CN112830142B

CN112830142B - Storage robot

Info

Publication number: CN112830142B
Application number: CN202110014213.XA
Authority: CN
Inventors: 陈原; 王耀; 于福杰; 李庆中; 李德合; 杨国卿
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2021-01-06
Filing date: 2021-01-06
Publication date: 2022-05-27
Anticipated expiration: 2041-01-06
Also published as: CN112830142A

Abstract

The invention relates to the technical field of warehousing equipment, and aims to provide a warehousing robot which can perform warehousing, storage and ex-warehouse operation on a plurality of goods shelves in a warehouse at the same time, and has the advantages of strong universality, low cost, low failure rate and convenience in maintenance. The warehousing robot comprises an actuating mechanism for loading and unloading goods and a position control mechanism for adjusting the spatial position of the actuating mechanism, and is characterized in that: the actuating mechanism is connected with the position control mechanism and is positioned below the position control mechanism, the position control mechanism is arranged above the goods shelf (1), and the position control mechanism comprises an x-axis motion control mechanism, a y-axis motion control mechanism and a z-axis motion control mechanism. The warehousing robot provided by the invention solves the problems that the existing warehousing robot can only carry out goods warehousing and ex-warehouse operation on goods shelves on two sides, the utilization rate is low, the equipment investment and maintenance cost is high, and the warehousing robot is not suitable for large warehouses.

Description

Storage robot

Technical Field

The invention relates to the technical field of warehousing equipment, in particular to a warehousing robot.

Background

Warehousing refers to the activities of warehousing, storing and discharging goods through a warehouse. The fixed goods shelves of a plurality of are usually arranged in the warehouse, the goods are carried through manpower and partial mechanical equipment in the traditional storage mode, time and labor are consumed, the goods are prone to damage and loss in multiple flowing, and logistics cost is increased for enterprises. Therefore, in the prior art, an automatic warehousing device with less manpower participation appears, and generally comprises a ground robot with wheels, a palletizing robot (or climbing robot), a hoisting robot, an automatic warehousing goods shelf and the like. The warehousing mode that multiple robots are required to be matched with each other is adopted, the automation degree is improved, but the equipment purchase cost and the equipment maintenance cost are greatly increased, the control method is too complex, and the failure rate is high.

Therefore, the prior art presents a rope-driven warehousing robot, such as the rope-driven parallel robot disclosed in chinese patent document CN 108262738A and three-dimensional warehousing, which comprises a terminal execution module, at least one pair of driving modules, at least one pair of anchor fixing modules and a plurality of control ropes, wherein the driving modules and the anchor fixing modules are fixedly installed on the ground, the terminal execution module is located between the anchor fixing modules, one end of the control rope is connected with the driving module, the other end of the control rope is connected with the terminal execution module, the control rope is driven by the driving module and guided by the anchor fixing modules, thereby drive terminal execution module and move between anchor point fixed module, terminal execution module is including being used for bearing the weight of the mechanical gripper who treats transport goods, and the mechanical gripper can carry out concertina movement, can get the goods and send as the goods of three-dimensional storage and get and send the device. However, the drive module, the control rope and the anchor point fixing module of the rope-driven warehousing robot are positioned on the front side and the rear side of the tail end execution module, and the anchor point fixing module is fixed with the ground, so that the robot can only carry out goods warehousing and ex-warehouse operation on goods shelves on the left side and the right side of the robot, the utilization rate is low, the warehousing process of the whole warehouse can be realized only by arranging a plurality of robots according to the number of the goods shelves in the warehouse, the equipment investment and maintenance cost is still very high, and the rope-driven warehousing robot is not suitable for large warehouses.

Disclosure of Invention

The invention aims to solve the technical problems that the warehousing robot in the prior art can only carry out warehousing and ex-warehouse operation on goods shelves on two sides, has low utilization rate and high equipment investment and maintenance cost, is not suitable for large warehouses, and provides the warehousing robot which can carry out warehousing, storage and ex-warehouse operation on a plurality of goods shelves in a warehouse at the same time, has strong universality, lower cost, low failure rate and convenient maintenance.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

the utility model provides a storage robot, is including the actuating mechanism that is used for loading, uninstallation goods and being used for adjusting actuating mechanism spatial position's position control mechanism, actuating mechanism with position control mechanism connects and is located position control mechanism's below, position control mechanism sets up in the top of goods shelves, position control mechanism includes x axle motion control mechanism, y axle motion control mechanism and z axle motion control mechanism.

