CN114435832A

CN114435832A - Material box carrying robot

Info

Publication number: CN114435832A
Application number: CN202210082104.6A
Authority: CN
Inventors: 谷亚运
Original assignee: Hefei Jingsong Intelligent Technology Co ltd
Current assignee: Hefei Jingsong Intelligent Technology Co ltd
Priority date: 2022-01-24
Filing date: 2022-01-24
Publication date: 2022-05-06
Anticipated expiration: 2042-01-24
Also published as: CN114435832B

Abstract

The invention discloses a material box carrying robot, which comprises a combined upright post mechanism and a lifting driving mechanism; the combined upright post mechanism comprises a fixed upright post fixedly installed with the carrier body, a cargo-carrying upright post used for installing the cargo taking mechanism and a transition upright post driven by the lifting driving mechanism and driving the cargo-carrying upright post to lift; the lifting driving mechanism comprises an oil cylinder arranged in a vertical state, a driving wheel arranged at the top end of the transition stand column and a transmission belt which bypasses the driving wheel and is meshed with the driving wheel, two ends of the transmission belt are respectively fixed at the top end of the fixed stand column and the bottom end of the cargo-carrying stand column, the oil cylinder is arranged with the carrier body, the top end of a push rod of the oil cylinder is connected with the transition stand column to drive the transition stand column to lift, and the transition stand column is lifted to drive the cargo-carrying stand column to lift through the meshed driving wheel and the transmission belt; according to the technical scheme, the combined upright post mechanism is low in height in normal walking, so that the material box carrying robot can walk stably and integrally, and the problem of shaking during walking of the material box carrying robot is avoided.

Description

Material box carrying robot

Technical Field

The invention belongs to the field of intelligent warehouse logistics, and particularly relates to a material box carrying robot.

Background

With the rapid development of the electronic commerce and logistics industry, the work load of warehousing, keeping, sorting and ex-warehouse of various bins is increased rapidly, and the turnover frequency of the bins is increased. Adopt the robot to realize the storage and the transportation of workbin, select by the manual work again, improvement efficiency that can be very big.

Current workbin transfer robot uses the double-column as promoting the guide rail more, thereby it gets from goods shelves to put goods to realize through chain or belt pulling fork up-and-down motion, but the height of stand can increase along with the high increase of goods shelves, it is high to lead to current workbin transfer robot, the automobile body rocks when walking and getting and putting goods obviously, the speed and the precision of operation and deposit and get goods have been reduced, double-column promotes also to lead to automobile body width great simultaneously, it is great to the requirement in tunnel, the storage rate in the warehouse that reduces.

Disclosure of Invention

The invention aims to provide a material box carrying robot, which solves the defects of the material box carrying robot in the prior art.

The invention provides a material box carrying robot, which comprises a carrying vehicle body and a material box lifting device arranged on the carrying vehicle body, wherein the material box lifting device comprises a combined upright post mechanism, a lifting driving mechanism for driving the combined upright post mechanism to lift and a goods taking mechanism arranged on the combined upright post mechanism;

the combined upright post mechanism comprises a fixed upright post fixedly installed with the carrier body, a cargo carrying upright post used for installing the cargo taking mechanism and a transition upright post driven by the lifting driving mechanism and driving the cargo carrying upright post to lift;

the lifting driving mechanism comprises an oil cylinder arranged in a vertical state, a driving wheel arranged at the top end of the transition stand column and a transmission belt which is wound around the driving wheel and is meshed with the driving wheel, two ends of the transmission belt are respectively fixed at the top end of the fixed stand column and the bottom end of the cargo-carrying stand column, the oil cylinder is arranged on the carrier body, the top end of a push rod of the oil cylinder is connected with the transition stand column to drive the transition stand column to lift, and the transition stand column is lifted and lowered through the meshed driving wheel and the transmission belt to drive the cargo-carrying stand column to lift.

Preferably, the fixed stand column, the transition stand column and the cargo-carrying stand column are single stand columns with cross sections in C shapes, the back of the transition stand column is further provided with a limiting guide column facing and clamped on the inner side of the fixed stand column, the cargo-carrying stand column faces the transition stand column, and the cargo taking mechanism is installed on the back of the cargo-carrying stand column.

