CN112744492A

CN112744492A - Intelligent warehousing robot

Info

Publication number: CN112744492A
Application number: CN201911051472.9A
Authority: CN
Inventors: 王金涛; 郭海冰; 朱维金; 崔健; 刘长斌; 关盛楠; 王硕; 王尚东; 程虎丰; 张野; 王学姚; 褚晓晨; 王洪军; 窦希顺
Original assignee: Zhongke Industrial Holding Shenzhen Co ltd; Tianjin Xinsong Robot Automation Co ltd
Current assignee: Shenzhen Hongteng Bio Tech Co ltd; Tianjin Xinsong Robot Automation Co ltd
Priority date: 2019-10-31
Filing date: 2019-10-31
Publication date: 2021-05-04

Abstract

The invention belongs to the technical field of intelligent warehousing, and particularly relates to an intelligent warehousing robot. Including horizontal walking body, X axle linear guide, the walking slip table, elevating system, the elevating platform, six robots, horizontal walking actuating mechanism and lifting actuating mechanism, wherein X axle linear guide sets up on horizontal walking body, walking slip table and X axle linear guide sliding connection, the elevating platform sets up in the top of walking slip table, and be connected with the walking slip table through elevating system, six robots set up on the elevating platform, horizontal walking actuating mechanism sets up between walking slip table and horizontal walking body, be used for driving the walking slip table to walk along X axle linear guide, lifting actuating mechanism sets up on the walking slip table, be used for driving elevating system flexible along Z axle direction. Due to the flexibility of the system, the system can take goods in a narrow space, can realize complex actions such as bending down and downward detection and the like, and ensures the material taking function without dead angles of a warehouse logistics system.

Description

Intelligent warehousing robot

Technical Field

The invention belongs to the technical field of intelligent warehousing, and particularly relates to an intelligent warehousing robot.

Background

Along with the development and development of industry 4.0, the requirements of enterprises mainly in production on intelligent warehousing systems are more and more demanding, and especially, due to production requirements and product updating, more and more materials need to be stored, and the space of a factory building is limited, so the intelligent warehousing mode is very critical.

At present, an intelligent warehousing system mainly comprises a warehousing rack, a transverse moving slide rail, a rectangular coordinate manipulator, a linear driving unit and other mechanisms. The main characteristics are as follows: 1. in order to ensure the strength of the coordinate manipulator when the material is taken from high altitude, the mounting mode of a sky rail and a ground rail is generally adopted, the occupied space is large, and the maintenance is unchanged; 2. the storage logistics manipulator generally has three groups of degrees of freedom, and is additionally provided with four groups of rotation shafts (rotation shafts) when necessary, and cannot adapt to a complex storage mode with large density and small parts due to the defect of flexibility of the manipulator; 3. the distance between the warehouses on the two sides is generally far so as to avoid the interference with structural members of the goods taking manipulator, thereby causing large occupied area and small volume ratio. 4. The limitation of the goods position layout of the storage rack is that the storage goods position of the bottom layer must be higher than the upper surface of the manipulator mounting platform by a certain height, otherwise, the manipulator cannot complete the picking and placing functions of the bottom layer materials.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide an intelligent storage robot, so as to solve the problems that the existing intelligent storage unit cannot complete the picking of the complex storage rack with high density and narrow space, and the picking and placing actions of the storage rack stations with the operation surface lower than the surface of the manipulator fixing platform cannot be realized by the material picking manipulator.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides an intelligent warehousing robot, includes horizontal walking body, X axle linear guide, walking slip table, elevating system, elevating platform, six robots, horizontal walking actuating mechanism and lift actuating mechanism, wherein X axle linear guide sets up on horizontal walking body, walking slip table and X axle linear guide sliding connection, the elevating platform set up in the top of walking slip table, and through elevating system with the walking slip table is connected, six robots set up in on the elevating platform, horizontal walking actuating mechanism set up in between walking slip table and the horizontal walking body, be used for the drive the walking slip table walks along X axle linear guide, lift actuating mechanism set up in on the walking slip table, be used for the drive elevating system is flexible along the Z axle direction.

