CN114013898B - Automatic warehousing system for industrial robot - Google Patents

Abstract

The invention discloses an automatic warehousing system for an industrial robot, and relates to the technical field of warehousing system devices. The robot 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 automatically release the clamping, the goods shelf is provided with a placing plate capable of lifting, the goods shelf is provided with a lifting component for controlling the lifting plate to lift, and the goods shelf is internally provided with a push-pull component for pushing and pulling the tray to transversely move on the placing plate. In the process of transferring the tray by the industrial robot, the stability of the tray is ensured, and the potential safety hazard caused by slipping of the tray is reduced; the industrial robot does not need to move, so that the required use space is reduced; the industrial robot can be used for putting in and taking out, no additional manual operation is 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, goods are placed on the tray, then snatch the tray through industrial robot, then industrial robot removes to the formulated 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 trays to different heights for placement in a lifting manner, so that the trays are easy to incline in the transferring process, and the risk that the trays are separated from the industrial robot is caused; when horizontal stacking or vertical stacking is needed, the stacking is inconvenient, manual additional operation is needed, the manual labor intensity is high, and the stacking efficiency is low; when it is required to take out horizontally stacked or vertically stacked trays, it is inconvenient to take out by an industrial robot.

Therefore, an automatic warehouse system for an industrial robot is needed, and the industrial robot ensures the stability of the tray and reduces the potential safety hazard caused by slipping of the tray in the process of transferring the tray; the industrial robot does not need to move, so that the required use space is reduced; the industrial robot can be used for putting in and taking out, no additional manual operation is needed, and the manual labor intensity is reduced.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides an automatic warehouse system for an industrial robot, which ensures the stability of the tray and reduces the potential safety hazard caused by slipping of the tray in the process of transferring the tray by the industrial robot; the industrial robot does not need to move, so that the required use space is reduced; the industrial robot can be used for putting in and taking out, no additional manual operation is needed, and the manual labor intensity is reduced.

The invention adopts the following technical scheme:

the automatic storage system for the industrial robot 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 automatically unclamp the tray, the goods shelf is provided with a placing plate capable of lifting and moving, the goods shelf is provided with a lifting component for controlling the lifting and moving of the lifting plate, and the goods shelf is internally provided with a push-pull component for pushing and pulling the tray to transversely move on the placing plate.

Further preferably, the grabbing component comprises a grabbing plate, grabbing rods, side guard plates, connecting rods and positioning protrusions; the upper end of snatching the pole and the arm interconnect of robot body, the lower extreme of snatching the pole runs through snatchs the board, snatch the board lift relatively and remove, two side shields are located the left and right sides of snatching the pole respectively, the upper end of two side shields articulates the setting with the lower extreme of snatching the board, the location arch sets up the lower extreme inboard at two side shields respectively, the both ends of connecting rod are articulated with side shields and snatch the pole respectively, still be provided with compression spring between two side shields, the constant head tank with the protruding looks adaptation in location has been 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 take the hinging points on the corresponding side guard plates as circle centers.

Further preferably, the push-pull assembly comprises a screw drive system, a first hydraulic cylinder, a push-pull plate, a clamping plate, a rack and a motor; the screw transmission system is horizontally arranged at the upper end inside the goods shelf, the 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 inside of the push-pull plate is of a hollow structure, two clamping plates are respectively arranged at 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 positioned inside the push-pull plate, a motor is arranged on the outer side wall of the push-pull plate, a driving wheel positioned inside the push-pull plate is sleeved on a rotating shaft of the motor, the two racks are positioned at 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 protrusions, and the limiting protrusions 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 that can synchronous lift remove, 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 to splint along vertical direction, the spout can be run through to the outside end of bearing piece, the through-hole has been seted up in the inboard end of bearing piece, 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 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 supporting block is provided with a balancing weight, so that the gravity center of the supporting block is positioned below the through hole.

Still preferably, the lateral wall of goods shelves has still been seted up and has been stepped down the groove, and the outer wall of goods shelves still is provided with the support, is provided with electronic push-and-pull rod on the support, and electronic push-and-pull rod can stretch into in the goods shelves and will place the board and take out through the stepped down groove, and the below of support is provided with the fourth pneumatic cylinder, and the fourth telescopic shaft upper end of fourth pneumatic cylinder is provided with the lifter plate, and the lifter plate can be used for supporting the board of placing of taking out from in the goods shelves.

