CN112777200B

CN112777200B - Robot and method for extracting container

Info

Publication number: CN112777200B
Application number: CN202110070975.1A
Authority: CN
Inventors: 王启铭
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2021-01-19
Filing date: 2021-01-19
Publication date: 2022-08-30
Anticipated expiration: 2041-01-19
Also published as: CN112777200A

Abstract

The application provides a robot and a method for extracting a container, wherein the robot comprises: the lifting device comprises a body which can move on the top of the vertical goods shelf and a lifting device connected with the body; the lifting device comprises a clamping mechanism and a lifting mechanism for driving the clamping mechanism to lift; wherein, the lifting mechanism is fixedly connected with the body; the clamping mechanism comprises a lifting plate and a clamping plate which is rotatably connected with the lifting plate and can be locked at a set position; the connecting rod driving component is used for driving the clamping plate to rotate to a set position. In the technical scheme, the clamping plate is driven to rotate to the set position by adopting the connecting rod driving assembly, so that the reliability of the clamping plate when the container is extracted is ensured.

Description

Robot and method for extracting container

Technical Field

The invention relates to the technical field of logistics, in particular to a robot and a method for extracting a container.

Background

Along with the development of the logistics industry, the floor area of a logistics warehouse is increased, the storage rent is improved, the dense storage technology is provided, the dense storage is realized by manufacturing vertical shaft goods shelves one by one, then containers are sequentially placed into the goods shelves, the containers and the containers are stacked, then a channel of a robot is arranged above the goods shelves, the robot moves to the position above a target container above the goods shelves, and the containers are taken according to the flow. In the present commonly used intensive storage technology, there are the low hit rate of the goods taking box, the long time spent for taking off the layer of the goods box, and the low efficiency disadvantage that the goods box blocked on the upper layer needs to be moved in order.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a robot and a method for extracting a container.

The invention is realized by the following technical scheme:

in a first aspect, the present application provides a robot comprising: the lifting device comprises a body which can move on the top of the vertical goods shelf and a lifting device connected with the body; the lifting device comprises a clamping mechanism and a lifting mechanism for driving the clamping mechanism to lift; wherein the lifting mechanism is fixedly connected with the body; the clamping mechanism comprises a lifting plate and a clamping plate which is rotatably connected with the lifting plate and can be locked at a set position; the connecting rod driving component is used for driving the clamping plate to rotate to the set position. In the technical scheme, the clamping plate is driven to rotate to the set position by adopting the connecting rod driving assembly, so that the reliability of the clamping plate when the container is taken out is ensured.

In a specific embodiment, the link drive assembly comprises: the push rod motor is arranged on the lifting plate, the first connecting rod is rotationally connected with a push rod of the push rod motor, and the second connecting rod is hinged with the first connecting rod; the second connecting rod is fixedly connected with the clamping plate; when a push rod of the push rod motor retracts, the first connecting rod and the second connecting rod are driven to rotate and push the clamping plate to rotate to the set position to be locked. The locking effect of the clamping plate is improved through the connecting rod.

In a specific possible embodiment, the lifting plate further includes an escape slot, and when the push rod of the push rod motor extends out, the clamping plate is driven to rotate into the escape slot. The lifting mechanism moves within the vertical mast.

In a specific possible embodiment, the connecting rod driving assembly further comprises a sliding block in sliding fit with the lifting plate, a push rod of the push rod motor is connected with the sliding block through an elastic piece, and the first connecting rod is hinged with the sliding block; when the push rod retracts, the sliding block is driven to slide through the elastic piece.

In a specific possible embodiment, the elastic member is a compression spring, the compression spring is disposed in the slider, and one end of the compression spring abuts against the end of the slider and the other end abuts against the push rod; compressing the compression spring when the push rod is retracted. The safety of the push rod motor is improved.

In a specific embodiment, the lifting mechanism comprises two rotating shafts which are rotatably connected with the body and are oppositely arranged, and a lifting belt which is wound on each rotating shaft; the driving mechanism is used for driving the two rotating shafts to rotate; one end of the lifting belt is fixed on the rotating shaft, and the other end of the lifting belt is fixedly connected with the lifting plate. The lifting plate is convenient to lift.

In a specific possible embodiment, the driving mechanism comprises a driving motor and a gear box connected with the driving motor, and the gear box is provided with two synchronous output shafts which are connected with the two rotating shafts in a one-to-one correspondence manner.

In a specific embodiment, when the linkage drive assembly includes a push rod motor, the lifting belt is coupled to the push rod motor and is configured to power the push rod motor. The structure of the robot is simplified.