Preferably, the goods taking mechanism comprises a mounting base fixedly connected with the bottom end of the side surface of the loading upright post, a rotary driving mechanism mounted on the mounting base and a goods compartment assembly driven by the rotary driving mechanism to rotate;

the rotary driving mechanism comprises a rotary power assembly and a rotary support driven by the rotary power assembly; the cargo compartment assembly comprises a fixed cargo compartment which is fixedly connected with the rotary support and is in a half-frame shape and a telescopic fork assembly arranged on the inner bottom surface of the fixed cargo compartment, the telescopic fork assembly comprises a telescopic fork and a telescopic electric cylinder which drives the telescopic fork to enter and exit the fixed cargo compartment, and the telescopic electric cylinder is fixed outside the fixed cargo compartment.

Preferably, the carrier body is further provided with a stacking and unpacking device, and the stacking and unpacking device comprises a material conveying mechanism consistent with the telescopic direction of the telescopic fork, two shifting fork mechanisms which are oppositely arranged on two sides of the material conveying mechanism and synchronously move in the opposite direction or in the opposite direction, and two lifting and carrying mechanisms which respectively drive the two shifting fork mechanisms to synchronously lift;

the shifting fork mechanism comprises shifting fork plates which are arranged in parallel and the moving direction of which is vertical to the conveying direction of the material conveying mechanism, a clamping driving assembly which drives the shifting fork plates to move and a shifting fork mounting plate which is used for mounting the clamping driving assembly; the clamping driving assembly comprises a clamping speed reduction motor and a crank assembly driven by the clamping speed reduction motor; the crank assembly comprises an L-shaped crank and a column wheel fixedly connected to the end, far away from the clamping speed reduction motor, of the crank, a long circular groove is formed in the shifting fork plate, and the column wheel is arranged in the long circular groove; the fork plate is also provided with a guide assembly, the guide assembly comprises a dovetail guide groove arranged on the side surface of the fork plate facing the fork mounting plate and a dovetail guide pillar arranged on the side surface of the fork mounting plate facing the fork plate, the dovetail guide pillar is arranged in the dovetail guide groove, and the center line of the dovetail guide groove is parallel to the clamping direction of the fork plate;

the lifting and carrying mechanism comprises lifting slide rails arranged at two ends of the shifting fork mounting plate and a lifting screw assembly which penetrates through the shifting fork mounting plate and is in threaded connection with the shifting fork mounting plate, lifting slide blocks are respectively arranged on the two lifting slide rails, and the two lifting slide blocks are respectively fixedly arranged with two ends of the shifting fork mounting plate; the lifting screw assembly comprises a screw parallel to the lifting slide rail, and a lifting speed reduction motor connected to one end of the screw and driving the screw to rotate, wherein an avoiding groove with the axis and the clamping direction of the shifting fork plate consistent is formed in the shifting fork plate, and the screw passes through the avoiding groove and is installed.

Preferably, still be provided with travel driving mechanism on the carrier body, travel driving mechanism includes that the equipartition sets up the walking supporting wheel in carrier body bottom and sets up the two action wheels that walk in carrier body bottom, the driving shaft has been passed on the walking action wheel, there is adjustable mounting panel through the bearing rigid coupling on the driving shaft, adjustable mounting panel one end is articulated with the carrier body, and the other end has passed the spliced pole, the cover is equipped with pressure spring on the spliced pole, pressure spring compresses tightly adjustable mounting panel to the ground direction, the main shaft is kept away from walking driving wheel end rigid coupling has the walking motor, walking motor and adjustable mounting panel rigid coupling.

The material box carrying robot has the beneficial effects that:

1. the combined upright post mechanism adopts the design of the combination of the fixed upright post, the transition upright post and the cargo-carrying upright post, and is low in height during normal walking, so that the whole stable walking of the material box carrying robot is facilitated, and the problem of shaking during the walking of the material box carrying robot is avoided.

2. The fixed stand column, the transition stand column and the cargo-carrying stand column are single stand columns with cross sections in C shapes, so that the whole width of the material box carrying robot is small, and the material box carrying robot can walk in various narrow roadways conveniently.

3. The design of getting goods mechanism structure realizes getting goods or putting goods automatically, and easy operation is quick, can realize the quick turnover of workbin.