Preferably, the x-axis motion control mechanism includes two parallel rails located above the shelf and arranged along the length direction of the shelf, the length of the two rails is greater than that of the shelf, the distance between the two rails can be parallel and a plurality of shelves are placed at intervals, two hangers parallel to each other and arranged at intervals are arranged between the two rails, and two ends of each hanger are slidably mounted on the two rails.

Preferably, a synchronous belt capable of moving along the rail is arranged on the rail, and the end of the hanger is fixedly connected with the synchronous belt.

Preferably, the y-axis motion control mechanism includes a first motor, a second motor, a third motor and a fourth motor that are arranged on each hanger at intervals, the first motor, the second motor, the third motor and the fourth motor respectively control the extension and retraction of a first rope, a second rope, a third rope and a fourth rope, a suspension is arranged below each hanger, the executing mechanism is connected below each suspension, the lower end of the first rope is connected with the first connecting end of the suspension, the lower end of the second rope is connected with the second connecting end of the suspension, the lower end of the third rope is connected with the first connecting end, and the lower end of the fourth rope is connected with the second connecting end.

Preferably, the first motor and the fourth motor are symmetrical with respect to the vertical center line of the hanger, and the second motor and the third motor are symmetrical with respect to the vertical center line of the hanger.

Preferably, the z-axis movement mechanism includes a fifth motor and a sixth motor that are disposed on each of the hangers, the fifth motor and the sixth motor are disposed near the rail, the fifth motor and the sixth motor respectively control the extension and retraction of a fifth rope and a sixth rope, the lower end of the fifth rope is connected to the actuator through the first connection end, and the lower end of the sixth rope is also connected to the actuator through the second connection end.

Preferably, the fifth motor and the sixth motor are symmetrical with respect to a vertical centerline position of the hanger; the lower end of the fifth rope is connected with the actuating mechanism through the rolling bearing assembly on the first connecting end, and the lower end of the sixth rope is connected with the actuating mechanism through the other rolling bearing assembly on the second connecting end.

Preferably, the hanger comprises two vertically arranged hanger support beams and a horizontally arranged hanger beam, the lower end of each hanger support beam is fixedly connected with the synchronous belt, and the upper end of each hanger support beam is fixed with the end part of the hanger beam;

the first motor, the second motor, the third motor and the fourth motor are arranged on the hanger beam, and the fifth motor and the sixth motor are respectively arranged on the two hanger beams.

Preferably, the actuating mechanism comprises two sucker type electric push rods for loading and unloading goods on the shelves on two sides, and each sucker type electric push rod is provided with a code scanner for scanning goods information.

Preferably, the actuator is a robot.

Compared with the prior art, the technical scheme of the invention has the following advantages: the warehousing robot can perform warehousing, storage and ex-warehouse operation on a plurality of goods shelves in a warehouse at the same time, is suitable for warehouses of various types and scales, and has the advantages of strong universality, simple integral structure, less motors, low failure rate, convenience in maintenance and low maintenance cost.

The warehousing robot of the present invention will be further described with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic view of an application scenario of a warehousing robot according to the present invention;

FIG. 2 is a front view of the warehousing robot application of the present invention;

FIG. 3 is a perspective view of the warehousing robot of the present invention;

FIG. 4 is a partial enlarged view of the warehousing robot of the present invention;

FIG. 5 is a schematic view of a position control mechanism in the warehousing robot of the present invention;

FIG. 6 is a schematic diagram of an actuator of the warehousing robot of the present invention;

FIG. 7 is a first schematic view illustrating the warehousing robot controlling the actuator to move in the opposite direction of the y-axis according to the present invention;

FIG. 8 is a second schematic view of the warehousing robot controlling the actuator to move in the positive y-axis direction;

FIG. 9 is a schematic diagram of a suspension in the position control mechanism of the warehousing robot of the present invention;

fig. 10 is a schematic view of a warehousing robot according to another embodiment of the invention.

The reference numbers in the figures denote:

1-a goods shelf, 2-a track, 3-a hanger, 301-a hanger beam, 302-a hanger beam, 4-a first motor, 5-a second motor, 6-a third motor, 7-a fourth motor, 8-a fifth motor, 9-a sixth motor, 10-a first rope, 11-a second rope, 12-a third rope, 13-a fourth rope, 14-a fifth rope, 15-a sixth rope, 16-a suspension, 1601-a first connecting end, 1602-a second connecting end, 17-a synchronous belt, 18-a code scanner, 19-a sucker type electric push rod, 20-a manipulator, 21-a goods input mechanism, 22-a goods output mechanism, 23-goods, 24-a seventh motor, 25-a seventh motor driving wheel, 26-U-shaped bearing, 27-ball bearing and 28-rope fixing block.