Further preferably, the inner wall of the goods shelf is further provided with a guide groove along the vertical direction, the outer wall of the placing plate is provided with a guide block mutually 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 beneficial effects of the invention are as follows:

1. the tray can move along the conveying belt, the grabbing component is arranged on the robot body, the tray can be grabbed through the grabbing component, and the tray is transferred to the goods shelf. Through setting up snatch the subassembly, the tray is in the transportation in-process, guarantees the integration of tray and robot body, 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 rapid clamping and separation are realized, no additional manual operation is needed, and the labor intensity is reduced. Through setting up lifting unit and push-and-pull subassembly, after the robot body repeatedly places the tray to a certain fixed position of goods shelves, place the board with the tray pile up neatly in order along horizontal direction through the push-and-pull subassembly, after this place the board fully loaded, the board downwardly moving that places of full load 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 shields are symmetrical about the axis of the gripper bar, and have a tendency to move away under the action of the compression spring. When the arm control of robot body snatchs the top of subassembly to the tray, two side guard plates are located the both sides of tray along conveyer belt direction of movement, exert opposite thrust (or set up a guide surface in the constant head tank outside of tray, make two side guard plates enter into guide surface department from the side guard surface this moment, when snatching the pole line and remove, the location arch slides into in the constant head tank under the effect of guide surface) makes the location arch on two side guard plates enter into in the constant head tank. When the gravity of tray shifts to the subassembly of snatching completely, snatch the relative board upward movement certain distance of pole, two pull rods apply the pulling force in opposite directions to two side guard plates, guarantee the tray at the transfer in-process, the location arch is located the constant head tank all the time, makes tray and snatch the subassembly and regard as a whole, avoids the in-process that the tray shifted to break away from the arm of robot body. When placing the tray on placing the board, two side guard plates outwards remove under compression spring's effect, and the location is protruding to withdraw from in the constant head tank, accomplish the unblock voluntarily, do not need extra operation.

3. The first hydraulic cylinder, the push-pull plate, the clamping plate, the rack and the motor can move transversely as a whole through the screw transmission system, and power is provided for push-pull movement of the tray. The first hydraulic cylinder realizes lifting movement of the push-pull plate, the clamping plate, the rack and the motor as a whole, and can repeatedly push-pull the plurality of trays. The 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 guard plates is adjusted, and the clamping and unlocking clamping effects on the tray are guaranteed. Through setting up spacing arch, spacing arch enters into in the constant head tank, through mechanical type locking, guarantees going on smoothly in the push-and-pull process, avoids appearing the condition of skidding.

4. Lifting assemblies are arranged on two sides of the placing plate, and the bearing blocks on the same side are preferably two, namely, four bearing blocks can synchronously lift and move, so that the placing plate is prevented from tilting in the lifting and moving process. The outer side end of the supporting block is exposed out of the sliding groove and plays a supporting role on the placing plate. The support 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 support block can rotate around the axis of the first positioning shaft. The second locating shaft can enter the limiting groove, when the second locating shaft is located in the limiting groove, the bearing block cannot rotate around the axis of the first locating shaft, and the bearing block plays a role in bearing the placing plate. That is, when the support block is required to play bearing force on the placing plate, when the placing plate moves from top to bottom, the second positioning shaft is positioned in the limiting groove, when the placing plate is placed on the upper end of the placing plate below, the support block is required to move to the next placing plate at the uppermost end, when the support block moves upwards, the second positioning shaft is positioned outside the limiting groove, so that the support block can rotate around the axis of the first positioning shaft, and the support block can cross the placing plate. The first positioning shaft and the second positioning shaft head actually support force through the second hydraulic cylinder and the third hydraulic cylinder. The rotation of the support block can be realized at any position, namely, the placing plate can be placed to any height. The adjacent placing plates can be supported by a tray. Through setting up the balancing weight, when making the bearing piece not receive the exogenic action, can make the bearing piece keep the horizontality, guarantee that the second locating shaft 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 in the goods shelves, or will place the board on the lifter plate and push into 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 for placing the tray; or after the tray is taken out from the top to bottom, the placing plate can be taken out and stored. The cross section shape of the guide block is dovetail-shaped or T-shaped, so that the lifting movement path of the placing plate is limited, and the placing plate is prevented from shaking randomly.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.