4. The arrangement of the folding and unpacking device structure is convenient for automatically stacking and disassembling the material box.

5. The mounting structure of the walking driving wheel enables the walking driving wheel to have certain positive pressure on the ground, and the work bin carrying robot convenient for loading stably walks.

Drawings

FIG. 1 is a schematic view of a material box carrying robot according to the present invention when moving a material box,

FIG. 2 is a schematic view of a material box handling robot according to the present invention,

FIG. 3 is a schematic diagram of a lifting state of a material box handling robot according to the present invention,

figure 4 is an enlarged view at a in figure 3,

figure 5 is a block diagram at B in figure 3,

FIG. 6 is a schematic cross-sectional view of a stationary mast, a transition mast and a cargo mast,

figure 7 is a schematic view of the pickup mechanism,

figure 8 is a schematic view of a fork-shifting mechanism,

figure 9 is a schematic view of a crank assembly,

figure 10 is a schematic view of the lift handling mechanism,

FIG. 11 is a schematic view of an adjustable mounting plate installation.

Detailed Description

In order to facilitate the understanding of the technical solutions of the present invention for those skilled in the art, the technical solutions of the present invention will be further described with reference to the drawings attached to the specification.

Generally, a goods taking mechanism is arranged on a carrier, so that the material box can be placed conveniently when the carrier is turned over or stored. In order to lift the bin to the top of the shelf of the warehouse or cancel the bin at the top of the shelf in the warehouse, the picking mechanism needs to move to a position as high as the shelf at most, and due to the rapid development of the electronic commerce and logistics industry, the shelf of the warehouse is higher and higher, and the corresponding picking mechanism needs to move to a higher position. In the prior art, the column or guide post or guide rail and the like moving along with the goods shelf are almost as high as or even higher than the goods shelf, so that the problem of shaking and the like can occur when the column or guide post or guide rail is too high and moves along with the carrier, and the carrier can incline or even topple over and the like. Meanwhile, in order to ensure the bearing of the upright post or the guide rail, the upright post or the guide rail needs to be designed to be heavier or thicker, and in order to promote the installation of a motor, a chain and the like and ensure the stability and balance of the upright post or the guide rail, the upright post or the guide rail can be designed to be wider, and for some warehouses or goods shelves with narrow channels, the conventional carrier is difficult to enter or can not fall off after entering, so that the normal work of the carrier is influenced, and the normal turnover of a bin is influenced.

In order to solve the problems, the invention provides a material box carrying robot. As shown in fig. 1, a material box handling robot according to an embodiment of the present invention includes a carrier body 100 and a material box lifting device mounted on the carrier body 100. The bin lifting device comprises a combined upright post mechanism 200, a lifting driving mechanism 210 for driving the combined upright post mechanism 200 to lift, and a goods taking mechanism 300 arranged on the combined upright post mechanism 200. The lifting driving mechanism 210 works to drive the combined upright post mechanism 200 to wholly rise or fall, so that the goods taking mechanism 300 is lifted or lowered.

In this technical solution, as shown in fig. 3 and 4, the combination pillar mechanism 200 includes a fixed pillar 201 fixedly mounted to the truck body 100, a cargo pillar 202 for mounting the pickup mechanism 300, and a transition pillar 203 driven by the lifting driving mechanism 210 and driving the cargo pillar 202 to lift. By fixedly mounting the fixed upright 201 and the truck body 100, a mounting reference position is provided for the transition upright 203 and the loading upright 202, and a guiding function is provided for the lifting of the transition upright 203 and the loading upright 202.

The combined upright post mechanism 200 can be lifted, namely, the combined upright post mechanism is of a multi-stage single upright post structure, when the carrier body 100 carries out turnover, carrying and walking on materials, the combined upright post mechanism 200 descends, and the overall height of the combined upright post mechanism 200 is lower. The structural design of the combined upright post mechanism 200 can obtain a large lifting height when the combined upright post mechanism is at a low height, and the combined upright post mechanism is suitable for the requirements of high shelves. Meanwhile, the combined upright post mechanism 200 greatly reduces the overall height of the robot after descending, so that the robot can pass through certain height limits, and the requirement of a use site is reduced. Meanwhile, when the robot is very high, the gravity center is too high, so that the robot can greatly shake when the vehicle body walks, the robot cannot run at high speed, the precision of navigation can be reduced by shaking, the height of the robot is reduced by the design of the combined upright post mechanism 200, the shaking is reduced, the robot can run at high speed and high precision, and the working efficiency is improved.