Detailed Description

As shown in fig. 1, the warehousing robot of the present invention is applied to a warehouse, and can cooperate with a goods transfer mechanism 21 and a goods transfer mechanism 22 to simultaneously perform warehousing, storage and ex-warehouse operations on a plurality of shelves in the warehouse. The cargo calling-in mechanism 21 and the cargo calling-out mechanism 22 each have a conveyor belt for conveying the cargo, and the number of the conveyor belts to be set is determined by the specific work load.

The warehousing robot comprises an executing mechanism for loading and unloading goods and a position control mechanism for adjusting the space position of the executing mechanism, the executing mechanism is connected with the position control mechanism and is positioned below the position control mechanism, the position control mechanism is arranged above the goods shelf 1, and the position control mechanism comprises an x-axis motion control mechanism, a y-axis motion control mechanism and a z-axis motion control mechanism. The position control mechanism can adjust the coordinate positions of an x axis, a y axis and a z axis of the executing mechanism, so that the executing mechanism is in butt joint with the goods transferring mechanism 21, the goods are accurately placed at the corresponding positions of the goods shelf to finish warehousing operation, the positions of the goods on the goods shelf are accurately found, and the goods transferring mechanism 22 is in butt joint with the goods transferring mechanism to finish warehousing operation.

As shown in fig. 2 and 3, the x-axis motion control mechanism includes two parallel rails 2 located above the shelf 1 and arranged along the length direction of the shelf 1, that is, the two rails 2 are horizontally arranged. The length of two tracks 2 is greater than the length of goods shelves 1, and the distance width between two tracks 2 can be parallel and the interval place a plurality of goods shelves 1, and the quantity of goods shelves 1 is unlimited, confirms according to the warehouse place condition. Two hangers 3 which are parallel to each other and are arranged at a distance are arranged between the two rails 2, and two ends of each hanger 3 are slidably mounted on the two rails 2. In the present embodiment, the hanger 3 is provided in a direction perpendicular to the extending direction of the rail 2. A suspension 16 is arranged below each hanger 3, and an actuating mechanism is connected below the suspension 16. The height of the hanger 3 is set to satisfy the condition that the z-axis motion mechanism can pull up the actuating mechanism to the position above the goods shelf.

As shown in fig. 4, a timing belt 17 is disposed on the rail 2 and is movable along the rail 2, and an end of the hanger 3 is fixedly connected to the timing belt 17, so that the hanger 3 slides along the rail 2. In this embodiment, the lower portions of the two rails 2 are provided with seventh motors 24, taking the rail on one side as an example, the seventh motor 24 is fixedly connected with a seventh motor driving wheel 25 through a jackscrew, when the seventh motor 24 operates, the seventh motor driving wheel 25 drives the synchronous belt 17 to move, and the synchronous belt 17 is fixedly connected with the hanger 3, so as to drive the hanger 3 to move along the rail. Because the gravity of goods is big, in order to guarantee the stability of long distance motion, the seventh motor of two tracks and seventh motor action wheel simultaneous working drive gallows 3 along 2 motion of track of common drive.

In this embodiment, the hanger 3 includes two vertically disposed hanger beams 301 and a horizontally disposed hanger beam 302, the lower end of the hanger beam 301 is fixedly connected to the timing belt 17, and the upper end of the hanger beam 301 is fixed to the end of the hanger beam 302.

As shown in fig. 5, the y-axis motion control mechanism includes a first motor 4, a second motor 5, a third motor 6, and a fourth motor 7 disposed at a distance on each hanger 3. In the present embodiment, the first motor 4, the second motor 5, the third motor 6, and the fourth motor 7 are provided on the hanger beam 302. The motors have the same structure and function, and the installation directions of the motors in the drawing are slightly different for convenience of installation.

The first motor 4, the second motor 5, the third motor 6 and the fourth motor 7 control the expansion and contraction of the first rope 10, the second rope 11, the third rope 12 and the fourth rope 13, respectively. As shown in fig. 9, the lower end of the first rope 10 is connected to the first connecting end 1601 of the suspension 16 through the rope fixing block 28 and the locking screw, similarly, the lower end of the second rope 11 is connected to the second connecting end 1602 of the suspension 16 through the rope fixing block 28 and the locking screw, the lower end of the third rope 12 is connected to the first connecting end 1601 through the rope fixing block 28 and the locking screw, and the lower end of the fourth rope 13 is connected to the second connecting end 1602 through the rope fixing block 28 and the locking screw. The third rope 12 and the fourth rope 13 can pull the suspension 16 and the actuator to move in the positive y-axis direction, the fourth rope 13 can also play a role in limiting, similarly, the first rope 10 and the second rope 11 can pull the suspension 16 and the actuator to move in the negative y-axis direction, and the first rope 10 can also play a role in limiting.

