CN114013898A

CN114013898A - Automatic warehousing system for industrial robot

Info

Publication number: CN114013898A
Application number: CN202111580938.1A
Authority: CN
Inventors: 王影; 刘麒; 林琳; 杨家鑫; 叶泽; 尹港; 谭丁诚; 盛德庆; 高康盛; 王晨; 王晓茹
Original assignee: Jilin Institute of Chemical Technology
Current assignee: Jilin Institute of Chemical Technology
Priority date: 2021-12-22
Filing date: 2021-12-22
Publication date: 2022-02-08
Anticipated expiration: 2041-12-22
Also published as: CN114013898B

Abstract

The invention discloses an automatic warehousing system for an industrial robot, and relates to the technical field of warehousing system devices. The automatic tray placing device comprises a conveying belt, a robot body and/or a goods shelf, wherein the conveying belt is provided with a tray, the robot body can grab the tray and place the tray on the goods shelf, the front end of an arm of the robot body is provided with a grabbing component, the grabbing component can clamp the tray and can automatically release the clamping, the goods shelf is provided with a placing plate capable of moving up and down, the goods shelf is provided with a lifting component used for controlling the lifting plate to move up and down, and the goods shelf is internally provided with a push-pull component used for pushing and pulling the tray to move transversely on the placing plate. In the process of transferring the tray by the industrial robot, the stability of the tray is ensured, and potential safety hazards caused by the slipping of the tray are reduced; the industrial robot does not need to move, and the required use space is reduced; the placing in and taking out can be realized through the industrial robot, the manual extra operation is not needed, and the manual labor intensity is reduced.

Description

Automatic warehousing system for industrial robot

Technical Field

The invention relates to the technical field of warehousing system devices, in particular to an automatic warehousing system for an industrial robot.

Background

Traditional warehouse system, the goods is placed on the tray, then snatchs the tray through industrial robot, then industrial robot moves to formulating the position, then places the tray in order, realizes the pile up neatly to the goods. However, in the prior art, the industrial robot transfers the tray to different heights for placing in a lifting mode, and the tray is easy to incline in the transferring process, so that the risk that the tray is separated from the industrial robot is caused; when the stacking is required to be horizontally stacked or vertically stacked, the stacking is inconvenient to place, manual additional operation is required, the manual labor intensity is high, and the stacking efficiency is low; when the trays which are horizontally stacked or vertically stacked need to be taken out, the trays are inconvenient to take out through the industrial robot.

Therefore, an automatic warehousing system for an industrial robot is urgently needed, so that the stability of the tray is ensured and the potential safety hazard caused by the slipping of the tray is reduced in the process of transferring the tray by the industrial robot; the industrial robot does not need to move, and the required use space is reduced; the placing in and taking out can be realized through the industrial robot, the manual extra operation is not needed, and the manual labor intensity is reduced.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides an automatic warehousing system for an industrial robot, which ensures the stability of a tray and reduces the potential safety hazard caused by the slipping of the tray in the process of transferring the tray by the industrial robot; the industrial robot does not need to move, and the required use space is reduced; the placing in and taking out can be realized through the industrial robot, the manual extra operation is not needed, and the manual labor intensity is reduced.

The invention specifically adopts the following technical scheme:

the automatic warehousing system for the industrial robot comprises a conveying belt, a robot body and/or a goods shelf, wherein a tray is arranged on the conveying belt, the robot body can grab the tray and place the tray on the goods shelf, a grabbing assembly is arranged at the front end of an arm of the robot body, the grabbing assembly can clamp the tray and automatically release the clamping, a placing plate capable of moving up and down is arranged on the goods shelf, a lifting assembly used for controlling the lifting plate to move up and down is arranged on the goods shelf, and a push-pull assembly used for pushing and pulling the tray to move transversely on the placing plate is further arranged in the goods shelf.

Further preferably, the grabbing component comprises a grabbing plate, a grabbing rod, a side guard plate, a connecting rod and a positioning bulge; the upper end of snatching the pole and the arm interconnect of robot body, the lower extreme that snatchs the pole runs through the grabbing board, it can snatch board elevating movement relatively to snatch the pole, two side guard plates are located the left and right sides that snatchs the pole respectively, the upper end of two side guard plates sets up with the lower extreme of grabbing the board is articulated, the location arch sets up the lower extreme inboard at two side guard plates respectively, the both ends of connecting rod are articulated with side guard plate and grabbing pole respectively, still be provided with compression spring between two side guard plates, the positioning groove with the protruding mutual adaptation in location is seted up to the both ends outer wall of tray.