FIG. 1 is a schematic diagram of the structure of the present invention;

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

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

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

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

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

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

Detailed Description

Embodiments of the technical scheme of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and thus are merely examples, and are not intended to limit the scope of the present invention.

It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

Example 1

The automatic storage 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 put the tray 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 lifting is arranged on the goods shelf 3, a lifting component for controlling a lifting plate 12 to lift is arranged on the goods shelf 3, and a push-pull component 5 for pushing and pulling the tray 101 to transversely move on the placing plate 6 is also arranged in the goods shelf 3.

After the technical scheme is adopted: the pallet 101 of the present invention can move along the conveyor belt 1, the robot body 2 is provided with a gripping module 4, and the gripping module 4 can grip the pallet 101 to transfer the pallet 101 to the shelf 3. Through setting up snatch subassembly 4, tray 101 guarantees the integration of tray 101 and robot body 2 in the transportation in-process, can effectively avoid tray 101 to break away from robot arm. The grabbing component 4 can clamp the tray 101 and automatically release the clamping, so that the rapid clamping and separation can be realized, no additional manual operation is needed, and the labor intensity is reduced. Through setting up lifting unit and push-and-pull subassembly 5, after the robot body 2 repeatedly places tray 101 to a certain fixed position of goods shelves 3, pile up neatly in order on placing board 6 along the horizontally direction through push-and-pull subassembly 5 with tray 101, after this places board 6 fully loaded, the board 6 downwardly moving of placing of full load realizes stacking of vertical direction, and does not need the robot body 2 to remove, reduces the required working space of robot body 2.

Example 2

This example is further optimized on the basis of example 1 as follows: the grabbing assembly 4 comprises a grabbing plate 402, grabbing rods 401, side guard plates 405, connecting rods 403 and positioning protrusions 406; the upper end of snatch pole 401 and the arm interconnect of robot body 2, snatch pole 401's lower extreme runs through snatch board 402, snatch pole 401 can be relative snatch board 402 lift removal, two side shield 405 are located the left and right sides of snatch pole 401 respectively, the upper end of two side shield 405 and the articulated setting of lower extreme of snatch board 402, the location arch 406 sets up the lower extreme inboard at two side shield 405 respectively, the both ends of connecting rod 403 are articulated with side shield 405 and snatch pole 401 respectively, still be provided with compression spring 404 between two side shield 405, the positioning groove 102 with the mutual adaptation of location arch 406 has been seted up to tray 101's both ends outer wall. The positioning protrusions 406 and the positioning grooves 102 are arc-shaped, and the positioning protrusions 406 on the two side guard plates 405 respectively take the hinging points on the corresponding side guard plates 405 as circle centers.

After the technical scheme is adopted: the two side shields 405 are symmetrical about the axis of the gripper bar 401, and the two side shields 405 have a tendency to move away from each other under the action of the compression springs 404. When the arm of the robot body 2 controls the gripping assembly 4 to the upper part of the tray 101, the two side guard plates 405 are located at two sides of the tray 101 along the moving direction of the conveyor belt 1, at this time, opposite thrust is applied to the two side guard plates 405 (or a guiding surface is arranged at the outer side of the positioning groove 102 of the tray 101, so that the two side guard plates 405 enter the guiding surface from the side guard surfaces, and when the gripping rod 401 moves on line, the positioning protrusions 406 slide into the positioning groove 102 under the action of the guiding surface) so that the positioning protrusions 406 on the two side guard 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 guard plates 405, so that the positioning protrusion 406 is always positioned in the positioning groove 102 in the transfer process of the tray 101, the tray 101 and the grabbing component 4 are made to be an integral body, and the tray 101 is prevented from being separated from the arm of the robot body 2 in the transfer process. When the tray 101 is placed on the placement plate 6, the two side guard plates 405 move outward under the action of the compression springs 404, and the positioning protrusions 406 are withdrawn from the positioning grooves 102, so that unlocking is automatically completed without additional operations.

