When beside frame, manipulator 15 is enable effectively to extend into the goods for carrying out picking on fixed goods shelf and taking out cargo, and taking out
Object can also be installed to the side of corresponding position on moving goods rack, so that cargo be made to be not in collision phenomenon.
Further, the telescopic device 13 includes the third sliding rail 14 being located on the attachment base 12, is slidably installed in institute
It states the adapter 18 on third sliding rail 14, the adapter 18 is driven along the third that the third sliding rail 14 is moved forward and backward
Dynamic device 17, the adapter 18 are equipped with the 4th sliding rail 26, and the adapter 18 is equipped with to the manipulator 15 along institute
The mobile fourth drive device 19 of the 4th sliding rail 26 is stated, the manipulator 15 is slidably installed in the switching by the 4th sliding rail 26
On seat 18.
A piece third sliding rail 14 is installed in the bottom of attachment base 12, adapter 18 be slidably connected on third sliding rail 14 and
It hangs downwards, entire adapter 18 and manipulator 15 can be carried out along third sliding rail 14 together by third driving device 17
Extension and contraction control so that the both ends of adapter 18 be allow to be respectively protruding into the shelf of 2 two sides of rack, and is also installed on adapter 18
Have the 4th sliding rail 26 for slipping manipulator 15, by fourth drive device 19 can also again it is whole to manipulator 15 along
4th sliding rail 26 is moved forward and backward on adapter 18, so that manipulator 15 be made to can extend into the different shelf of 2 two sides of rack
When upper progress picking and putting or, structure is simple and convenient, and attachment base 12 being configured, unidirectionally extended can be realized as only is needed
Manipulator 15 has effectively shortened the maximum length in the front-back direction of manipulator 15 in the movement of 2 two sides of rack, and structure is simpler
Single, overall volume is smaller, more convenient when moving for narrow channel, the embodiment of third driving device 17 and the
Two driving devices 3 are essentially identical.
Meanwhile the manipulator 15 includes the second slide 20 being slidably installed on the 4th sliding rail 26, is located at described second
The 5th sliding rail 21 on slide 20, the picking mechanism 22 being slidably installed on the 5th sliding rail 21, cargo pass through the picking mechanism
22 grab and unclamp.The picking mechanism 22 includes two be slidably installed on the 5th sliding rail 21 and is used to grab the handgrip of cargo
23, the 5th driving device 25 for being located at screw rod 24 in the second slide 20, carrying out positive and negative rotation driving to screw rod 24, the spiral shell
The both ends of bar 24 are respectively positive and negative rotation screw thread, and two handgrips 23 are separately mounted to the two sides of the screw rod 24, by described
5th driving device 25 realizes two handgrips 23 to the clamping of cargo to the positive and negative rotation of the screw rod 24 and unclamps control.
It is connected on the 4th sliding rail 26 in the upper surface sliding of second slide 20 and is driven by fourth drive device 19
It is dynamic, and the bottom of second slide 20 is equipped with the 5th sliding rail 21, picking mechanism 22 is slidably connected on the 5th sliding rail 21, when need
When grabbing cargo, by picking mechanism 22 the 5th sliding rail 21 slide after realize clamp and unclamp, picking mechanism 22
By two handgrips 23 for being used to grab cargo, the screw rod 24 being mounted in second slide 20 and positive and negative rotation drive is carried out to screw rod 24
Dynamic the 5th driving device 25 composition, the 5th sliding rail 21 is using two and is arranged in parallel, and the 5th sliding rail 21 and the second sliding rail 10 are flat
Row, screw rod 24 is located between two the 5th sliding rails 21 and the installation that is parallel to each other, and the both ends of screw rod 24 are respectively positive and negative rotation screw thread, and two
A handgrip 23 is separately mounted on the different screw threads of 24 two sides of screw rod, when the 5th driving device 25 drive screw rod 24 realize it is different
When rotation, the control that two handgrips 23 can be mutually clamped or be unfolded relatively, to realize the clamping to cargo and pine
Control is opened, handgrip 23 can use the clamp region of two sheets, and when clamping cargo and unclamping cargo, uses face paste and close,
Frictional force is bigger, and stability is more preferable, combination of the 5th driving device 25 using control motor 29 and chain 30, the control peace of motor 29
Mounted in the top of second slide 20, it is connect by chain 30 or belt wheel with the screw rod 24 of 20 lower section of second slide, is effectively avoided
The case where motor is contacted with cargo generation in use, and using opposite handgrip 23 structure clamped, to obtaining
It takes when being grabbed, going deep into for manipulator 15 is more convenient, is not needing to say the feelings that the cargo other side is stretched out in 15 one end of manipulator
Quickly crawl is realized under condition, and gap is smaller between the required cargo reserved.