Further preferably, the positioning protrusions and the positioning grooves are arc-shaped, and the positioning protrusions on the two side guard plates respectively use hinge points on the corresponding side guard plates as circle centers.

Further preferably, the push-pull assembly comprises a lead screw transmission system, a first hydraulic cylinder, a push-pull plate, a clamping plate, a rack and a motor; the screw rod transmission system is horizontally arranged at the upper end inside the goods shelf, the screw rod transmission system is provided with a sliding seat, a first hydraulic cylinder is arranged at the lower end of the sliding seat, a first telescopic shaft of the first hydraulic cylinder is connected with the upper end of a push-pull plate, the push-pull plate is internally of a hollow structure, two clamping plates are respectively arranged on two sides of the push-pull plate, the outer side ends of two racks are connected with the clamping plates, the inner side ends of the two racks are located inside the push-pull plate, a motor is arranged on the outer side wall of the push-pull plate, a driving wheel located inside the push-pull plate is sleeved on a rotating shaft of the motor, the two racks are located on the upper side and the lower side of the driving wheel, and the driving wheel is meshed with the two racks simultaneously.

Further preferably, the inner sides of the two clamping plates are provided with limiting bulges, and the limiting bulges can enter the positioning grooves.

Further preferably, the lifting assembly comprises a bearing block, a first positioning shaft and a second positioning shaft; the both sides of goods shelves all are provided with the lifting unit who can synchronous lift removal, the both sides of goods shelves are provided with splint, form the intermediate layer between splint and the goods shelves, splint have seted up the spout along vertical direction, the outside end of bearing piece can run through the spout, the medial extremity of bearing piece runs through and has seted up the through-hole, first locating shaft runs through the through-hole, the bearing piece can rotate around the axis of first locating shaft, the spacing groove has been seted up to the bearing piece, the spacing groove is located the one side that the through-hole deviates from the spout, the diapire of bearing piece is run through to the lower extreme of spacing groove, second locating shaft can enter into the spacing inslot from bottom to top, the both ends of first locating shaft are provided with the second pneumatic cylinder, the both ends of second locating shaft are provided with the third pneumatic cylinder.

Further preferably, the lower end of the bearing block is provided with a balancing weight, so that the center of gravity of the bearing block is positioned below the through hole.

Further preferably, the side wall of the goods shelf is further provided with a abdicating groove, the outer wall of the goods shelf is further provided with a support, the support is provided with an electric push-pull rod, the electric push-pull rod can stretch into the goods shelf and take out the placing plate through the abdicating groove, a fourth hydraulic cylinder is arranged below the support, a lifting plate is arranged at the upper end of a fourth telescopic shaft of the fourth hydraulic cylinder, and the lifting plate can be used for supporting the placing plate taken out of the goods shelf.

Further preferably, the inner wall of the goods shelf is also provided with a guide groove along the vertical direction, the outer wall of the placing plate is provided with a guide block matched with the guide groove, the front end of the electric push-pull rod is provided with an electromagnet, and the electromagnet can be adsorbed with the guide block.

Further preferably, the guide block has a dovetail or T-shaped cross-sectional shape.

The invention has the beneficial effects that:

1. the tray can move along the conveying belt, the grabbing component is arranged on the robot body, and the tray can be grabbed by the grabbing component and transported to the goods shelf. Snatch the subassembly through setting up, the tray is at the transportation in-process, guarantees tray and robot's wholeness, can effectively avoid the tray to break away from robot arm. The grabbing component can clamp the tray and automatically release the clamping, so that the tray can be quickly clamped and separated, manual extra operation is not needed, and the manual labor intensity is reduced. Through setting up lifting unit and push-and-pull subassembly, after the robot body is repeated places a certain fixed position of goods shelves with the tray, pile up neatly in order along the horizontally direction with the tray through the push-and-pull subassembly and place the board on, after should placing the board fully loaded, the full-load board of placing moves down, realizes stacking of vertical direction, and does not need the robot body to remove, reduces the required working space of robot body.