In a specific possible embodiment, the lifting belt is further configured to send a carrier signal for detecting whether the push rod motor is working normally. The detection of the push rod motor can be realized.

In a specific implementation mode, a limit switch used for detecting the position of the container is arranged on the body; when the lifting mechanism comprises a lifting belt and a driving mechanism, the driving mechanism carries out zero resetting calibration on the lifting belt through the signal of the limit switch. Convenient accurate calibration.

In a specific possible embodiment, a four-way shuttle vehicle is provided on the body, by which the body is movable on the vertical shelf.

In a second aspect, a method of extracting a container is provided, the method using the robot of any one of the above; the method comprises the following steps:

a target container is positioned on the Nth layer in the vertical cargo well; the N is more than or equal to 2;

the clamping mechanism is placed below the clamping structure of the target container through the lifting mechanism;

the clamping plate is driven to rotate to a set position through the connecting rod driving assembly;

the clamping plate is lifted upwards through the lifting mechanism, and the clamping plate is clamped to the clamping structure of the target container;

and pulling the target container and the container above the target container out of the vertical cargo well through a lifting mechanism.

In a specific possible embodiment, the method further comprises:

the target container abuts against the limit switch; and carrying out zero resetting calibration on the lifting belt through the signal of the limit switch. The reliability is improved.

Drawings

Fig. 1 is a schematic view of an application scenario of a robot provided in an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a robot provided in an embodiment of the present invention;

FIG. 3 is a schematic diagram of a clamping mechanism of a robot and a container according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a limit switch provided by an embodiment of the present invention;

FIG. 5 is a schematic view of the card-mounting mechanism provided in the embodiment of the present invention in an operating state;

FIG. 6 is a schematic view of a linkage drive assembly provided in accordance with an embodiment of the present invention in an operational state;

FIG. 7 is a schematic view of a cross bar and slider combination provided by an embodiment of the present invention;

FIG. 8 is a schematic view of a card-mounting mechanism provided in an embodiment of the present invention in a non-operating state;

FIG. 9 is a schematic illustration of a link drive assembly provided by an embodiment of the present invention in a non-operational state;

fig. 10 to 17 are flowcharts of the robot according to the embodiment of the present invention in carrying the cargo box.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

To facilitate understanding of the robot provided in the embodiments of the present application, an application scenario of the robot is first described. As shown in fig. 1, fig. 1 illustrates an application scenario of a robot, the robot provided in the embodiment of the present application is applied to a vertical shelf 1, in order to increase a space utilization area in a logistics warehouse in the prior art, the vertical shelf 1 is often built, a plurality of vertical shafts 2 are arranged in the vertical shelf 1, containers are placed into the vertical shafts 2 from the top, and a plurality of containers are stacked in the vertical shafts 2. When the container needs to be taken out, a robot is adopted, a track is arranged at the top of the vertical goods shelf 1, and the robot can walk on the track. When the containers to be taken out are located below, the containers located above the containers need to be taken out, and the robot in the prior art only has a grabbing device, so that the containers can be taken out one by one, and the working efficiency is very low. The following detailed description is to be read with reference to the drawings and the specific examples.

As shown in fig. 2, fig. 2 illustrates a robot provided in an embodiment of the present application. The robot that this application embodiment provided contains a body 10, and this body 10 is a cuboid structure, and the one end of this cuboid structure has the breach and forms a cross-section and be the structure of "7" font. The four-way shuttle 30 is arranged on the body 10, and the body 10 can move on the vertical shelf through the four-way shuttle 30. The four-way shuttle 30 is a common traveling device in the prior art, and therefore is not described herein, and the four-way shuttle 30 can travel on the track of the vertical shelf and can travel to different shaft tops as required.

Referring to fig. 2 and 3 together, a lifting device 20 is attached to the body 10 for lifting at least two containers within the vertical rack. As can be seen in fig. 2, the lifting device 20 includes a chucking mechanism 22 and a lifting mechanism 20 that drives the chucking mechanism 22 to move in the vertical direction. Wherein the lifting mechanism 20 comprises two rotating shafts rotatably connected with the body 10 and oppositely arranged, as shown in fig. 2, the two rotating shafts are symmetrically arranged above the gap; each rotating shaft is wound with a lifting belt 211, and the lifting belt 211 can be a rigid belt or a synchronous belt; when a rigid belt is used, one end of the lifting belt 211 is fixed to the corresponding rotating shaft, and the other end is connected to the clamping mechanism 22. When the two rotating shafts are arranged oppositely, the two lifting belts 211 and the two clamping mechanisms 22 are also arranged correspondingly. The snapping mechanisms 22 are used to snap the container so that the distance between two snapping mechanisms 22 is set equal to or greater than the width of the container to ensure that the snapping mechanisms 22 can snap onto the container.