In the present technical solution, as shown in fig. 4, the fixed column 201, the transition column 203, and the cargo column 202 are all single columns having a C-shaped cross section. The back of the transition upright 203 is also provided with a limit guide post 2031 facing and clamped inside the fixed upright 201. The cargo column 202 is disposed toward the transition column 203. The pickup mechanism 300 is mounted to the back of the cargo post 202.

Based on the above technical scheme's setting, the design of the single-upright structure of the cross section personally submitting C shape of fixed column 201, transition stand 203 and cargo stand 202 for the combination stand mechanism 200 width is little, can effectively reduce or reduce robot car body width, has reduced the robot to walking, operation, the tunnel width requirement that passes through, can increase the space utilization of factory building. Among this technical scheme, fixed stand 201, transition stand 203 and the stand 202 that carries cargo are when installation and promotion, and fixed stand 201, transition stand 203 and the mutual coincidence of the stand 202 that carries cargo are partial higher, have reduced lift process transition stand 203 self and have rocked and around the degree, have ensured that get goods mechanism 300 and have got and put workbin 500 more accurate quick.

Based on the technical scheme, the sections of the fixed upright 201, the transition upright 203 and the cargo upright 202 are C-shaped, the uprights can be mounted in a slot type through the section, and meanwhile, auxiliary sliding and limiting rollers or backing plates are mounted in the slots, so that the uprights can slide linearly, and the stability and the determined lifting track of each upright are ensured.

For the convenience of installation, layout and transmission, the fixed upright 201, the transition upright 203 and the cargo upright 202 are arranged in a straight line in sequence, as shown in fig. 1 and 5. The number of the transition columns 203 can be one, or two or more. In fig. 1 and 4, the number of transition pillars 203 is one, and in fig. 5, the number of transition pillars 203 is two. When the number of the transition upright columns is one or two or more, the transition upright columns are driven to ascend and descend through the ascending and descending driving mechanism, and the driving principle and the driving mode are the same.

In the technical scheme, the fixed upright 201, the transition upright 203 and the cargo upright 202 are all made of aluminum alloy sections, so that the weight is light, the bearing capacity is large, and the cost is low.

As shown in fig. 4 and fig. 6, in the present embodiment, the lifting driving mechanism 210 includes an oil cylinder 211 disposed in a vertical state, a driving wheel 204 mounted at the top end of the transition column 203, and a driving belt 205 passing around the driving wheel 204 and engaged therewith. The two ends of the transmission belt 205 are respectively fixed at the top end of the fixed upright 201 and the bottom end of the loading upright 202. The oil cylinder 211 is installed with the carrier body 100. The top end of a push rod of the oil cylinder 211 is connected with the transition upright column 203 to drive the transition upright column 203 to lift. The transition column 203 is lifted and lowered to drive the cargo column 202 to lift and lower through the meshed transmission wheel 204 and the transmission belt 205. The drive pulley 204 may be a sprocket or pulley or the like, and the drive belt 205 may be a chain or drive chain or the like.

Based on the technical scheme, the oil cylinder 211 works, the push rod of the oil cylinder 211 is pushed out upwards, the transition upright column 203 connected with the push rod ascends, the transmission wheel 204 drives the transmission belt 205 to move, one end of the transmission belt 205 is fixed with the fixed upright column 201, and the other end of the transmission belt ascends along with the ascending of the transmission wheel, so that the cargo upright column 202 is pulled to ascend. Meanwhile, according to the movable pulley principle, the lifting height of the cargo column 202 is twice of the pushing height of the push rod of the oil cylinder 211, namely twice of the lifting height of the transition column 203.

Based on the technical scheme, the lifting driving mechanism 210 can obtain a large lifting height when the fixed upright 201, the transition upright 203 and the cargo upright 202 are at a low height, so that the overall height of the robot is greatly reduced, the robot can pass through certain height limits, and the requirements of a use site are reduced.