Example 3

This example is further optimized on the basis of example 1 as follows: the push-pull assembly 5 comprises a screw drive 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 transmission system 501 is horizontally arranged at the upper end inside the goods shelf 3, the screw 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 side ends of two racks 507 are connected with the clamping plates 505, the inner side 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 driving wheel positioned inside the push-pull plate 504 is sleeved on a rotating shaft of the motor 506, 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 limit protrusions 508, and the limit protrusions 508 can enter the positioning grooves 102.

After the technical scheme is adopted: by means of the screw transmission system 501, the first hydraulic cylinder 503, the push-pull plate 504, the clamping plate 505, the rack 507 and the motor 506 as a whole can move transversely to power the push-pull movement of the tray 101. The first hydraulic cylinder 503 realizes lifting movement of the push-pull plate 504, the clamping plate 505, the rack 507 and the motor 506 as a whole, and can repeatedly push-pull the plurality of trays 101. The two sides of the push-pull plate 504 are provided with clamping plates 505, and the two clamping plates 505 simultaneously move inwards or outwards under the action of a motor 506, so that the distance between the two side guard plates 405 is adjusted, and the clamping and unlocking clamping effects on the tray 101 are ensured. Through setting up spacing protruding 508, spacing protruding 508 enters into in the constant head tank 102, through mechanical type locking, guarantees going on smoothly in the push-and-pull process, avoids appearing the condition of skidding.

Example 4

This example is further optimized on the basis of example 1 as follows: the lifting assembly comprises a supporting block 7, a first positioning shaft 703 and a second positioning shaft 704; the both sides of goods shelves 3 all are provided with the lifting unit that can synchronous lift remove, the both sides of goods shelves 3 are provided with splint 8, form intermediate layer 801 between splint 8 and the goods shelves 3, spout 802 has been seted up along vertical direction to splint 8, the outside end of supporting piece 7 can run through spout 802, the through-hole 701 has been seted up in the inboard end run through of supporting piece 7, first locating shaft 703 runs through-hole 701, supporting piece 7 can rotate around the axis of first locating shaft 703, spacing groove 702 has been seted up to supporting piece 7, spacing groove 702 is located one side that the through-hole 701 deviates from spout 802, the diapire of supporting 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 supporting block 7 is provided with a balancing weight 705, so that the gravity center of the supporting block 7 is positioned below the through hole 701.

After the technical scheme is adopted: lifting assemblies are arranged on two sides of the placing plate 6, and the bearing blocks 7 on the same side are preferably two, namely, the four bearing blocks 7 can synchronously lift and move, so that the placing plate 6 is prevented from tilting in the lifting and moving process. The outer ends of the bearing blocks 7 are exposed out of the sliding grooves 802, and support the placing plate 6. The supporting block 7 is provided with a through hole 701 and a limiting groove 702 in a penetrating mode, the first positioning shaft 703 penetrates through the through hole 701, and the supporting block 7 can rotate around the axis of the first positioning shaft 703. The second positioning shaft 704 can enter the limiting groove 702, when the second positioning shaft 704 is located in the limiting groove 702, the bearing block 7 cannot rotate around the axis of the first positioning shaft 703, and the bearing block 7 plays a role in bearing the placing plate 6. That is, when the support block 7 is required to play a bearing force on the placement plate 6, when the placement plate 6 moves from top to bottom, the second positioning shaft 704 is located in the limiting groove 702, when the placement plate 6 is placed on the upper end of the placement plate 6 below, the support block 7 is required to move to the uppermost end to support the next placement plate 6, and when the support block 7 moves upwards, the second positioning shaft 704 is located outside the limiting groove 702, so that the support block 7 can rotate around the axis of the first positioning shaft 703, and the support block 7 can pass over the placement plate 6. The heads of the first positioning shaft 703 and the second positioning shaft 704 are actually supported by the second hydraulic cylinder 706 and the third hydraulic cylinder. The rotation of the support block 7 can be realized at any position by the support block 7, namely, the placing plate 6 can be placed at any height. The adjacent placement boards 6 may be supported by a tray 101. By arranging the balancing weight 705, when the supporting block 7 is not acted by external force, the supporting block 7 can be kept in a horizontal state, and the second positioning shaft 704 can enter the limiting groove 702 from bottom to top.