Elevating system includes four telescopic bracing piece subassemblies, be equipped with four group Y axle linear guide that are parallel to each other on the walking slip table, four groups bracing piece subassembly sets up in Y axle linear guide's both ends, and respectively with corresponding Y axle linear guide sliding connection.

The bracing piece subassembly includes long bracing piece, short bracing piece, fixed bearing frame, movable bearing frame and bracing piece fixing base, and wherein fixed bearing frame fixes on the walking slip table, and be located corresponding Y axle linear guide's tip, movable bearing frame and corresponding Y axle linear guide sliding connection, the lower extreme of long bracing piece is articulated with movable bearing frame, the upper end with the bracing piece fixing base that is equipped with on the elevating platform is articulated, the lower extreme of short bracing piece with fixed bearing frame is articulated, the upper end with long bracing piece's intermediate position is articulated.

The length of the short supporting rod is one half of that of the long supporting rod.

Lifting drive mechanism set up in the intermediate position of walking slip table, lifting drive mechanism includes elevator motor, belt drive, lead screw, swivel nut and nut adaptor, wherein the lead screw with Y axle linear guide set up parallelly in on the walking slip table, and rotatable, elevator motor installs on the walking slip table, and the output passes through belt drive and screw connection, swivel nut connects into the screw thread pair with the lead screw, swivel nut passes through the nut adaptor and is located two sets of homonymy removal bearing seat in the backup bar subassembly is connected.

The horizontal walking driving mechanism comprises a horizontal walking driving motor, a speed reducer, a gear and a rack, wherein the rack is arranged on the horizontal walking body along the X-axis direction, the speed reducer is arranged on the walking sliding table, the input end of the speed reducer is connected with the horizontal walking driving motor, the output end of the speed reducer is connected with the gear, and the gear is meshed with the rack.

The end effector at the tail end of the six-axis robot is provided with an upward detection sensor, a lateral detection sensor and a forward detection sensor, and the spatial position of the warehouse is sensed through three groups of detection sensors.

The end effector at the tail end of the six-axis robot is provided with a visual system and a temperature sensor, and the visual system is used for sensing real-time conditions in the warehousing system.

The horizontal walking device is characterized in that material racks are arranged on two sides of the horizontal walking body and can move.

The two ends of the horizontal walking body are provided with feeding platforms, and the feeding platforms are provided with detection sensors for detecting the correctness of the goods placement direction.

The invention has the advantages and beneficial effects that:

due to the flexibility of the system, the system can take goods in a narrow space, can realize complex actions such as bending down and downward detection and the like, and ensures the material taking function without dead angles of a warehouse logistics system.

The eight-axis storage robot system is directly installed on the ground, replaces the traditional installation mode of the sky rail and the ground rail, and is convenient for environmental cleaning and biological feeding.

Drawings

FIG. 1 is an isometric view of the present invention;

FIG. 2 is an enlarged view taken at I in FIG. 1;

FIG. 3 is a front view of the present invention;

FIG. 4 is a left side view of FIG. 3;

FIG. 5 is a top view of FIG. 3;

FIG. 6 is a schematic view of the elevator mechanism of the present invention in a lowermost position;

FIG. 7 is a schematic structural view of a storage robot with a vision system at the end thereof according to the present invention;

fig. 8 is a schematic view of the lifting mechanism of the present invention in the uppermost position.