In order to further obtain higher lifting height, transition columns can be added, and a plurality of transition columns are sequentially arranged between the fixed columns and the cargo column in a straight line shape. As shown in fig. 5, two transition pillars 203 are provided. When there are a plurality of transition columns 203, there are a plurality of transmission wheels 204 and transmission belts 205, the number of the transmission wheels is equal to that of the transition columns, a transmission wheel is installed on the top of each transition column 203, and each transmission wheel is wound around a transmission belt. Sequentially labeling the transition upright columns from the side close to the fixed upright column to the cargo-carrying upright column as a first transition upright column, a second transition upright column and a third transition upright column … …, wherein after a first transmission belt winds a first transmission wheel on the first transition upright column, one end of the first transmission belt is fixed at the top end of the fixed upright column, and the other end of the first transmission belt is fixed at the bottom end of the second transition upright column; after the second drive belt bypasses the second drive wheel on the second transition stand column, the top end of the first transition stand column is fixed at one end, the other end of the first transition stand column is fixed at the bottom end of the fourth transition stand column, and the rest is done by analogy, and the tail end of the last drive belt is fixed at the bottom end of the cargo-carrying stand column. This technical scheme's setting, can be further fixed stand, transition stand and the very low condition of the stand height that carries cargo, obtain very big lifting height when self is very low, very big reduction the overall height of robot, adapt to the needs of higher goods shelves simultaneously.

The design of the lifting driving mechanism 210 and the combined upright post mechanism 200 structure of the technical scheme ensures that the coincident parts between the upright posts are higher when the lifting mechanism is lifted, the self-shaking and winding degree of the upright posts in the lifting process is reduced, and the material box 500 of the goods taking mechanism 300 is more accurately and quickly taken and placed.

In the above technical solution, the lifting driving mechanism 210 further includes a pump station assembly 212, and a shut-off valve 21 and a pipe fitting connecting the pump station assembly 212 and the oil cylinder 211. The oil cylinder 211 is a single-operation oil cylinder, the oil cylinder rises when the pump station assembly 212 works to supply oil, the oil cylinder 211 descends due to the weight of the combined upright post mechanism 200 and the goods taking mechanism 300 when the pump station assembly 212 does not work and an oil return opening is opened, and the stop valve 213 is installed at the bottom of the oil cylinder 211 and connected with each other through a connecting pipe fitting. The combined upright post mechanism 200 uses hydraulic lifting, the lifting load is increased, meanwhile, the pump station assembly 212 adopts servo hydraulic control, the control precision is high, the accuracy of the lifting height can be ensured, meanwhile, the oil cylinder can be cut off by the cut-off valve 213 when the hydraulic system fails, the transition upright post and the cargo-carrying upright post are ensured not to fall, and the safety protection effect is achieved.

As shown in fig. 1, 3 and 7, the pickup mechanism 300 includes a mounting base 301 fixedly connected to the bottom end of the side surface of the loading column 202, a rotary driving mechanism mounted on the mounting base 301, and a cargo box assembly driven to rotate by the rotary driving mechanism. The rotary driving mechanism comprises a rotary power assembly 302 and a rotary support 303 driven by the rotary power assembly 302. The cargo box assembly comprises a fixed cargo box 304 which is fixedly connected with the rotary support 303 and is in a half-frame shape, and a telescopic fork assembly arranged on the inner bottom surface of the fixed cargo box 304. The telescopic fork assembly comprises telescopic forks 305 and a telescopic electric cylinder 306 for moving the telescopic forks 305 into and out of the fixed cargo compartment 304. The telescopic electric cylinder 306 is fixed outside the fixed cargo compartment 304.

Based on above-mentioned technical scheme, get goods mechanism 300 and go up and down along with carrying goods stand 202, realize promoting workbin 500 to the eminence or getting off the acquisition of goods shelves eminence, realize workbin 500's turnover and access operation. The arrangement of the rotary driving mechanism enables the cargo box assembly to rotate, and the material boxes 500 in different positions and directions can be taken and placed. The rotary power assembly 302 drives the rotary support to rotate 303 through a gear, and the telescopic fork 305 is installed on the rotary support 303 so as to rotate along with the rotation of the rotary support 303, so that the telescopic fork 305 can be used for fetching and placing the bin from the shelf and the storage mechanism back and forth. The telescopic fork is crossed with the traditional chain wheel for transmission and rotation, and the invention is realized through gear transmission, thereby improving the precision and the stability of rotation and ensuring the precision of taking and placing the material box by the telescopic fork.