2. The two side guards are symmetrical about the axis of the grab bar and have a tendency to move back to back under the action of the compression spring. When the arm control of robot body snatchs the subassembly to the top of tray, two side shields are located the both sides of tray along conveyer belt moving direction, exert the thrust in opposite directions to two side shields this moment (or set up a spigot surface in the positioning groove outside of tray, make two side shields enter into spigot surface department from the side shield, when snatching the pole on-line and move, the location arch makes the location arch on two side shields enter into in the positioning groove in the effect gliding positioning groove of spigot surface). When the gravity of tray shifts completely to on snatching the subassembly, snatch the pole and snatch the board rebound certain distance relatively, two pull rods exert opposite pulling force to two side shields, guarantee the tray at the transfer in-process, the location is protruding to be located positioning groove all the time, makes the tray and snatchs the subassembly as a whole, avoids the in-process arm that breaks away from the robot body that the tray shifted. When placing the tray on placing the board, two side shields outwards remove under compression spring's effect, and the location is protruding to withdraw from in following positioning groove, and the automatic unblock that accomplishes does not need extra operation.

3. Through the screw rod transmission system, the first hydraulic cylinder, the push-pull plate, the clamping plate, the rack and the motor can move transversely as a whole, and power is provided for the push-pull movement of the tray. The first hydraulic cylinder realizes the lifting movement of the push-pull plate, the clamping plate, the rack and the motor as a whole, and can repeatedly push and pull a plurality of trays. Clamping plates are arranged on two sides of the push-pull plate, the two clamping plates move inwards or outwards simultaneously under the action of the motor, the distance between the two side protection plates is adjusted, and the clamping and unlocking clamping effects on the tray are guaranteed. Through setting up spacing arch, in spacing arch entered into positioning groove, through mechanical type locking, guarantee going on smoothly of push-and-pull in-process, avoid appearing the condition of skidding.

4. All be provided with lifting unit in the both sides of placing the board, the bearing piece with one side is preferred two, and four bearing pieces can synchronous lift removal promptly, avoid placing board lift removal in-process slope. The outside end of the bearing block is exposed out of the sliding groove, and the placing plate is supported. The bearing block is provided with a through hole and a limiting groove in a penetrating mode, the first positioning shaft penetrates through the through hole, and the bearing block can rotate around the axis of the first positioning shaft. The second location axle can enter into the spacing inslot, when the second location axle was located the spacing inslot, made the bearing piece can not rotate around the axis of first location axle this moment, and the bearing piece plays the bearing effect to placing the board this moment. When the bearing block is required to move to the upper end of the placing plate positioned below, the bearing block needs to be moved to the next placing plate under the bearing of the uppermost end, and when the bearing block moves upwards, the second positioning shaft is positioned outside the limiting groove, so that the bearing block can rotate around the axis of the first positioning shaft, and the bearing block can cross over the placing plate. The first positioning shaft and the second positioning shaft head actually bear the force through the second hydraulic cylinder and the third hydraulic cylinder. The rotation of bearing piece can be realized at the optional position to the bearing piece, can place arbitrary height with placing the board promptly. The adjacent placing plates can be supported by the tray. Through setting up the balancing weight, when making the bearing piece not receive exogenic action, enable the bearing piece and keep the horizontality, guarantee that the second location axle can enter into the spacing groove from bottom to top and do not have.

5. Through setting up support, electric putter, lifter plate and fourth pneumatic cylinder, the electric putter front end is provided with the electro-magnet, can adsorb with the guide block when the circular telegram, will place the board and pull out from the goods shelves in, or push the board of placing on the lifter plate in the goods shelves through the groove of stepping down. When the tray needs to be placed, the placing plate can be continuously placed into the goods shelf to place the tray; or after the tray is taken out from the top to the bottom, the placing plate can be taken out and stored. The cross-sectional shape of guide block is dovetail or T font, plays the restriction effect to the lift moving path of placing the board, avoids placing the board and rocks at will.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged schematic view at the grasping assembly;

FIG. 3 is an enlarged view of the structure at A in FIG. 1;

FIG. 4 is a top view of the push-pull plate and the tray;

FIG. 5 is a side view of the lifting assembly and the placement plate;