In order to ensure the stability of the suspension 16 and the actuator, the first motor 4 and the fourth motor 7 are symmetrical with respect to the vertical centerline position of the hanger 3 (specifically, the hanger beam 302 in the present embodiment), and the second motor 5 and the third motor 6 are symmetrical with respect to the vertical centerline position of the hanger 3 (specifically, the hanger beam 302 in the present embodiment).

The z-axis movement mechanism includes a fifth motor 8 and a sixth motor 9 provided on each hanger 3, the fifth motor 8 and the sixth motor 9 being provided near the rail 2, and in the present embodiment, the fifth motor 8 and the sixth motor 9 are provided on the two hanger beams 301, respectively. The fifth motor 8 and the sixth motor 9 respectively control the extension and retraction of the fifth rope 14 and the sixth rope 15, the lower end of the fifth rope 14 is connected with the actuator through the first connecting end 1601, and the lower end of the sixth rope 15 is connected with the actuator through the second connecting end 1602.

As shown in fig. 9, to ensure smooth extension and contraction of the rope, the lower end of the fifth rope 14 is connected to the actuator via a rolling bearing assembly on the first connecting end 1601, the rolling bearing assembly includes a U-shaped bearing 26 and a ball bearing 27, and similarly, the lower end of the sixth rope 15 is connected to the actuator via another rolling bearing assembly on the second connecting end 1602. In this way, the fifth and

sixth ropes

14 and 15 respectively have rolling friction with the first and second connection ends 1601 and 1602 during expansion and contraction, thereby effectively preventing the ropes from being worn.

In order to ensure the stability of the suspension 16 and the actuator, the fifth motor 8 and the sixth motor 9 are symmetrical with respect to the vertical center line position of the hanger 3 (specifically, the hanger beam 302 in the present embodiment), and the telescopic lengths of the fifth rope 14 and the sixth rope 15 are generally the same.

As shown in fig. 7, when the actuator needs to be moved in the direction opposite to the y-axis, the fifth rope 14, the first rope 10, and the second rope 11 are shortened, and the third rope 12, the fourth rope 13, and the sixth rope 15 are lengthened. As shown in fig. 8, when the actuator needs to be moved in the positive y-axis direction, the fifth rope 14, the first rope 10, and the second rope 11 are extended, and the third rope 12, the fourth rope 13, and the sixth rope 15 are shortened.

As shown in fig. 6, the actuating mechanism comprises two sucker type electric push rods 19 for loading and unloading goods on the shelves 1 at two sides, the suckers of the sucker type electric push rods 19 can adsorb the goods to complete the picking and placing operation, and each sucker type electric push rod 19 is provided with a code scanner 18 for scanning the information of the goods.

The working process of the warehousing robot of the invention is described as follows:

1. warehousing: goods are placed on a conveying belt of the goods transferring mechanism, goods identification is carried out in a code scanning area of the goods transferring mechanism, then the conveying belt conveys the goods to a position where an executing mechanism of the warehousing robot can take away the goods, the goods are adsorbed by the sucker type electric push rod, the executing mechanism is controlled by the position control mechanism to move to a storage shelf position of the goods, the goods are pushed into the storage shelf by the sucker type electric push rod, and the goods are confirmed in a warehouse by a code scanner arranged by the executing mechanism.

2. And (4) ex-warehouse: the position control mechanism controls the execution mechanism to move to the appointed goods shelf, the goods are confirmed by the code scanner equipped by the execution mechanism, then the goods are pulled out of the goods shelf by the sucker type electric push rod, the position control mechanism controls the execution mechanism to move to the goods dispatching mechanism, and after the goods are confirmed again by the scanning area of the goods dispatching mechanism, the goods are dispatched by the conveyor belt of the goods dispatching mechanism.

In order to more efficiently complete the warehousing task, preferably, each warehouse is provided with two sets of warehousing robots of the invention, one set of warehousing robot is responsible for warehousing work, and the other set of warehousing robot is responsible for ex-warehouse work. In general, the number of shelves set in the warehouse may be configured with reference to the following formula: the number of shelves is the warehouse width/(goods width + shelf width).