Based on above-mentioned technical scheme, the setting of flexible fork 305 can go deep into goods shelves etc. places the workbin on goods shelves or takes off the workbin on the goods shelves, easy operation.

In this embodiment, as shown in fig. 1, the folding and unpacking device 400 is further installed on the cart body 100. As shown in fig. 2, the folding and unpacking device 400 includes a feeding mechanism 420 having a same extension direction as that of the telescopic pallet fork 305, two fork mechanisms 430 oppositely disposed at two sides of the feeding mechanism 420 and moving toward or away from each other synchronously, and two lifting and carrying mechanisms 410 for respectively driving the two fork mechanisms 430 to lift and lower synchronously.

Based on the above technical scheme, the two fork mechanisms 430 and the two lifting and carrying mechanisms 410 are respectively located at two sides of the material conveying mechanism 420, the material box 500 is conveyed or placed on the material conveying mechanism 420 through the telescopic fork 305 of the material taking mechanism 300, after the material box 500 is located on the material conveying mechanism 420, the two fork mechanisms 430 clamp the lowest material box at first, then the lifting and carrying mechanisms 410 drive the two fork mechanisms 430 and the clamped material box to ascend, then the material box is conveyed to the material conveying mechanism 420 through the material taking mechanism 300, and after the material box is conveyed in place, the lifting and carrying mechanisms 410 drive the two fork mechanisms 430 and the original clamped material box to descend to the newly conveyed material box in place, so that the folding operation is realized, a plurality of material boxes can be stacked on the material conveying mechanism 420, and then the carrier body 100 integrally travels to realize the conveying and turnover of the material boxes. On the contrary, firstly, the two fork mechanisms 430 clamp the two last but one boxes at the lowest layer, and the lifting and carrying mechanism 410 drives the two fork mechanisms 430 and the clamped bins to ascend, after the bin at the last but one layer leaves the bin at the lowest layer, the conveying mechanism 420 conveys the bin at the lowest layer out (to the goods taking mechanism 300), and then the two fork mechanisms 430 and the clamped bins descend, so as to realize the unpacking operation.

As shown in fig. 8 and 9, in the present embodiment, the shifting fork mechanism 430 includes a shifting fork plate 401 disposed in parallel and having a moving direction perpendicular to a conveying direction of the material conveying mechanism 420, a clamping driving assembly for driving the shifting fork plate 401 to move, and a shifting fork mounting plate 402 for mounting the clamping driving assembly. The clamping driving assembly comprises a clamping speed reduction motor 403 and a crank assembly 404 driven by the clamping speed reduction motor 403. The crank assembly 404 includes an L-shaped crank 4041 and a column wheel 406 affixed to the end of the crank 4041 remote from the clamp gear motor 403. The shifting fork plate 401 is provided with a long circular groove 405, and the column wheel 406 is arranged in the long circular groove 405. The shifting fork plate 401 is further provided with a guide component 407, and the guide component 407 comprises a dovetail guide groove 4071 arranged on the side surface of the shifting fork plate 401 facing the shifting fork mounting plate 402 and a dovetail guide post 4072 arranged on the side surface of the shifting fork mounting plate 402 facing the shifting fork plate 401. The dovetail guide post 4072 is arranged in the dovetail guide groove 4071, and the center line of the dovetail guide groove 4071 is parallel to the clamping direction of the fork 401.