FIG. 6 is an enlarged view of the structure at B in FIG. 5;

in the figure, 1-conveyer belt, 101-pallet, 102-positioning groove, 2-robot body, 3-shelf, 4-grabbing component, 401-grabbing rod, 402-grabbing plate, 403-connecting rod, 404-compression spring, 405-side guard plate, 406-positioning protrusion, 5-push-pull component, 501-lead screw transmission system, 502-sliding seat, 503-first hydraulic cylinder, 504-push-pull plate, 505-clamping plate, 506-motor, 507-rack, 508-limiting protrusion, 6-placing plate, 7-bearing block, 701-through hole, 702-limiting groove, 703-first positioning shaft, 704-second positioning shaft, 705-counterweight block, 706-second hydraulic cylinder, 8-clamping plate, 801-interlayer, 802-chute, 9-bracket, 10-electric push-pull rod, 11-electromagnet, 12-lifting plate, 13-fourth hydraulic cylinder, 14-abdicating groove, 15-guide groove and 16-guide block.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.

Example 1

The automatic warehousing system for the industrial robot comprises a conveying belt 1, a robot body 2 and/or a goods shelf 3, wherein a tray 101 is arranged on the conveying belt 1, the robot body 2 can grab the tray 101 and place the tray 101 on the goods shelf 3, a grabbing component 4 is arranged at the front end of an arm of the robot body 2, the grabbing component 4 can clamp the tray 101 and can automatically release the clamping, a placing plate 6 capable of moving up and down is arranged on the goods shelf 3, a lifting component used for controlling the lifting plate 12 to move up and down is arranged on the goods shelf 3, and a push-pull component 5 used for pushing and pulling the tray 101 to move transversely on the placing plate 6 is further arranged in the goods shelf 3.

After the technical scheme is adopted: the tray 101 of the present invention can move along the conveyor belt 1, and the robot body 2 is provided with the grasping assembly 4, and the tray 101 can be grasped by the grasping assembly 4 to transfer the tray 101 to the rack 3. Through setting up and snatching subassembly 4, tray 101 guarantees tray 101 and robot body 2's an organic whole nature at the transportation in-process, can effectively avoid tray 101 to break away from the robot arm. The grabbing component 4 can clamp the tray 101 and automatically release the clamping, so that rapid clamping and separation are realized, manual extra operation is not needed, and the manual labor intensity is reduced. Through setting up lifting unit and push-and-pull subassembly 5, after robot body 2 is repeated places a certain fixed position of goods shelves 3 with tray 101, pile up neatly in order to place board 6 along the horizontally direction with tray 101 through push-and-pull subassembly 5 on, after this place board 6 is full-load, full-load place board 6 downstream, realize stacking of vertical direction, and do not need robot body 2 to remove, reduce the required working space of robot body 2.

Example 2

The present embodiment is further optimized on the basis of embodiment 1 as follows: the grabbing component 4 comprises a grabbing plate 402, a grabbing rod 401, a side guard plate 405, a connecting rod 403 and a positioning bulge 406; the upper end of grabbing pole 401 and robot body 2's arm interconnect, the lower extreme that snatchs pole 401 runs through and grabs board 402, it can grab board 402 lift-and-fall movement relatively to snatch pole 401, two side guard plates 405 are located the left and right sides of grabbing pole 401 respectively, the upper end of two side guard plates 405 and the articulated setting of lower extreme that snatchs board 402, location arch 406 sets up the lower extreme inboard at two side guard plates 405 respectively, the both ends of connecting rod 403 are articulated with side guard plate 405 and grabbing pole 401 respectively, still be provided with compression spring 404 between two side guard plates 405, the positioning groove 102 with the protruding 406 mutual adaptation of location is seted up to the both ends outer wall of tray 101. The positioning protrusions 406 and the positioning grooves 102 are arc-shaped, and the positioning protrusions 406 on the two side guard plates 405 are respectively centered at the hinge points on the corresponding side guard plates 405.