With continued reference to fig. 2, the lifting mechanism 20 further includes a driving mechanism 212 for driving the two shafts to rotate; the driving mechanism 212 includes a driving motor and a gear box connected to the driving motor, an output shaft of the gear box is correspondingly connected to one of the two rotating shafts, and the other rotating shaft is connected to the other rotating shaft through a synchronous belt 213, so that when the driving motor works, the two clamping mechanisms 22 can be driven to ascend or descend simultaneously. Of course, the above is only a specific example, and besides the above synchronous belt, the output shaft may also be connected with the rotating shaft through a gear box, and the corresponding effect can be achieved.

As a variable scheme, when two opposite rotating shafts are arranged, the distance between the two opposite rotating shafts can be made into an adjustable mode, for example, the rotating shafts are connected with the body 10 through bearing seats, and the bearing seats can move relative to the body 10 and can be locked at different positions; illustratively, a plurality of assembling positions (such as assembling holes or clasps) are arranged on the body 10 along the direction perpendicular to the length of the rotating shaft and are fixedly connected with the bearing seat; when the rotating shafts are adjustable, synchronous motion can be guaranteed between the two rotating shafts through synchronous belts with different lengths. When the robot needs to carry containers with different widths, the bearing seat can be fixed at different assembly positions so as to adjust the distance between the two clamping mechanisms 22 and ensure that the clamping mechanisms 22 can be clamped to two opposite edges of the container.

Referring to fig. 4, fig. 4 illustrates a reference view of the lifting device in use. The lifting device also includes a limit switch for detecting the position of the container 100. After the container 100 is lifted out of the vertical well, the container 100 will press against the limit switch when lifted to a certain height. The lifting position of the container 100 can be obtained by the limit switch. After the limit switch is pressed, the driving motor in the driving mechanism 213 can be controlled to stop working. In addition, limit switch is except above-mentioned effect, still can promote the topmost through packing box 100 every time, touches limit switch after, carries out the zero setting calibration to the elevator belt, then descends once more when getting packing box 100, utilizes the motor encoder among the driving motor to carry out distance measurement to reduce the elevator belt and twine many times or transfer the error that the back produced, guaranteed the reliability of robot when the operation.

Referring to fig. 5 and 6, fig. 5 is a schematic view showing an operation state of the card-mounting mechanism 22 in operation. Fig. 6 is a schematic diagram showing the relative positions of the link driving assembly 223 and the chucking plate in the state shown in fig. 5. The chucking mechanism 22 includes a lift plate 221 and a chucking plate 222 rotatably connected to the lift plate 221 and lockable in a set position. Wherein the lifting plate 221 is used for connecting a lifting belt and serves as a bearing structure for the card 222. The catch plate 222 serves as a structure for engaging with a catch structure (notch) of the container in the catch mechanism 22. In the embodiment of the present application, the number of the chucking plates 222 is two, and the two chucking plates 222 are rotatably connected to the lifting plate 221 by a rotating shaft 224. The two clamping plates 222 are respectively fixedly connected with two ends of the rotating shaft 224, and the rotating shaft 224 is rotatably connected with the lifting plate 221.

When the lifting mechanism is in an operating state and the catch plate 222 rotates to a set position, a set angle, such as different angles of 5 degrees to 45 degrees, is formed between the catch plate 222 and the lifting plate 221. So that the card 222 and the lift plate 221 form a "v" shape, the card 222 projects outwardly from the lift plate 221 so that the card 222 can be snapped into the snap fit structure of the cargo box.

The catch plate 222 is driven to a set position and locked by the link drive assembly 223. The link driving assembly 223 includes: a push rod motor 2231 provided at the lift plate 221, and a first link 2233 and a second link 2234 for pushing the chucking plate 222. The length direction of the first link 2233 and the second link 2234 is along a direction a, which is a lowering direction of the lifting belt. The first link 2233 is rotatably connected to a push rod 2231a of the push rod motor 2231, the second link 2234 is hinged to the first link 2233, and the second link 2234 is fixedly connected to the catch plate 222. In order to ensure the reliability of the movement, in the embodiment of the present invention, two first links 2233 and two second links 2234 are provided, and in combination with the structure shown in fig. 6, the push rod motor 2231 is located in the middle, and two sets of links (the first link 2233 and the second link 2234) are arranged on two sides of the push rod motor 2231.