Further, the control motor 29 of the fourth drive device 19 including top of the mounting rack in second slide 20,
The gear 27 driven by control motor 29, the rack gear 28 with the gear 27 cooperation for being located at 18 bottom of adapter, the
The back-and-forth motion of two slides 20 is moved forward and backward by the positive and negative rotation band moving gear 27 of the control motor 29 along rack gear 28,
To realize the front and back drive control of entire second slide 20, overall volume is smaller, and concealment is more preferable.
Preferably, the first driving device 8 is to the 5th driving device 25 using control cylinder or control motor
29 and chain 30 combination or control motor 29 and screw rod 24 one of combination, and its control can pass through routine it is long-range
Control system carries out drive control.
Preferably, the clamping device 16 include the 6th sliding rail 37 being located on the AGV trolley 1, be slidably installed in it is described
Two electronic sliding blocks 36 on 6th sliding rail 37, the connecting rod 34 being located on the electronic sliding block 36 are controlled by the connecting rod 34
Fixed linking arm 35 is clamped to moving goods rack, the clamping end of the linking arm 35 is located at the AGV trolley 1 of the rack 2
Outside.
Clamping device 16 is mounted on the one or both sides of AGV trolley 1, to enable clamping device 16 and fixed goods shelf
Or/and moving goods rack is stepped up, to realize the fixation of relative position, side clamping device 16 is generally two, specifically
Mode of operation are as follows: two electronic sliding blocks 36 are slidably connected on the 6th sliding rail 37, linking arm 35 by two connecting rods 34 with it is electronic
Sliding block 36 connects, and when two electronic sliding blocks 36 move outward along the 6th sliding rail 37, drives linking arm 35 by connecting rod 34
It can be collapsible into AGV trolley 1 after expansion, when AGV trolley 1 needs to be fixed with shelf, then pass through two electronic sliding blocks
36 move inward along third sliding rail 14, and linking arm 35 is made to carry out stepping up to fix to shelf, to realize the opposite position with shelf
Son is fixed, and the movement of electronic sliding block 36 can be controlled by controller, and in control, flexibility is higher, general AGV trolley 1
Two sides be mounted on by stack clamping device 16, step up while can be realized moving goods rack and fixed goods shelf.
Further, the linking arm 35 includes two one end switching connecting rod 31 together, is located at the connecting rod
31 other ends are used to clamp the clip slot 33 of moving goods rack, and the both ends of the connecting rod 34 are transferred respectively in the electronic sliding block 36 and institute
It states in connecting rod 31, the clip slot 33 in two connecting rods 31 realizes folder by the relative movement of the electronic sliding block 36
Tight and release；The side of the clip slot 33 intermediate plate 32 with outward extension, the clamping device 16 pass through 33 He of clip slot
Intermediate plate 32 is clamped fixation to moving goods rack simultaneously.
Linking arm 35 is by two one end switching connecting rod 31 together and is located at 31 other end of connecting rod and moves for clamping
The clip slot 33 of dynamic shelf forms, and when being pulled by connecting rod 34, can be realized and quickly steps up and be unfolded, and structure is more
Simply, flexibility is higher, in order to avoid loose phenomenon occurs during stepping up in clip slot 33, is equipped in the side of clip slot 33 outside
The intermediate plate 32 of extension, thus make clamping device 16 to step up region area bigger, by clip slot 33 and intermediate plate 32 simultaneously to movement
It is higher that shelf are clamped solid timing stability.