After the technical scheme is adopted: the two side guards 405 are symmetrical about the axis of the grab bar 401, the two side guards 405 having a tendency to move away from each other under the action of the compression spring 404. When the arm of the robot body 2 controls the grabbing component 4 to be above the tray 101, the two side protection plates 405 are located on two sides of the tray 101 along the moving direction of the conveyer belt 1, and at this time, opposite pushing force is applied to the two side protection plates 405 (or a guide surface is arranged on the outer side of the positioning groove 102 of the tray 101, so that the two side protection plates 405 enter the guide surface from the side protection surfaces, and when the grabbing rod 401 moves on the line, the positioning protrusions 406 slide into the positioning groove 102 under the action of the guide surface), so that the positioning protrusions 406 on the two side protection plates 405 enter the positioning groove 102. When the gravity of the tray 101 is completely transferred to the grabbing component 4, the grabbing rod 401 moves upwards for a certain distance relative to the grabbing plate 402, and the two pull rods apply opposite pulling forces to the two side protection plates 405, so that the positioning protrusion 406 is always positioned in the positioning groove 102 in the transferring process of the tray 101, the tray 101 and the grabbing component 4 are integrated, and the situation that the tray 101 is separated from the arm of the robot body 2 in the transferring process is avoided. When the tray 101 is placed on the placing plate 6, the two side guard plates 405 move outward under the action of the compression springs 404, the positioning protrusions 406 retreat from the positioning grooves 102, and the unlocking is automatically completed without additional operation.

Example 3

The present embodiment is further optimized on the basis of embodiment 1 as follows: the push-pull assembly 5 comprises a lead screw transmission system 501, a first hydraulic cylinder 503, a push-pull plate 504, a clamping plate 505, a rack 507 and a motor 506; the screw rod transmission system 501 is horizontally arranged at the upper end inside the shelf 3, the screw rod transmission system 501 is provided with a sliding seat 502, a first hydraulic cylinder 503 is arranged at the lower end of the sliding seat 502, a first telescopic shaft of the first hydraulic cylinder 503 is connected with the upper end of a push-pull plate 504, the inside of the push-pull plate 504 is of a hollow structure, two clamping plates 505 are respectively arranged at two sides of the push-pull plate 504, the outer ends of two racks 507 are connected with the clamping plates 505, the inner ends of the two racks 507 are positioned inside the push-pull plate 504, a motor 506 is arranged on the outer side wall of the push-pull plate 504, a rotating shaft of the motor 506 is sleeved with a driving wheel positioned inside the push-pull plate 504, the two racks 507 are positioned at the upper side and the lower side of the driving wheel, and the driving wheel is meshed with the two racks 507 simultaneously. The inner sides of the two clamping plates 505 are provided with limiting protrusions 508, and the limiting protrusions 508 can enter the positioning grooves 102.

After the technical scheme is adopted: through the lead screw drive system 501, the first hydraulic cylinder 503, the push-pull plate 504, the clamping plate 505, the rack 507 and the motor 506 are realized as a whole capable of moving in the transverse direction, so as to provide power for the push-pull movement of the tray 101. The first hydraulic cylinder 503 realizes the lifting and lowering movement of the push-pull plate 504, the clamp plate 505, the rack 507, and the motor 506 as a whole, and can repeatedly push and pull the plurality of pallets 101. Clamping plates 505 are arranged on two sides of the push-pull plate 504, and the two clamping plates 505 move inwards or outwards simultaneously under the action of a motor 506, so that the distance between the two side protection plates 405 is adjusted, and the clamping and unlocking clamping effects on the tray 101 are guaranteed. Through setting up spacing arch 508, spacing arch 508 enters into positioning groove 102, through mechanical type locking, guarantees going on smoothly in the push-and-pull process, avoids appearing the condition of skidding.

Example 4

The present embodiment is further optimized on the basis of embodiment 1 as follows: the lifting assembly comprises a bearing block 7, a first positioning shaft 703 and a second positioning shaft 704; both sides of goods shelves 3 all are provided with the lifting unit who can go up and down to remove in step, the both sides of goods shelves 3 are provided with splint 8, form intermediate layer 801 between splint 8 and the goods shelves 3, splint 8 has seted up spout 802 along vertical direction, the outside end of bearing piece 7 can run through spout 802, the medial extremity of bearing piece 7 runs through and has seted up through-hole 701, first locating shaft 703 runs through-hole 701, bearing piece 7 can rotate around the axis of first locating shaft 703, spacing groove 702 has been seted up to bearing piece 7, spacing groove 702 is located one side that through-hole 701 deviates from spout 802, the diapire of bearing piece 7 is run through to the lower extreme of spacing groove 702, second locating shaft 704 can enter into spacing groove 702 from bottom to top, the both ends of first locating shaft 703 are provided with second pneumatic cylinder 706, the both ends of second locating shaft 704 are provided with the third pneumatic cylinder. The lower end of the bearing block 7 is provided with a balancing weight 705, so that the center of gravity of the bearing block 7 is positioned below the through hole 701.