With continued reference to fig. 6, the push rod 2231a of the push rod motor 2231 is reciprocally retractable in direction a when articulation with the first link 2233 is achieved. A cross bar 2231b is attached to the push rod 2231a to form a T-shaped structure. The two ends of the cross bar 2231b are respectively connected to sliding blocks 2232 that can slide along the direction a relative to the lifting plate 221, and the two sliding blocks 2232 are respectively hinged to the two first connecting bars 2233 in a one-to-one correspondence, so as to realize the hinge connection between the push bar 2231a and the first connecting bars 2233.

Referring to fig. 6 and 7 together, when the push rod 2231a of the push rod motor 2231 is coupled to the slider 2232, the push rod 2231a is coupled to the slider 2232 by an elastic member. Taking the elastic member as a compression spring 2232a as an example, the compression spring 2232a is disposed in the slider 2232, and the slider 2232 is provided with a sliding groove for inserting the cross bar 2231 b. One end of the compression spring 2232a presses against the end of the slider 2232 and the other end presses against the cross bar 2231 b. When the push rod 2231a is retracted, the cross rod 2231b compresses the compression spring 2232a, and pushes the sliding block 2232 to slide by the elastic force of the compression spring 2232a, so as to drive the first link 2233 and the second link 2234 to rotate relatively, and push the rotating shaft 224 to rotate, so as to drive the catch plate 222 to rotate.

As can be seen from the above description, when the cross bar 2231b is slidably connected to the slider 2232 by an elastic member, the elastic connection between the push rod 2231a of the push rod motor 2231 and the slider 2232 is achieved. Therefore, when external force is applied to the clamping mechanism 22 in the opened state, the clamping plate 222 can be retracted, and the phenomenon that the push rod motor 2231 is damaged by the direct application of the acting force to the push rod motor 2231 when the external force is repeatedly applied to the working state is avoided. The reliability of the whole device is improved.

As an optional solution, the lifting plate 221 provided in this embodiment of the present application further includes an escape slot, and when the push rod 2231a of the push rod motor 2231 extends, the catch plate 222 is driven to rotate into the escape slot. Referring to fig. 8 and 9 together, fig. 8 is a schematic view showing a structure of the card-mounting mechanism 22 in a non-operating state, and fig. 9 is a schematic view showing a state of the link drive assembly 223 in an operating state shown in fig. 8. When the chucking mechanism 22 is lowered into the vertical well from the opening of the vertical well, the chucking mechanism 22 takes the state shown in fig. 8. When the clamping mechanism 22 is in the non-operating state, the push rod 2231a of the push rod motor 2231 can be extended to drive the first link 2233 and the second link 2234 to rotate, so that the clamping plate 222 and the lifting plate 221 are arranged approximately in parallel, and the clamping mechanism 22 can be placed into the vertical cargo well along the gap between the vertical cargo well and the cargo box. At this time, the chucking plate 222 is positioned in the escape groove of the lift plate 221, so that the thickness of the entire chucking mechanism 22 is thin, thereby allowing smooth entry into the vertical well.

As can be seen from the above description, the push rod motor 2231 is driven by a series of links (the first link 2233 and the second link 2234) to convert the pushing force of the push rod motor 2231 into the rotating force of the catch plate 222, so that the rotation-locking mechanism 22 can be opened or closed. In addition, when the lifting belt is connected to the clamping mechanism 22, the lifting belt is connected to the push rod motor 2231 and is used to supply power to the push rod motor 2231, so that no additional wires are required and the structure of the robot is simplified. In addition, the lifting belt is also used for sending a carrier signal for detecting whether the push rod motor 2231 works normally, so that the carrier signal can be transmitted while power is transmitted, whether the push rod motor 2231 operates normally is detected, and the reliability of the robot is improved. The above-mentioned sending and receiving carrier signals are control chips of the robot, and the control chips are known chips in the prior art, and send and receive carrier signals, and determine that the working state of the push rod motor 2231 is a known conventional means according to the carrier signals, and are not described herein again.

In order to facilitate understanding of the robot provided in the embodiments of the present application, the following detailed description is provided with reference to the accompanying drawings.

Referring first to fig. 10, the robot 400 first moves to above the vertical well 300 where the target container 200 to be handled is located, wherein the target container 200 is located at the nth floor in the vertical well 300; n is greater than or equal to 2. And then the card-dropping mechanism 22 is started. As shown in fig. 11, the chucking mechanism 22 is lowered below the chucking structure of the target container 200 by the lifting mechanism 21. As shown in fig. 12, the catch plate is driven to rotate to a set position by the link drive assembly, so that the catch mechanism 22 forms a "v" shape. As shown in fig. 13, the card is snapped to the snap fit structure of the target container 200 by lifting the lifting mechanism 21 upward. As shown in fig. 14, the lifting mechanism 21 lifts the chucking mechanism 22 so that the target container 200 is located inside the body. And abuts against the limit switch through the target container 200; and the signal through the limit switch returns to zero to calibrate the lifting belt, so that the reliability of the lifting belt after being wound and placed for many times is improved.