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (10)
1. a kind of picking robot, it is characterised in that: including AGV trolley, the rack being located on the AGV trolley, be located at it is described
Crane in rack is located at the lifting device moved up and down in the rack to the crane, is located at the lifting
The manipulator that is grabbed on frame to cargo is located at the translation for carrying out left and right transverse shifting on the crane to the manipulator
Device is located at the telescopic device for carrying out elastic control on the translating device to manipulator, and the manipulator is mounted on institute
It states on telescopic device, the manipulator carries out different spaces position by the lifting device, translating device and the telescopic device
The movement set is additionally provided with the clamping device that can connect other moving goods racks on the AGV trolley, is connected by the clamping device
Moving goods rack and the AGV trolley synchronizing moving on the AGV trolley.
2. a kind of picking robot according to claim 1, it is characterised in that: the lifting device includes being located at the machine
First sliding rail of frame two sides, is used for first sliding block along described first the first sliding block being located on first sliding rail
The first driving device that sliding rail moves up and down, the crane are fixed on first sliding block.
3. a kind of picking robot according to claim 2, it is characterised in that: the translating device includes being located at the liter
Drop frame on the second sliding rail, be slidably installed on second sliding rail first slide, one end be arranged in the first slide and to
The linking arm of preceding extension, the second driving device that the first slide is moved left and right along second sliding rail, it is described
Telescopic device is located on the linking arm.
4. a kind of picking robot according to claim 3, it is characterised in that: the telescopic device includes being located at the company
Connect the third sliding rail on arm, the adapter being slidably installed on the third sliding rail, to the adapter along the third sliding rail into
The third driving device that row is moved forward and backward, the adapter are equipped with the 4th sliding rail, and the adapter is equipped with to the machinery
The fourth drive device that hand is moved along the 4th sliding rail, the manipulator are slidably installed in the switching by the 4th sliding rail
On seat.
5. a kind of picking robot according to any one of claims 1 to 4, it is characterised in that: the manipulator includes sliding
The second slide that is located on the 4th sliding rail, is slidably installed in the 5th sliding rail at the 5th sliding rail being located in the second slide
On picking mechanism, cargo grabs and unclamped by the picking mechanism.
6. a kind of picking robot according to claim 5, it is characterised in that: the picking mechanism is described including being slidably installed in
Two on 5th sliding rail handgrips for grabbing cargo, carry out positive and negative rotation to screw rod at the screw rod being located in the second slide
5th driving device of driving, the both ends of the screw rod are respectively positive and negative rotation screw thread, and two handgrips are separately mounted to described
Clamping of two handgrips to cargo is realized to the positive and negative rotation of the screw rod by the 5th driving device in the two sides of screw rod
It is controlled with unclamping.
7. a kind of picking robot according to claim 6, it is characterised in that: the first driving device to the described 5th
Driving device is using control cylinder or controls the combination of motor and chain or controls one of motor and the combination of screw rod.
8. a kind of picking robot according to claim 1, it is characterised in that: the clamping device is described including being located at
The 6th sliding rail on AGV trolley, two electronic sliding blocks being slidably installed on the 6th sliding rail, the company being located on the electronic sliding block
Bar is clamped fixed linking arm by connecting rod control to moving goods rack, and the clamping end of the linking arm is located at described
The outside of the AGV trolley of rack.
9. a kind of picking robot according to claim 8, it is characterised in that: the linking arm includes two one end switchings
Connecting rod together is located at the connecting rod other end for clamping the clip slot of moving goods rack, the both ends difference of the connecting rod
On the electronic sliding block and the connecting rod, the clip slot in two connecting rods passes through the electronic sliding block for switching
Relative movement, which is realized, to clamp and unclamps.