In other embodiments, the form of the warehouse robot actuator may be various, for example, a carrying robot arm (i.e., the manipulator 20) is provided, as shown in fig. 10, the manipulator 20 can complete the grabbing and placing of the goods, and the manipulator is a conventional known device, which is not described herein.

In other embodiments, in the case that the track height is sufficient, the hanger may only include a hanger beam, the lower surfaces of both ends of the hanger beam are fixed with the timing belt, and the fifth motor and the sixth motor are disposed at positions close to the ends of the hanger beam, which may also achieve the object of the present invention.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.

Claims

1. A storage robot, comprising an actuator for loading and unloading goods and a position control mechanism for adjusting the spatial position of the actuator, characterized in that: the actuating mechanism is connected with the position control mechanism and is positioned below the position control mechanism, the position control mechanism is arranged above the goods shelf (1), and the position control mechanism comprises an x-axis motion control mechanism, a y-axis motion control mechanism and a z-axis motion control mechanism;

the x-axis motion control mechanism comprises two parallel rails (2) which are positioned above the goods shelf (1) and arranged along the length direction of the goods shelf (1), two hanging brackets (3) which are parallel to each other and arranged at a certain distance are arranged between the two rails (2), and two ends of each hanging bracket (3) are slidably arranged on the two rails (2);

the y-axis motion control mechanism comprises a first motor (4), a second motor (5), a third motor (6) and a fourth motor (7) which are arranged on each hanger (3) at intervals, the first motor (4), the second motor (5), the third motor (6) and the fourth motor (7) respectively control the expansion and contraction of a first rope (10), a second rope (11), a third rope (12) and a fourth rope (13), a suspension (16) is arranged below each hanger (3), the executing mechanism is connected below each suspension (16), the lower end of the first rope (10) is connected with a first connecting end (1601) of the suspension (16), the lower end of the second rope (11) is connected with a second connecting end (1602) of the suspension (16), and the lower end of the third rope (12) is connected with the first connecting end (1601), the lower end of the fourth rope (13) is connected with the second connecting end (1602);

the z-axis motion control mechanism comprises a fifth motor (8) and a sixth motor (9) which are arranged on each hanger (3), the fifth motor (8) and the sixth motor (9) are arranged close to the track (2), the fifth motor (8) and the sixth motor (9) respectively control the extension and retraction of a fifth rope (14) and a sixth rope (15), the lower end of the fifth rope (14) is connected with the executing mechanism through the first connecting end (1601), and the lower end of the sixth rope (15) is also connected with the executing mechanism through the second connecting end (1602);

the lower end of the fifth rope (14) is connected with the actuating mechanism through a rolling bearing assembly on the first connecting end (1601), and the lower end of the sixth rope (15) is connected with the actuating mechanism through another rolling bearing assembly on the second connecting end (1602);

a synchronous belt (17) capable of moving along the track (2) is arranged on the track (2), and the end part of the hanger (3) is fixedly connected with the synchronous belt (17);

the hanger (3) comprises two vertically arranged hanger supporting beams (301) and a horizontally arranged hanger beam (302); the lower end of the hanger supporting beam (301) is fixedly connected with the synchronous belt (17), and the upper end of the hanger supporting beam (301) is fixed with the end part of the hanger beam (302).

2. The warehousing robot of claim 1, wherein: the first motor (4) and the fourth motor (7) are symmetrical relative to the vertical center line position of the hanger (3), and the second motor (5) and the third motor (6) are symmetrical relative to the vertical center line position of the hanger (3).

3. The warehousing robot of claim 2, wherein: the fifth motor (8) and the sixth motor (9) are symmetrical relative to the vertical center line position of the hanger (3).

4. The warehousing robot of claim 1, wherein: the first motor (4), the second motor (5), the third motor (6) and the fourth motor (7) are arranged on the hanger beam (302), and the fifth motor (8) and the sixth motor (9) are respectively arranged on the two hanger beams (301).

5. The warehousing robot of claim 1, wherein: the actuating mechanism comprises two sucker type electric push rods (19) for loading and unloading goods on the goods shelf (1) on two sides, and each sucker type electric push rod (19) is provided with a code scanner (18) for scanning goods information.

6. The warehousing robot of claim 1, wherein: the actuating mechanism is a manipulator (20).

7. The warehousing robot of claim 1, wherein: the length of the two rails (2) is greater than that of the goods shelf (1), and the distance and the width between the two rails (2) can be parallel to each other and a plurality of the goods shelves (1) are arranged at intervals.