When the target container 200 is released, the target container 200 is placed to a desired location by the lifting mechanism 21, as shown in fig. 15. Thereafter, as shown in fig. 16, the chucking mechanism 22 is lowered to the target container 200 by the lifting mechanism 21. As shown in fig. 17, the pusher motor of the clamping mechanism 22 pushes the clamping plate to rotate, so that the clamping plate is approximately parallel to the pushing plate, and then the lifting mechanism 21 drives the clamping mechanism 22 to ascend.

It can be seen from the above description that when the storage person provided in the embodiment of the present application is used, one, two, three, etc. different numbers of target containers 200 can be lifted at the same time, and the carrying efficiency of the robot 400 is improved. In addition, the reliability of the robot 400 in carrying the cargo box is improved by the cooperation of the lifting mechanism 21 and the clamping mechanism 22.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot, comprising: the lifting device comprises a body which can move on the top of the vertical goods shelf and a lifting device connected with the body; wherein,

the lifting device comprises a clamping mechanism and a lifting mechanism for driving the clamping mechanism to lift; wherein the lifting mechanism is fixedly connected with the body; the clamping mechanism comprises a lifting plate and a clamping plate which is rotatably connected with the lifting plate and can be locked at a set position; the connecting rod driving component is used for driving the clamping plate to rotate to the set position; wherein,

the link driving assembly includes: the setting is in the push rod motor of promotion board, with two sets of connecting rods that the push rod motor is connected, two sets of connecting rods divide and are listed as in the both sides of push rod motor, and every group connecting rod includes: the first connecting rod is rotatably connected with a push rod of the push rod motor, and the second connecting rod is hinged with the first connecting rod; the second connecting rod is fixedly connected with the clamping plate;

when a push rod of the push rod motor retracts, the first connecting rod and the second connecting rod are driven to rotate and push the clamping plate to rotate to the set position to be locked.

2. The robot of claim 1, wherein the lifting plate further comprises an escape slot, and when the push rod of the push rod motor extends, the clamping plate is driven to rotate into the escape slot.

3. The robot of claim 2, wherein the connecting rod driving assembly further comprises a sliding block in sliding fit with the lifting plate, a push rod of the push rod motor is connected with the sliding block through an elastic member, and the first connecting rod is hinged with the sliding block;

when the push rod retracts, the sliding block is driven to slide through the elastic piece.

4. The robot of claim 3, wherein the elastic member is a compression spring, the compression spring is disposed in the slider, and one end of the compression spring abuts against the end of the slider and the other end abuts against the push rod;

compressing the compression spring when the push rod is retracted.

5. The robot of claim 1, wherein the lifting mechanism includes two shafts rotatably connected to the body and disposed opposite to each other, a lifting belt wound around each shaft; the driving mechanism is used for driving the two rotating shafts to rotate; wherein,

one end of the lifting belt is fixed on the rotating shaft, and the other end of the lifting belt is fixedly connected with the lifting plate.

6. A robot according to claim 5, characterized in that the driving mechanism comprises a driving motor and a gear box connected with the driving motor, and the gear box has two synchronous output shafts which are connected with the two rotating shafts in a one-to-one correspondence.

7. The robot of claim 6, wherein when the linkage drive assembly includes a push rod motor, the lifting belt is coupled to the push rod motor and is configured to power the push rod motor.

8. The robot of claim 7, wherein the lifting belt is further configured to send a carrier signal that detects whether the pusher motor is operating properly.

9. A robot as claimed in any one of claims 1 to 8, wherein the body is provided with a limit switch for detecting the position of a container;

when the lifting mechanism comprises a lifting belt and a driving mechanism, the driving mechanism carries out zero resetting calibration on the lifting belt through the signal of the limit switch.

10. A robot as claimed in any of claims 1 to 8, wherein a four-way shuttle is provided on the body, by which the body is moveable on the vertical shelf.

11. A method of picking up a container, characterized by using a robot as claimed in any one of claims 1 to 10; the method comprises the following steps:

the target container is positioned on the Nth layer in the vertical goods shelf; the N is more than or equal to 2;

the target container and the container above it are pulled out of the vertical racking by a lifting mechanism.

12. The method of claim 11, further comprising:

the target container abuts against the limit switch; the signal of the limit switch is reset to zero to calibrate the descending height of the lifting belt driven by the driving mechanism.