In the figure: 1 is warehouse ground, 2 is a horizontal walking body, 3 is an X-axis linear guide rail, 4 is a walking sliding table, 5 is a horizontal walking driving motor, 6 is a speed reducer, 7 is a gear, 8 is a rack, 9 is a lifting motor, 10 is a small belt wheel, 11 is a synchronous belt, 12 is a large belt wheel, 13 is a screw rod, 14 is a rotating nut, 15 is a nut adaptor, 16 is a moving bearing seat, 17 is a Y-axis linear guide rail, 18 is a long support rod, 19 is a short support rod, 20 is a fixed bearing seat, 21 is a support rod fixing seat, 22 is a lifting table, 23 is a base, 24 is a waist seat, 25 is a large arm, 26 is a triaxial shaft, 27 is a small arm, 28 is a wrist shaft, 29 is a flange, 30 is an end pickup, 31 is an upward detection sensor, 32 is a lateral detection sensor, 33 is a forward detection sensor, 34 is a vision system, 35 is a first detection sensor, 36 is a second detection sensor, 37 is a third detection sensor, 39 is the goods, 40 is the loading platform, 41 is the work or material rest, 50 is the bracing piece subassembly, and 51 is six robots.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-4, the intelligent warehousing robot provided by the invention comprises a horizontal walking body 2, an X-axis linear guide rail 3, a walking sliding table 4, a lifting mechanism, a lifting table 22, a six-axis robot 51, a horizontal walking driving mechanism and a lifting driving mechanism, wherein the horizontal walking body 2 is fixed on the warehouse ground 1, the X-axis linear guide rail 3 is arranged on the horizontal walking body 2, the walking sliding table 4 is connected with the X-axis linear guide rail 3 in a sliding way, the lifting table 22 is arranged above the walking sliding table 4 and is connected with the walking sliding table 4 through the lifting mechanism, the six-axis robot 51 is arranged on the lifting table 22, the horizontal walking driving mechanism is arranged between the walking sliding table 4 and the horizontal walking body 2, the lifting driving mechanism is arranged on the walking sliding table 4 and used for driving the lifting mechanism to stretch along the Z-axis direction.

The both ends of horizontal walking body 2 are equipped with material loading platform 40, and the both sides of horizontal walking body 2 are equipped with work or material rest 41, and work or material rest 41 is portable. The walking sliding table 4 and the horizontal walking body 2 form a horizontal linear motion pair through the X-axis linear guide rail 3, and the action direction of the walking sliding table is the length direction of the material rack 41.

The horizontal walking driving mechanism comprises a horizontal walking driving motor 5, a speed reducer 6, a gear 7 and a rack 8, wherein the rack 8 is arranged on the horizontal walking body 2 along the X-axis direction, the speed reducer 6 is arranged on the walking sliding table 4, the input end of the speed reducer is connected with the horizontal walking driving motor 5, the output end of the speed reducer is connected with the gear 7, and the gear 7 is meshed with the rack 8. Horizontal walking driving motor 5 drives gear 7 through speed reducer 6 and rotates, because of gear 7 and rack 8 meshing, gear 7 rolls on rack 8 to drive walking slip table 4 along the walking of X axle linear guide 3, this is the first motion axle of storage, the horizontal walking axle promptly.

The six-axis robot 51 comprises a base 23, a waist seat 24, a large arm 25, a three-axis 26, a small arm 27, a wrist shaft 28, a flange 29 and an end effector 30 which are connected in sequence, wherein the base 23 is fixed with the lifting table 22, the base 23 and the waist seat 24 do horizontal rotation motion, the waist seat 24 and the large arm 25 do rotation motion, the large arm 25 and the three-axis 26 do rotation motion, the three-axis 26 and the small arm 27 do rotation motion, the small arm 27 and the wrist shaft 28 do rotation motion, and the wrist shaft 28 and the flange 29 do rotation motion. Six rotational movements are in a vertical articulation configuration and the end effector 30 is attached to the flange 29.

In an embodiment of the present invention, the lift mechanism includes four sets of support rod assemblies 50.

As shown in fig. 2, four sets of mutually parallel Y-axis linear guide rails 17 are disposed on the traveling sliding table 4, wherein two sets of the Y-axis linear guide rails 17 are disposed on one side of the lifting driving mechanism, and the other two sets of the Y-axis linear guide rails 17 are disposed on the other side of the lifting driving mechanism. The four sets of support rod assemblies 50 are disposed at two ends of the Y-axis linear guide 17 and are respectively connected with the corresponding Y-axis linear guide 17 in a sliding manner.