10. a kind of picking robot according to claim 9, it is characterised in that: the side of the clip slot is equipped with to extension
The intermediate plate stretched, the clamping device are clamped fixation to moving goods rack simultaneously by the clip slot and intermediate plate.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910158393.1A CN109775218A (en) | 2019-03-01 | 2019-03-01 | A kind of picking robot |
| PCT/CN2020/077129 WO2020177621A1 (en) | 2019-03-01 | 2020-02-28 | Commodity picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910158393.1A CN109775218A (en) | 2019-03-01 | 2019-03-01 | A kind of picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109775218A true CN109775218A (en) | 2019-05-21 |
Family
ID=66487274
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910158393.1A Pending CN109775218A (en) | 2019-03-01 | 2019-03-01 | A kind of picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109775218A (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111017459A (en) * | 2019-12-31 | 2020-04-17 | 方昌顺 | Express container turnover device and turnover method thereof |
| CN111605950A (en) * | 2019-12-13 | 2020-09-01 | 北京极智嘉科技有限公司 | Self-driven mobile device and warehouse system |
| WO2020177621A1 (en) * | 2019-03-01 | 2020-09-10 | 云机工业设计(义乌)有限公司 | Commodity picking robot |
| CN111717809A (en) * | 2020-06-30 | 2020-09-29 | 南京工程学院 | Storage crane based on parallelogram mechanism |
| CN111776573A (en) * | 2020-07-15 | 2020-10-16 | 界首市鑫华装璜彩印有限公司 | Intelligent carton conveying robot and conveying method thereof |
| CN112309037A (en) * | 2019-08-01 | 2021-02-02 | 天津物网科技有限公司 | Goods taking and conveying device of vending machine |
| CN112318478A (en) * | 2020-11-23 | 2021-02-05 | 云机工业设计(义乌)有限公司 | Compound robot capable of carrying moving trolley |
| CN112456129A (en) * | 2020-12-09 | 2021-03-09 | 浙江工业职业技术学院 | Logistics piece promotes delivery equipment based on thing networking |
| CN112573054A (en) * | 2019-09-27 | 2021-03-30 | 重庆大学 | Automatic loading and unloading goods shelf system and management control method thereof |
| CN112758569A (en) * | 2019-11-06 | 2021-05-07 | 江苏华章物流科技股份有限公司 | Buffer device for normalized stored article |
| CN112938288A (en) * | 2021-02-26 | 2021-06-11 | 珠海迪沃航空工程有限公司 | Mobile aircraft engine blade storing and taking system and method |
| CN112938287A (en) * | 2021-02-26 | 2021-06-11 | 珠海迪沃航空工程有限公司 | Movable aircraft engine blade storing and taking device and control method |
| CN113120693A (en) * | 2021-04-30 | 2021-07-16 | 武汉纺织大学 | Automatic yarn system of hanging of warping creel based on AGV |
| CN113636151A (en) * | 2021-08-26 | 2021-11-12 | 广东电网有限责任公司 | Stacking machine |
| CN113772316A (en) * | 2021-11-10 | 2021-12-10 | 苏州牧星智能科技有限公司 | Prevent rocking supporting mechanism, get goods device and get goods robot |
| WO2022001809A1 (en) * | 2020-06-30 | 2022-01-06 | 京东科技信息技术有限公司 | Conveying robot and control method therefor |
| CN115215024A (en) * | 2022-05-11 | 2022-10-21 | 云机时代(上海)智能科技有限公司 | Robot device |
| CN115245388A (en) * | 2021-12-31 | 2022-10-28 | 青岛大学 | Be used for neonate's examination adrenal cortex hyperplasia disease blood slice management device |
| CN115497224A (en) * | 2022-08-04 | 2022-12-20 | 湖南中谷科技股份有限公司 | Box lunch machine |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204250416U (en) * | 2014-07-04 | 2015-04-08 | 广东联塑科技实业有限公司 | A kind of pipeline holding device |