After the technical scheme is adopted: all be provided with lifting unit in the both sides of placing board 6, the bearing piece 7 with one side is preferred two, and four bearing pieces 7 can synchronous lift removal promptly, avoid placing board 6 lift removal in-process slope. The outer end of the support block 7 is exposed out of the chute 802, and supports the placing plate 6. A through hole 701 and a limiting groove 702 penetrate through the bearing block 7, a first positioning shaft 703 penetrates through the through hole 701, and the bearing block 7 can rotate around the axis of the first positioning shaft 703. The second positioning shaft 704 can enter the limiting groove 702, and when the second positioning shaft 704 is located in the limiting groove 702, the supporting block 7 cannot rotate around the axis of the first positioning shaft 703, and the supporting block 7 plays a role in supporting the placing plate 6. That is, when the bearing block 7 is required to exert bearing force on the placing plate 6, and when the placing plate 6 moves from top to bottom, the second positioning shaft 704 is located in the limiting groove 702, and when the placing plate 6 is placed at the upper end of the placing plate 6 located below, the bearing block 7 needs to be moved to the uppermost end to bear the next placing plate 6, and when the bearing block 7 moves upwards, the second positioning shaft 704 is located outside the limiting groove 702, so that the bearing block 7 can rotate around the axis of the first positioning shaft 703, and the bearing block 7 can pass over the placing plate 6. The first positioning shaft 703 and the second positioning shaft 704 actually support the force by the second hydraulic cylinder 706 and the third hydraulic cylinder. The supporting block 7 can realize the rotation of the supporting block 7 at any position, namely, the placing plate 6 can be placed at any height. The adjacent placing plates 6 may be supported by the tray 101. Through setting up balancing weight 705, when making bearing piece 7 not receive the exogenic action, enable bearing piece 7 and keep the horizontality, guarantee that second location axle 704 can enter into spacing groove 702 from bottom to top and do not have.

Example 5

The present embodiment is further optimized on the basis of embodiment 1 as follows: the side wall of the goods shelf 3 is further provided with a yielding groove 14, the outer wall of the goods shelf 3 is further provided with a support 9, an electric push-pull rod 10 is arranged on the support 9, the electric push-pull rod 10 can stretch into the goods shelf 3 and can take out the placing plate 6 through the yielding groove 14, a fourth hydraulic cylinder 13 is arranged below the support 9, a lifting plate 12 is arranged at the upper end of a fourth telescopic shaft of the fourth hydraulic cylinder 13, and the lifting plate 12 can be used for supporting the placing plate 6 taken out of the goods shelf 3. The inner wall of goods shelves 3 has still seted up guide way 15 along vertical direction, places the outer wall of board 6 and is provided with the guide block 16 with guide way 15 mutual adaptation, and the front end of electronic push-pull rod 10 is provided with electro-magnet 11, and electro-magnet 11 can adsorb with guide block 16. The guide block 16 has a dovetail or T-shaped cross-sectional shape.

After the technical scheme is adopted: through setting up support 9, electric putter, lifter plate 12 and fourth pneumatic cylinder 13, electric putter front end is provided with electro-magnet 11, can adsorb with guide block 16 when the circular telegram, will place board 6 and pull out from goods shelves 3, or will place board 6 on the lifter plate 12 and push into goods shelves 3 through the groove 14 of stepping down. When the tray 101 needs to be placed, the placing plate 6 can be continuously placed in the shelf 3 for placing the tray 101; or the tray 101 can be taken out from the top down and then the placing plate 6 can be taken out and stored. The cross-sectional shape of guide block 16 is dovetail or T font, plays the restriction effect to the lift moving path of placing board 6, avoids placing board 6 and rocks at will.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims

1. The utility model provides an industrial robot is with automatic warehouse system, includes conveyer belt, robot and or goods shelves, be provided with the tray on the conveyer belt, the robot can snatch the tray and place on the goods shelves its characterized in that: the robot comprises a robot body and is characterized in that a grabbing component is arranged at the front end of an arm of the robot body, the grabbing component can clamp a tray and can automatically remove the clamping, a placing plate capable of moving up and down is arranged on a goods shelf, a lifting component used for controlling the lifting plate to move up and down is arranged on the goods shelf, and a push-pull component used for pushing and pulling the tray to move transversely on the placing plate is further arranged in the goods shelf.