The support rod assembly 50 includes a long support rod 18, a short support rod 19, a fixed bearing seat 20, a movable bearing seat 16 and a support rod fixing seat 21, wherein the fixed bearing seat 20 is fixed on the walking sliding table 4 and located at the end of the corresponding Y-axis linear guide 17, the movable bearing seat 16 is slidably connected with the corresponding Y-axis linear guide 17, the lower end of the long support rod 18 is hinged to the movable bearing seat 16, the upper end of the long support rod is hinged to the support rod fixing seat 21 arranged on the lifting table 22, the lower end of the short support rod 19 is hinged to the fixed bearing seat 20, and the upper end of the short support rod is hinged to the middle position of the long support.

Further, the length of the short support rod 19 is one-half of the length of the long support rod 18.

The lifting driving mechanism is arranged in the middle of the walking sliding table 4, the lifting driving mechanism comprises a lifting motor 9, a belt transmission mechanism, a lead screw 13, a rotating nut 14 and a nut adapter 15, wherein the lead screw 13 and a Y-axis linear guide rail 17 are arranged on the walking sliding table 4 in parallel and can rotate, the lifting motor 9 is installed on the walking sliding table 4, the output end of the lifting motor is connected with the lead screw 13 through the belt transmission mechanism, the rotating nut 14 is connected with the lead screw 13 into a thread pair, and the rotating nut 14 is connected with a movable bearing seat 16 in two groups of supporting rod assemblies 50 positioned on the same side through the nut adapter 15.

The belt transmission mechanism comprises a small belt wheel 10, a synchronous belt 11 and a large belt wheel 12, wherein the small belt wheel 10 is arranged on an output shaft of the lifting motor 9, and the large belt wheel 12 is arranged at the end part of the screw rod 13 and is connected with the small belt wheel 10 through the synchronous belt 11.

The lifting motor 9 enables the screw 13 to perform deceleration rotation movement through the small belt pulley 10, the synchronous belt 11 and the large belt pulley 12, the screw 13 drives the nut adaptor 15 to horizontally move along the Y-axis direction through the rotating nut 14, the nut adaptor 15 can push and pull the movable bearing seat 16 to move, the movable bearing seat 16 forms a linear motion pair with the walking sliding table 4 through the Y-axis linear guide rail 17, and the support rod assembly 50 is stretched and retracted.

The four sets of support rod assemblies 50 form a stable lifting mechanism, the lifting mechanism is a second shaft of the warehousing system, namely a lifting shaft, the movement direction is a Z shaft, and the lifting mechanism can do lifting movement along the Z shaft.

As shown in fig. 5, three detection sensors for detecting the correctness of the placement direction of the goods 39 are arranged on the loading platform 40, the three detection sensors are respectively a first detection sensor 35, a second detection sensor 36 and a third detection sensor 37, the second detection sensor 36 and the third detection sensor 37 cooperate to detect the distance, and the first detection sensor 35 can judge the horizontal displacement perpendicular to the roadway direction. After the goods 39 are placed on the loading platform 40, the three detection sensors can detect the parallelism, the rotation angle and the displacement in the roadway length direction of the goods 39 and the loading platform 40. The three detection sensors jointly confirm whether the position of the goods 39 on the loading platform 40 is accurate, and can detect the correctness of the placement direction of the goods 39.

As shown in fig. 6, the end effector 30 is provided with an upward detection sensor 31, a lateral detection sensor 32 and a forward detection sensor 33, and these three detection sensors can make the robot sense three directions, i.e. spatial positions, of all objects in the warehouse during the automatic operation of the warehouse. The height direction detection sensor 31 can sense whether or not the loaded goods 39 have dropped halfway.

As shown in fig. 7, the end effector 30 at the end of the six-axis robot 51 is provided with a vision system 34 and a temperature sensor, and the vision system 34 can be used as a vision perception system of the robot to perceive real-time situations in the warehousing system.