Based on the above technical scheme, the clamping speed reduction motor 403 works to drive the crank 4041 to rotate, the column wheel 406 at the end of the crank 4041 moves in the long circular groove 405, the shifting fork plates 401 are driven to move along the central line direction of the dovetail guide groove 4071, the two shifting fork plates 401 move relatively to realize clamping, and the two shifting fork plates 401 move backwards to realize releasing. Among the above-mentioned technical scheme, adopt two relative shifting fork boards 401 to realize pressing from both sides tight workbin 500 for press from both sides tight position area of contact big, press from both sides tightly reliably, bearing capacity increases, can press from both sides tight and go up and down to the workbin of more multilayer. Among the above-mentioned technical scheme, through the design of forked tail guide slot 4071 and forked tail guide pillar 4072 structure, realize the direction of declutch board 401, based on the characteristics of forked tail guide slot 4071 and forked tail guide pillar 4072 self structure for outside declutch board 401 obtained the ascending direction of a removal, still realized the spacing and the installation of declutch board in vertical direction, avoid in pressing from both sides tightly, declutch board 401 takes place the skew scheduling problem in vertical direction, has ensured to press from both sides tightly reliably. Among the above-mentioned technical scheme, realize the drive guiding mechanism that declutch shift plate 401 moved and pressed from both sides through crank assembly 404, the clamp force is big, crank assembly 404 self simple structure, and is small, the installation and the overall arrangement of being convenient for.

As shown in fig. 10, in the present embodiment, the lifting/lowering mechanism 410 includes lifting/lowering rails 411 disposed at both ends of the fork mounting plate 402, and a lifting/lowering screw assembly 413 passing through the fork mounting plate 402 and screwed thereto. The two lifting slide rails 411 are respectively provided with a lifting slide block 412, and the two lifting slide blocks 412 are respectively fixedly mounted with two ends of the shifting fork mounting plate 402. The lifting screw component 413 comprises a screw parallel to the lifting slide rail and a lifting speed reducing motor 414 connected to one end of the screw and driving the screw to rotate. An avoiding groove 415 with the axis in the same clamping direction with the shifting fork plate 401 is formed in the shifting fork plate 401, and the screw passes through the avoiding groove 415 and is installed.

Based on the technical scheme, the lifting is realized through the lifting screw rod component 413 and the lifting speed reducing motor 414, the lifting positioning is accurate, the structure is simple, the installation and the layout are convenient, and the safety is ensured. The fork mounting plate 402 is synchronously linearly reciprocated up and down.

As shown in fig. 2, in the present technical solution, the material conveying mechanism 420 includes a conveying surface mainly composed of a plurality of conveying roller shafts driven by a conveying motor, and a box baffle disposed at the end of the conveying surface far from the goods taking mechanism 300. The height of the conveying surface is adapted to the height of the telescopic fork 305, and the width and length dimensions of the conveying surface are at least adapted to the dimensions of the bin. The baffle plate can realize vertical fixation or direction through the cylinder and the like, so that the bins and the like can conveniently enter the conveying surface from two ends of the conveying surface.

Based on the technical scheme, the unpacking operation is used; the stacked material boxes 500 are conveyed to the conveying surface of the conveying mechanism 420 through an external conveying line, or stacked on the conveying surface of the conveying mechanism 420 through the goods taking mechanism 300; then, the lifting and carrying mechanism 410 is lifted synchronously to drive the two fork plates 401 of the two fork mechanisms 430 to rise to the middle position of the second bin from bottom to top, the two fork plates 401 move synchronously inwards to clamp the second bin from bottom to top and then lift upwards for a certain distance, so that the first bin at the lowest part and the second bin from bottom to top are separated, only the first bin is left on the conveying surface of the material conveying mechanism 420, the conveying roller shaft of the material conveying mechanism 420 rotates to convey the bin 500 at the lowest part to the goods taking mechanism 300, and the goods taking mechanism 300 can take away one bin 500 at the lowest layer for storage or turnover and the like.

Based on the technical scheme, the box stacking operation is used as the operation; the two lifting and carrying mechanisms 410 synchronously act to move the two fork plates 401 of the two fork mechanisms 430 to the side surface of the lowest material box 500, then the two fork mechanisms 430 work, the two fork plates 401 clamp the lowest material box, then the two lifting and carrying mechanisms 410 synchronously rise to drive the two fork mechanisms 430 and the material boxes clamped by the two fork mechanisms to rise for a certain distance, no material box exists on the conveying surface of the material conveying mechanism 420, the goods taking mechanism 300 can convey one material box to the conveying surface of the material conveying mechanism 420, or an external conveying line can convey one material box to the conveying surface, after the conveying is in place, the two fork mechanisms 430 and the material boxes clamped by the two fork mechanisms 430 descend to stack the original lifted material box on the lowest material box, and the box stacking operation is completed.