Example 5

This example is further optimized on the basis of example 1 as follows: the lateral wall of goods shelves 3 has still been offered and has been put down groove 14, and the outer wall of goods shelves 3 still is provided with support 9, is provided with electronic push-and-pull rod 10 on the support 9, and electronic push-and-pull rod 10 can stretch into in goods shelves 3 and will place board 6 and take out through put down groove 14, and the below of support 9 is provided with fourth pneumatic cylinder 13, and the fourth telescopic shaft upper end of fourth pneumatic cylinder 13 is provided with lifter plate 12, and lifter plate 12 can be used for supporting the board 6 of placing of taking out in the goods shelves 3. The inner wall of the goods shelf 3 is also provided with a guide groove 15 along the vertical direction, the outer wall of the placing plate 6 is provided with a guide block 16 mutually matched with the guide groove 15, the front end of the electric push-pull rod 10 is provided with an electromagnet 11, and the electromagnet 11 can be adsorbed with the 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, the electric putter front end is provided with electro-magnet 11, can adsorb with guide block 16 when the circular telegram, will place the board 6 and pull out in the goods shelves 3, or will place the 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 into the goods shelf 3 to place the tray 101; or the tray 101 is taken out from the top to bottom, and then the placement plate 6 can be taken out and stored. The cross section of the guide block 16 is dovetail-shaped or T-shaped, which plays a limiting role on the lifting and moving path of the placing plate 6 and prevents the placing plate 6 from shaking randomly.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description.

Claims (8)

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

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

the lifting assembly comprises a supporting block, a first positioning shaft and a second positioning shaft; the lifting assembly capable of synchronously lifting and moving is arranged on two sides of the goods shelf, clamping plates are arranged on two sides of the goods shelf, an interlayer is formed between the clamping plates and the goods shelf, a sliding groove is formed in the clamping plates in the vertical direction, the outer side end of each supporting block can penetrate through the sliding groove, a through hole is formed in the inner side end of each supporting block in a penetrating mode, a first positioning shaft penetrates through the through hole, each supporting block can rotate around the axis of the corresponding first positioning shaft, a limiting groove is formed in each supporting block, the limiting groove is located on one side, away from the sliding groove, of each through hole, the lower end of each limiting groove penetrates through the bottom wall of each supporting block, the second positioning shaft can enter the limiting groove from bottom to top, two ends of each first positioning shaft are provided with second hydraulic cylinders, and two ends of each second positioning shaft are provided with third hydraulic cylinders.

2. The automated warehouse system for an industrial robot of claim 1, wherein: the grabbing component comprises grabbing plates, grabbing rods, side guard plates, connecting rods and positioning protrusions; the upper end of snatch pole and robot body's arm interconnect, snatch the lower extreme of pole and run through the snatch board, snatch the pole and can snatch the board lift relatively and remove, two the side shield is located the left and right sides of snatch pole respectively the upper end of side shield articulates the setting with the lower extreme of snatch board, and the location is protruding to set up respectively in the lower extreme inboard of two side shields, and the both ends of connecting rod are articulated with side shield and snatch pole respectively, two still be provided with compression spring between the side shield, the positioning groove with the mutual adaptation of location arch has been seted up to the both ends outer wall of tray.

3. The automated warehouse system for an industrial robot of claim 2, wherein: the positioning protrusions and the positioning grooves are arc-shaped, and the positioning protrusions on the two side guard plates respectively take the hinging points on the corresponding side guard plates as circle centers.

4. The automated warehouse system for an industrial robot of claim 1, wherein: the inner sides of the two clamping plates are provided with limiting protrusions, and the limiting protrusions can enter the positioning grooves.

5. The automated warehouse system for an industrial robot of claim 1, wherein: the lower extreme of bearing piece is provided with the balancing weight, makes the focus of bearing piece be located the below of through-hole.

6. The automated warehouse system for an industrial robot of claim 1, wherein: the side wall of goods shelves has still been offered and has been stepped down the groove, 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 from in the goods shelves.

7. The automated warehouse system for an industrial robot of claim 6, wherein: the inner wall of goods shelves has still seted up the guide way along vertical direction, the outer wall of placing the board is provided with the guide block with the guide way looks adaptation each other, the front end of electronic push-and-pull rod is provided with the electro-magnet, the electro-magnet can adsorb with the guide block.

8. The automated warehouse system for an industrial robot of claim 7, wherein: the section shape of the guide block is dovetail-shaped or T-shaped.

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