The intelligent warehousing robot provided by the invention has eight groups of spatial motion axes, and the working principle is as follows:

the horizontal walking shaft moves to a proper position, the lifting shaft is lowered to the lowest position, six shafts of the six-shaft robot 51 are coupled in space, the goods taking position of the end effector 30 can be enabled to take the lowest position, the lower surface of the end effector 30 can be close to the upper surface of the horizontal walking body 2, namely the lowest goods position can be the space position which is not provided by other warehousing systems, and the six-shaft robot 51 is in a stooped downward-exploring posture at the moment, as shown in fig. 6. The horizontal traveling shaft and the elevation shaft maintain the original posture, and six shafts of the six-shaft robot 51 are spatially coupled to move out the end effector 30. The horizontal travel shaft moves to the appropriate position while the lift shaft moves forward (rises), the six axes of the six-axis robot 51 are spatially coupled, moving the end effector 30 to the top of the stack 41 in preparation for picking. The horizontal traveling shaft and the lifting shaft keep the original posture, and six shafts of the six-shaft robot 51 are spatially coupled to complete the high-station goods taking action of the material rack 41, as shown in fig. 8.

At present, the existing intelligent storage unit is mainly used for taking and placing materials through a three-coordinate manipulator, and a rotating shaft can be added when necessary. Due to the defect of the number of the motion freedom degrees, the goods taking of the complex storage rack with high density, narrow space and the like can not be finished. In addition, the material taking manipulator cannot realize the taking and placing actions of the storage rack stations with the operation surfaces lower than the surface of the manipulator fixing platform. The intelligent warehousing robot has eight groups of degrees of freedom, comprises two groups of linear motion shafts and six groups of rotary motion shafts, and can adapt to the station arrangement of a complex warehousing rack; the robot can accomplish the bottom of storage work or material rest and get the material action, and the bottom material height can be less than the upper surface of robot fixed platform. Due to the flexibility of the system, the system can take goods in a narrow space, can realize complex actions such as bending down and downward detection and the like, and ensures the material taking function without dead angles of a warehouse logistics system. Namely, the six-axis freedom degree of the robot body can carry out 'stoop downward exploration' and 'hand lifting and goods taking' on the two-freedom-degree table top which can lift and slide. The lower bending detection is a pallet fork at the tail end of the robot, and the robot can pick up goods to the lowest layer which is slightly higher than the upper surface of the track; the 'hand lifting and goods taking' is that the robot body can take goods to the highest floor with six-axis freedom degree on a two-freedom-degree table top which can lift and slide, and the highest level is slightly lower than the highest position of a factory building. The system can utilize the horizontal walking shaft to carry out warehouse dispatching batch management in the length direction, and after the robot finishes planning from the top to the next group of programs, the corresponding other group height and the running program can utilize the robot controller to calibrate the whole goods shelf so as to compensate the running error of the system and carry out intelligent or intelligent planning. The terminal monitoring vision that carries on of robot, control system can carry out online live body detection to breeding life science object, for example mouse, if there is dead mouse and upload to total control system immediately. The tail end of the robot is provided with a body temperature sensor, the control system can judge the on-line body temperature of the cultured life science objects such as mice, and if the body temperature of the abnormal living body objects exists, the body temperature is immediately uploaded to the master control system.

Due to the flexibility of the stacker, goods can be taken in a narrow space, compared with a stacker structure, the stacker has no upright column, the rigidity of the system is better ensured, particularly, the noise is controlled, the effect is obvious, the environment and facilities of GB14925-2010 experimental animals are better met, and the clean air flow and the sterile environment of life science are better controlled and managed.

Due to the flexibility of the stacker, goods can be taken in a narrow space, compared with a stacker structure, the stacker does not have a sky rail (a rail on the roof), the top of a factory building can better plan the wind direction of the light source and the inlet of clean air flow, and the clean air flow and the sterile environment of life science can be better controlled and managed.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. The intelligent warehousing robot is characterized by comprising a horizontal walking body (2), an X-axis linear guide rail (3), a walking sliding table (4), a lifting mechanism, a lifting table (22), a six-axis robot (51), a horizontal walking driving mechanism and a lifting driving mechanism, wherein the X-axis linear guide rail (3) is arranged on the horizontal walking body (2), the walking sliding table (4) is in sliding connection with the X-axis linear guide rail (3), the lifting table (22) is arranged above the walking sliding table (4) and is connected with the walking sliding table (4) through the lifting mechanism, the six-axis robot (51) is arranged on the lifting table (22), the horizontal walking driving mechanism is arranged between the walking sliding table (4) and the horizontal walking body (2) and is used for driving the walking sliding table (4) to walk along the X-axis linear guide rail (3), the lifting driving mechanism is arranged on the walking sliding table (4) and used for driving the lifting mechanism to stretch along the Z-axis direction.