| CN204893555U (en) * | 2015-07-06 | 2015-12-23 | 湖州银大废渣再生材料有限公司 | Can press from both sides anchor clamps of tight product both sides simultaneously |
| CN107030651A (en) * | 2017-06-16 | 2017-08-11 | 南京工业职业技术学院 | A kind of stapler staple remover |
| CN108045825A (en) * | 2018-01-18 | 2018-05-18 | 合肥工业大学 | A kind of rotatable load bed shuttle for carrying manipulator |
| CN108408315A (en) * | 2018-04-26 | 2018-08-17 | 北京极智嘉科技有限公司 | Haulage equipment |
| CN208326376U (en) * | 2018-06-26 | 2019-01-04 | 上海越联橡塑制品有限公司 | A kind of AGV trolley picking delivery auxiliary robot |
| CN109250516A (en) * | 2018-09-12 | 2019-01-22 | 佛山科学技术学院 | A kind of cantilever palletizing machine |
| CN209834678U (en) * | 2019-03-01 | 2019-12-24 | 云机工业设计(义乌)有限公司 | Goods taking robot |
-
2019
- 2019-03-01 CN CN201910158393.1A patent/CN109775218A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204250416U (en) * | 2014-07-04 | 2015-04-08 | 广东联塑科技实业有限公司 | A kind of pipeline holding device |
| CN204893555U (en) * | 2015-07-06 | 2015-12-23 | 湖州银大废渣再生材料有限公司 | Can press from both sides anchor clamps of tight product both sides simultaneously |
| CN107030651A (en) * | 2017-06-16 | 2017-08-11 | 南京工业职业技术学院 | A kind of stapler staple remover |
| CN108045825A (en) * | 2018-01-18 | 2018-05-18 | 合肥工业大学 | A kind of rotatable load bed shuttle for carrying manipulator |
| CN108408315A (en) * | 2018-04-26 | 2018-08-17 | 北京极智嘉科技有限公司 | Haulage equipment |
| CN208326376U (en) * | 2018-06-26 | 2019-01-04 | 上海越联橡塑制品有限公司 | A kind of AGV trolley picking delivery auxiliary robot |
| CN109250516A (en) * | 2018-09-12 | 2019-01-22 | 佛山科学技术学院 | A kind of cantilever palletizing machine |
| CN209834678U (en) * | 2019-03-01 | 2019-12-24 | 云机工业设计(义乌)有限公司 | Goods taking robot |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020177621A1 (en) * | 2019-03-01 | 2020-09-10 | 云机工业设计(义乌)有限公司 | Commodity picking robot |
| CN112309037A (en) * | 2019-08-01 | 2021-02-02 | 天津物网科技有限公司 | Goods taking and conveying device of vending machine |
| CN112309037B (en) * | 2019-08-01 | 2022-06-17 | 天津物网科技有限公司 | Goods taking and conveying device of vending machine |
| CN112573054A (en) * | 2019-09-27 | 2021-03-30 | 重庆大学 | Automatic loading and unloading goods shelf system and management control method thereof |
| CN112758569A (en) * | 2019-11-06 | 2021-05-07 | 江苏华章物流科技股份有限公司 | Buffer device for normalized stored article |
| CN111605950A (en) * | 2019-12-13 | 2020-09-01 | 北京极智嘉科技有限公司 | Self-driven mobile device and warehouse system |
| CN111017459A (en) * | 2019-12-31 | 2020-04-17 | 方昌顺 | Express container turnover device and turnover method thereof |
| WO2022001809A1 (en) * | 2020-06-30 | 2022-01-06 | 京东科技信息技术有限公司 | Conveying robot and control method therefor |
| CN111717809A (en) * | 2020-06-30 | 2020-09-29 | 南京工程学院 | Storage crane based on parallelogram mechanism |
| CN111776573A (en) * | 2020-07-15 | 2020-10-16 | 界首市鑫华装璜彩印有限公司 | Intelligent carton conveying robot and conveying method thereof |
| CN112318478A (en) * | 2020-11-23 | 2021-02-05 | 云机工业设计(义乌)有限公司 | Compound robot capable of carrying moving trolley |
| CN112456129A (en) * | 2020-12-09 | 2021-03-09 | 浙江工业职业技术学院 | Logistics piece promotes delivery equipment based on thing networking |
| CN112938288B (en) * | 2021-02-26 | 2022-06-03 | 珠海迪沃航空工程有限公司 | Mobile aircraft engine blade storing and taking system and method |