2. The automated industrial robot warehousing system of claim 1, characterized in that: the grabbing component comprises a grabbing plate, a grabbing rod, a side guard plate, a connecting rod and a positioning bulge; the upper end of grabbing the pole and the arm interconnect of robot body, the lower extreme that snatchs the pole runs through the board of grabbing, it can snatch the board lift removal relatively to snatch the pole, two the side guard plate is located the left and right sides of grabbing the pole respectively, two the upper end of side guard plate sets up with the lower extreme of grabbing the board is articulated, and the location arch sets up the lower extreme inboard at two side guard plates respectively, and the both ends of connecting rod are articulated with the side guard plate and the pole of grabbing respectively, two still be provided with compression spring between the side guard plate, the positioning groove with the protruding mutual adaptation in location is seted up to the both ends outer wall of tray.

3. The automated industrial robot warehousing system of claim 2, characterized in that: the positioning bulges and the positioning grooves are arc-shaped, and the positioning bulges on the two side guard plates respectively use hinged points on the corresponding side guard plates as circle centers.

4. The automated industrial robot warehousing system of claim 2, characterized in that: the push-pull assembly comprises a lead screw transmission system, a first hydraulic cylinder, a push-pull plate, a clamping plate, a rack and a motor; the lead screw transmission system is horizontally arranged at the upper end inside the goods shelf, the lead screw transmission system is provided with a sliding seat, a first hydraulic cylinder is arranged at the lower end of the sliding seat, a first telescopic shaft of the first hydraulic cylinder is connected with the upper end of a push-pull plate, the push-pull plate is internally of a hollow structure, two clamping plates are respectively arranged on two sides of the push-pull plate, the outer side ends of two racks are connected with the clamping plates, the inner side ends of the two racks are located inside the push-pull plate, a motor is arranged on the outer side wall of the push-pull plate, a driving wheel located inside the push-pull plate is sleeved on a rotating shaft of the motor, the two racks are located on the upper side and the lower side of the driving wheel, and the driving wheel is meshed with the two racks simultaneously.

5. The automated industrial robot warehousing system of claim 4, characterized in that: the inner sides of the two clamping plates are provided with limiting bulges which can enter the positioning grooves.

6. The automated industrial robot warehousing system of claim 1, characterized in that: the lifting assembly comprises a bearing block, a first positioning shaft and a second positioning shaft; the both sides of goods shelves all are provided with the lifting unit who can synchronous lift removal, the both sides of goods shelves are provided with splint, form the intermediate layer between splint and the goods shelves, the spout has been seted up along vertical direction to splint, the outside end of bearing piece can run through the spout, the medial extremity of bearing piece runs through and has seted up the through-hole, first locating shaft runs through the through-hole, the bearing piece can rotate around the axis of first locating shaft, the spacing groove has been seted up to the bearing piece, the spacing groove is located one side that the through-hole deviates from the spout, the diapire of bearing piece is run through to the lower extreme of spacing groove, the second location axle can enter into the spacing inslot from bottom to top, the both ends of first locating shaft are provided with the second pneumatic cylinder, the both ends of second location axle are provided with the third pneumatic cylinder.

7. The automated industrial robot warehousing system of claim 6, characterized in that: the lower end of the bearing block is provided with a balancing weight, so that the center of gravity of the bearing block is positioned below the through hole.

8. The automated industrial robot warehousing system of claim 1, characterized in that: the side wall of goods shelves has still been seted up the groove of stepping down, the outer wall of goods shelves still is provided with the support, be provided with electronic push-and-pull rod on the support, electronic push-and-pull rod can stretch into in the goods shelves and will place the board and take out through the groove of stepping down, the below of support is provided with the fourth pneumatic cylinder, the fourth telescopic shaft upper end of fourth pneumatic cylinder is provided with the lifter plate, the lifter plate can be used for supporting the board of placing of taking out in the goods shelves.

9. The automated industrial robot warehousing system of claim 8, wherein: the inner wall of the goods shelf is also provided with a guide groove along the vertical direction, the outer wall of the placing plate is provided with a guide block matched with the guide groove, the front end of the electric push-pull rod is provided with an electromagnet, and the electromagnet can be adsorbed with the guide block.

10. The automated industrial robot warehousing system of claim 9, characterized in that: the cross section of the guide block is in a dovetail shape or a T shape.