2. The intelligent warehousing robot as claimed in claim 1, wherein the lifting mechanism comprises four sets of telescopic support rod assemblies (50), four sets of mutually parallel Y-axis linear guide rails (17) are arranged on the walking sliding table (4), and the four sets of support rod assemblies (50) are arranged at two ends of the Y-axis linear guide rails (17) and are respectively connected with the corresponding Y-axis linear guide rails (17) in a sliding manner.

3. The intelligent warehousing robot of claim 2, wherein the support rod assembly (50) comprises a long support rod (18), a short support rod (19), a fixed bearing seat (20), a movable bearing seat (16) and a support rod fixing seat (21), wherein the fixed bearing seat (20) is fixed on the walking sliding table (4) and is located at the end of the corresponding Y-axis linear guide rail (17), the movable bearing seat (16) is connected with the corresponding Y-axis linear guide rail (17) in a sliding manner, the lower end of the long support rod (18) is hinged to the movable bearing seat (16), the upper end of the long support rod is hinged to the support rod fixing seat (21) arranged on the lifting table (22), the lower end of the short support rod (19) is hinged to the fixed bearing seat (20), and the upper end of the short support rod is hinged to the middle position of the long support rod (18).

4. The smart warehousing robot as claimed in claim 3, characterized in that the length of the short support bar (19) is half the length of the long support bar (18).

5. The intelligent warehousing robot as claimed in claim 3, wherein the lifting drive mechanism is disposed at an intermediate position of the walking sliding table (4), the lifting drive mechanism comprises a lifting motor (9), a belt drive mechanism, a lead screw (13), a rotary nut (14) and a nut adaptor (15), wherein the lead screw (13) and the Y-axis linear guide rail (17) are parallelly disposed on the walking sliding table (4) and can rotate, the lifting motor (9) is mounted on the walking sliding table (4) and an output end of the lifting motor is connected with the lead screw (13) through the belt drive mechanism, the rotary nut (14) is connected with the lead screw (13) to form a thread pair, and the rotary nut (14) is connected with two sets of movable bearing seats (16) in the support rod assemblies (50) on the same side through the nut adaptor (15).

6. The intelligent warehousing robot as claimed in claim 1, wherein the horizontal travel driving mechanism comprises a horizontal travel driving motor (5), a speed reducer (6), a gear (7) and a rack (8), wherein the rack (8) is arranged on the horizontal travel body (2) along the X-axis direction, the speed reducer (6) is arranged on the travel sliding table (4), the input end of the speed reducer is connected with the horizontal travel driving motor (5), the output end of the speed reducer is connected with the gear (7), and the gear (7) is engaged with the rack (8).

7. The smart warehousing robot as claimed in claim 1, characterized in that the end effector (30) at the end of the six-axis robot (51) is provided with an upward detection sensor (31), a lateral detection sensor (32) and a forward detection sensor (33), and the spatial position of the warehouse is sensed by three sets of detection sensors.

8. The intelligent warehousing robot as claimed in claim 1, characterized in that a vision system (34) and a temperature sensor are arranged on the end effector (30) at the end of the six-axis robot (51), and the vision system (34) is used for sensing real-time conditions in the warehousing system.

9. The intelligent warehousing robot as claimed in claim 1, characterized in that stacks (41) are provided on both sides of the horizontal walking body (2), said stacks (41) being movable.

10. The intelligent warehousing robot as claimed in claim 1, wherein the horizontal walking body (2) is provided at both ends with loading platforms (40), and the loading platforms (40) are provided with detection sensors for detecting the correctness of the placement direction of the goods (39).