Based on above-mentioned technical scheme, the workbin when transport and storage, can a plurality of or multilayer workbin simultaneous operation, the operation of folding the case or unpacking of once accomplishing to deposit need not the monomer one by one and deposits, very big promotion efficiency. Meanwhile, the space occupied by the stacked material box is small, the storage capacity of the trolley is increased, and the overall height of the trolley is also reduced.

As shown in fig. 11, in the present embodiment, the cart body 100 is further provided with a traveling driving mechanism 120, and the traveling driving mechanism 120 includes traveling support wheels 130 evenly disposed at the bottom of the cart body 100 and two traveling driving wheels 121 disposed at the bottom of the cart body 100. A driving shaft 122 penetrates through the walking driving wheel 121, and an adjustable mounting plate 123 is fixedly connected to the driving shaft 122 through a bearing. One end of the adjustable mounting plate 123 is hinged to the truck body 100, and the other end thereof passes through a connecting column 126, and the connecting column 126 is sleeved with a pressing spring 125. The pressing spring 125 presses the adjustable mounting plate 123 toward the ground. The end of the spindle shaft 122, which is far away from the walking driving wheel 121, is fixedly connected with a walking motor 124, and the walking motor 124 is fixedly connected with an adjustable mounting plate 123.

Based on the above technical solution, the adjustable mounting plate 123, the connecting column 126 and the pressing spring 125 are structurally designed, so that the walking driving wheel 121 is always in contact with the ground and keeps a certain positive pressure, and the carrier body 100 is ensured to be freely movable on the ground without slipping; meanwhile, the carrier body 100 can be better adapted to the uneven ground, so that the carrier body does not shake or jolt greatly when walking on the uneven ground. The four-walking supporting wheels 130 are arranged at four vertex angles at the bottom of the carrier body 100 and serve as four supporting points of the carrier body, so that a large fixed bearing surface is formed, the carrier body 100 is not easy to shake, the main weight of the carrier body 100 is shared, and meanwhile, the stable running of the carrier body 100 on the ground is also ensured.

Technical solution of the invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive method concept and technical solution, or to apply the inventive concept and technical solution to other occasions without modification.

Claims

1. The material box carrying robot is characterized by comprising a carrying vehicle body and a material box lifting device arranged on the carrying vehicle body, wherein the material box lifting device comprises a combined upright post mechanism, a lifting driving mechanism for driving the combined upright post mechanism to lift and a goods taking mechanism arranged on the combined upright post mechanism;

2. The bin transfer robot as claimed in claim 1, wherein the fixed column, the transition column and the cargo column are single columns each having a C-shaped cross section, a limit guide column is further provided on a back surface of the transition column and engaged with an inner side of the fixed column, the cargo column is disposed toward the transition column, and the pickup mechanism is mounted on the back surface of the cargo column.

3. The bin handling robot of claim 1, wherein the pickup mechanism includes a mounting base fixedly connected to the bottom end of the side of the loading column, a rotary drive mechanism mounted to the mounting base, and a cargo box assembly driven to rotate by the rotary drive mechanism;

4. The material box carrying robot as claimed in claim 1, wherein the carrying vehicle body is further provided with a folding and unpacking device, the folding and unpacking device comprises a material conveying mechanism consistent with the telescopic direction of the telescopic fork, two shifting fork mechanisms which are oppositely arranged at two sides of the material conveying mechanism and synchronously move towards or away from each other, and two lifting and carrying mechanisms which respectively drive the two shifting fork mechanisms to synchronously lift;

5. The material box carrying robot as claimed in claim 1, wherein the carrying vehicle body is further provided with a traveling driving mechanism, the traveling driving mechanism comprises a traveling supporting wheel uniformly distributed at the bottom of the carrying vehicle body and a two traveling driving wheels arranged at the bottom of the carrying vehicle body, a driving shaft passes through the traveling driving wheels, an adjustable mounting plate is fixedly connected to the driving shaft through a bearing, one end of the adjustable mounting plate is hinged to the carrying vehicle body, the other end of the adjustable mounting plate passes through a connecting column, a pressing spring is sleeved on the connecting column and presses the adjustable mounting plate towards the ground, a traveling motor is fixedly connected to the end of the traveling driving wheel far away from the main shaft, and the traveling motor is fixedly connected to the adjustable mounting plate.