| CN112938287A (en) * | 2021-02-26 | 2021-06-11 | 珠海迪沃航空工程有限公司 | Movable aircraft engine blade storing and taking device and control method |
| CN112938287B (en) * | 2021-02-26 | 2022-08-02 | 珠海迪沃航空工程有限公司 | Mobile aircraft engine blade storing and taking device and control method |
| CN112938288A (en) * | 2021-02-26 | 2021-06-11 | 珠海迪沃航空工程有限公司 | Mobile aircraft engine blade storing and taking system and method |
| CN113120693B (en) * | 2021-04-30 | 2022-08-12 | 武汉纺织大学 | Automatic yarn system of hanging of warping creel based on AGV |
| CN113120693A (en) * | 2021-04-30 | 2021-07-16 | 武汉纺织大学 | Automatic yarn system of hanging of warping creel based on AGV |
| CN113636151A (en) * | 2021-08-26 | 2021-11-12 | 广东电网有限责任公司 | Stacking machine |
| CN113772316B (en) * | 2021-11-10 | 2022-03-18 | 苏州牧星智能科技有限公司 | Prevent rocking supporting mechanism, get goods device and get goods robot |
| CN113772316A (en) * | 2021-11-10 | 2021-12-10 | 苏州牧星智能科技有限公司 | Prevent rocking supporting mechanism, get goods device and get goods robot |
| CN115245388A (en) * | 2021-12-31 | 2022-10-28 | 青岛大学 | Be used for neonate's examination adrenal cortex hyperplasia disease blood slice management device |
| CN115245388B (en) * | 2021-12-31 | 2024-03-22 | 青岛大学 | Be used for neonate to screen out adrenocortical hyperplasia blood piece management device |
| CN115215024A (en) * | 2022-05-11 | 2022-10-21 | 云机时代(上海)智能科技有限公司 | Robot device |
| CN115497224A (en) * | 2022-08-04 | 2022-12-20 | 湖南中谷科技股份有限公司 | Box lunch machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109775218A (en) | A kind of picking robot | |
| CN209834678U (en) | Goods taking robot | |
| CN106426127B (en) | Large-scale cargo handling robot | |
| CN205471677U (en) | Tray formula automatic feed equipment of closing | |
| CN105621110A (en) | Tray type automatic supply and retraction equipment | |
| CN103213852A (en) | Multi-functional mechanical grabbing and transporting device capable of unstacking and overturning automatically | |
| CN105460625A (en) | Workpiece tray transfer device | |
| CN210236494U (en) | Automatic loading machine for bagged materials | |
| NL2031702B1 (en) | Automatic hanging workstation for producing aerated plate | |
| CN218402729U (en) | Double-deck anchor clamps and hacking machine | |
| CN209740150U (en) | Sorting and stacking device based on three-coordinate mechanical claw | |
| CN108996235A (en) | Transfer mechanism and transportation system | |
| CN115231175B (en) | Intelligent innovation vertical warehouse collecting and distributing transfer system for fast freight yard | |
| CN215660249U (en) | Manipulator for drying and welding towel rack | |
| WO2020177621A1 (en) | Commodity picking robot | |
| CN212241059U (en) | Temporary storage device for bolt sorting | |
| CN113023202B (en) | Automatic warehouse management device for metal pipes | |
| CN211248200U (en) | 3D prints work box device and 3D printing apparatus | |
| CN210365934U (en) | Material grabbing device | |
| CN111376014B (en) | Buckle and soundproof cotton rigging equipment | |
| CN210676022U (en) | Automatic sorting device for metal samples | |
| CN210708018U (en) | Line end boxing system | |
| CN209363481U (en) | Both arms three-D stepping stamping system | |
| CN212291934U (en) | Automatic intelligent processing system | |
| CN110745532A (en) | Automatic carrying and conveying system for automobile seats |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |