CN114435832B

CN114435832B - Material box carrying robot

Info

Publication number: CN114435832B
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: 2023-06-27
Anticipated expiration: 2042-01-24
Also published as: CN114435832A

Abstract

The invention relates to 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 arranged 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 upright post and a driving belt which bypasses the driving wheel and is meshed with the driving wheel, two ends of the driving belt are respectively fixed at the top end of the fixed upright post and the bottom end of the cargo carrying upright post, 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 upright post to drive the transition upright post to lift, and the transition upright post lifts and drives the cargo carrying upright post to lift through the meshed driving wheel and the driving belt; according to the workbin transfer robot, in normal walking, the height of the combined upright post mechanism is low, so that the workbin transfer robot can walk stably and integrally, and the problem of shaking in the walking process of the workbin transfer 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 electronic commerce and logistics industry, the work load of warehousing, keeping, sorting and ex-warehouse of various bins is greatly increased, and the frequency of bin turnover is also increased. Adopt the robot to realize the storage and the transportation of workbin, select by the manual work again, efficiency can be very big improvement.

The existing workbin transfer robot mostly uses double-upright posts as lifting guide rails, and pulls the fork to move up and down through a chain or a belt so as to take and put goods from a goods shelf, but the height of the upright posts can be increased along with the increase of the height of the goods shelf, so that the existing workbin transfer robot is higher, a vehicle body shakes obviously during walking and taking and putting goods, the speed and the precision of running and goods taking are reduced, meanwhile, the width of the vehicle body is larger due to lifting of the double-upright posts, the requirement on a roadway is larger, and the storage rate of a warehouse is reduced.

Disclosure of Invention

The invention aims to provide a bin handling robot which solves the defects of the bin handling robot in the prior art.

The invention relates to a material box carrying robot, which comprises a carrier body and a material box lifting device arranged on the carrier 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 arranged 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 upright post and a driving belt which bypasses the driving wheel and is meshed with the driving wheel, two ends of the driving belt are respectively fixed at the top end of the fixed upright post and the bottom end of the cargo upright post, 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 upright post to drive the transition upright post to lift, and the transition upright post lifts and lowers the cargo upright post through the meshed driving wheel and the meshed driving belt.

Preferably, the fixed upright, the transition upright and the cargo upright are all single uprights with C-shaped cross sections, the back of the transition upright is also provided with a limiting guide post which faces and is clamped on the inner side of the fixed upright, the cargo upright faces the transition upright, and the cargo taking mechanism is arranged on the back of the cargo upright.

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

the rotary driving mechanism comprises a rotary power assembly and a rotary support driven by the rotary power assembly; the goods railway carriage or compartment subassembly include with the gyration support rigid coupling is the fixed goods railway carriage or compartment of half frame form and set up flexible fork subassembly on the bottom surface in the fixed goods railway carriage or compartment, flexible fork subassembly includes flexible fork and drive flexible fork business turn over the flexible electric jar of fixed goods railway carriage or compartment, flexible electric jar is fixed in the outside of fixed goods railway carriage or compartment.

Preferably, the carrier body is also provided with a stacking and unpacking device, and the stacking and unpacking device comprises a material conveying mechanism consistent with the telescopic direction of a telescopic fork, two shifting fork mechanisms which are oppositely arranged at two sides of the material conveying mechanism and synchronously do opposite or opposite movement, 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 have the moving direction perpendicular to the conveying direction of the conveying mechanism, a clamping driving assembly for driving the shifting fork plates to move, and a shifting fork mounting plate for mounting the clamping driving assembly; the clamping driving assembly comprises a clamping speed reducing motor and a crank assembly driven by the clamping speed reducing motor; the crank assembly comprises an L-shaped crank and a column wheel fixedly connected to the end, far away from the clamping speed-reducing motor, of the crank, a long round groove is formed in the shifting fork plate, and the column wheel is arranged in the long round groove; the guide assembly comprises a dovetail guide groove arranged on the side surface of the shifting fork plate, facing the shifting fork mounting plate, and a dovetail guide post arranged on the side surface of the shifting fork mounting plate, facing the shifting fork plate, wherein the dovetail guide post is arranged in the dovetail guide groove, and the center line of the dovetail guide groove is parallel to the clamping direction of the shifting fork plate;

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

Preferably, the carrier body is last still to be provided with walking actuating mechanism, walking actuating mechanism sets up at the walking supporting wheel of carrier body bottom and sets up two walking action wheels in carrier body bottom including the equipartition, it has the driving shaft to pass 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 passes there is the spliced pole, the cover is equipped with compression spring on the spliced pole, compression spring compresses tightly adjustable mounting panel to the ground direction, the main shaft is kept away from walking action wheel end rigid coupling has the walking motor, walking motor and adjustable mounting panel rigid coupling.

The beneficial effects of the material box carrying robot in the technical scheme are as follows:

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

2. The fixed upright post, the transition upright post and the cargo upright post are all single upright posts with the cross sections of being C-shaped, so that the overall width of the workbin transfer robot is smaller, and the workbin transfer robot can walk in various narrower roadways conveniently.

3. The design of the goods taking mechanism structure realizes automatic goods taking or goods placing, is simple and quick to operate, and can realize quick turnover of the material box.

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

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

Drawings

Figure 1 is a schematic diagram of a bin handling robot according to the technical scheme of the invention when handling bins,

figure 2 is a schematic structural view of a bin handling robot according to the technical solution of the invention,

figure 3 is a schematic view of a lifting state of a bin handling robot according to the technical solution of the invention,

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

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

figure 6 is a schematic cross-sectional view of a stationary post, a transition post and a cargo post,

figure 7 is a schematic view of a pick mechanism,

figure 8 is a schematic view of a fork mechanism,

figure 9 is a schematic view of a crank assembly,

figure 10 is a schematic view of a lifting and transporting mechanism,

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

Detailed Description

In order to facilitate the understanding of the technical scheme of the present invention by those skilled in the art, the technical scheme of the present invention will be further described with reference to the accompanying drawings.

A cargo taking mechanism is generally arranged on the carrier, so that the bin is conveniently placed when the bin is turned around or stored. In order to facilitate lifting the bin to the top of the warehouse shelf or canceling the bin at the top of the shelf in the warehouse, the goods taking mechanism is required to move to the same height as the shelf at the highest, and due to the rapid development of electronic commerce and logistics industry, the warehouse shelf is also higher and higher, and the corresponding goods taking mechanism is required to move to a higher position. In the prior art, the upright post or the guide rail for realizing the movement of the goods taking mechanism is almost equal to or even higher than the goods shelf, so that the problems of shaking and the like can occur when the overhigh upright post or the guide rail moves along with the carrier, and the problems of tilting and even dumping of the carrier can be caused. Meanwhile, in order to ensure that the upright post or the guide rail bears the weight, the upright post or the guide rail needs to be designed to be heavier or thicker, and meanwhile, 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, so that the existing carrier is difficult to enter a position between some narrow warehouses or shelves, or can not fall off after entering, and the normal work of the carrier is influenced, and the normal turnover of a material box is influenced.

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

In this technical solution, as shown in fig. 3 and fig. 4, the combined upright mechanism 200 includes a fixed upright 201 fixedly mounted on the carrier body 100, a cargo upright 202 for mounting the cargo picking mechanism 300, and a transition upright 203 driven by the lifting driving mechanism 210 and driving the cargo upright 202 to lift. By fixedly mounting the fixing upright 201 to the truck body 100, an installation reference position is provided for the transition upright 203 and the cargo carrying upright 202, and a guiding function is provided for lifting and lowering of the transition upright 203 and the cargo carrying 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, transportation 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 height of the combined upright post mechanism is very low, and is suitable for the requirement of a high goods shelf. Meanwhile, the combined upright post mechanism 200 greatly reduces the overall height of the robot after being lowered, so that the robot can pass through a plurality of limit heights, and the requirement of a use site is reduced. Meanwhile, when the robot is very high, the gravity center is too high to cause the vehicle body to walk, the robot shakes very much, the robot cannot run at a high speed, the shaking can also reduce the navigation precision, the design of the combined upright post mechanism 200 reduces the height of the robot, the shaking is reduced, the robot can run at a high speed and high precision, and the working efficiency is improved.

In this technical solution, as shown in fig. 4, the fixing upright 201, the transition upright 203 and the cargo upright 202 are all single uprights with a C-shaped cross section. The back of the transition upright post 203 is further provided with a limit guide post 2031 facing and clamped on the inner side of the fixed upright post 201. The cargo mast 202 is disposed toward the transition mast 203. The cargo handling mechanism 300 is mounted to the rear of the cargo mast 202.

Based on the above technical scheme, the design of the structure of the single upright column with the cross section of the fixed upright column 201, the transition upright column 203 and the cargo upright column 202 being in the C shape enables the width of the combined upright column mechanism 200 to be small, the width of the robot body to be effectively reduced or reduced, the requirement of the robot on the width of a roadway for walking, running and passing is reduced, and the space utilization rate of a factory building can be increased. In this technical scheme, when the fixed stand 201, the transition stand 203 and the upright 202 that carries cargo are installed and lifted, the overlapping portion of the fixed stand 201, the transition stand 203 and the upright 202 that carries cargo is higher, so that the shaking and the winding degree of the transition stand 203 in the lifting process are reduced, and the fact that the picking and placing box 500 of the picking and placing mechanism 300 is more accurate and rapid is ensured.

Based on the above technical scheme, the sections of the fixed upright 201, the transition upright 203 and the cargo upright 202 are C-shaped, and the section forms can enable the upright to be installed in a slot mode, and meanwhile, the auxiliary sliding and limiting rollers or backing plates are installed in the slot mode, so that the upright can slide in a straight line mode, and the stability and the determined lifting track of the upright are ensured.

For easy installation, layout and transmission, the fixing upright 201, the transition upright 203 and the cargo upright 202 are arranged in a row in sequence, as shown in fig. 1 and 5. The number of the transition posts 203 may be one or two or more. In fig. 1 and 4, the number of the excessive columns 203 is one, and in fig. 5, the number of the excessive columns 203 is two. When the transition upright posts are one or two or more, the transition upright posts are driven to lift through the lifting 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 is large, and the cost is low.

As shown in fig. 4 and 6, in this embodiment, the lifting driving mechanism 210 includes an oil cylinder 211 disposed in a vertical state, a driving wheel 204 mounted on the top end of the transition upright 203, and a driving belt 205 that bypasses the driving wheel 204 and is meshed with the driving wheel. The drive belt 205 is secured at each end to the top end of the stationary upright 201 and the bottom end of the cargo upright 202. The oil cylinder 211 is mounted to the truck body 100. The top end of the push rod of the oil cylinder 211 is connected with the transition upright post 203 to drive the transition upright post 203 to lift. The transition upright 203 is lifted and lowered, and the cargo upright 202 is driven to lift and lower by a meshed driving wheel 204 and a driving belt 205. The drive wheel 204 may be a sprocket or pulley, etc., and the drive belt 205 may be a chain or drive train, etc.

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

Based on the above technical scheme, the design of the lifting driving mechanism 210 structure can enable the fixed upright column 201, the transition upright column 203 and the cargo upright column 202 to obtain a large lifting height when the height is very low, so that the overall height of the robot is greatly reduced, the robot can pass through a plurality of limit heights, and the requirement of a use field is reduced.

In order to further obtain higher lifting height, a transition upright post can be added, and a plurality of transition upright posts are arranged between the fixed upright post and the cargo upright post in a straight shape in sequence. As shown in fig. 5, the transition post 203 is provided with two. When the transition upright posts 203 are multiple, the number of the driving wheels 204 and the driving belts 205 is equal to that of the transition upright posts, and a driving wheel is arranged at the top of each transition upright post 203 and bypasses one driving belt. Sequentially marking the transition upright posts from the side close to the fixed upright post to the cargo carrying upright post as a first transition upright post, a second transition upright post and a third transition upright post … …, wherein after a first transmission belt bypasses a first transmission wheel on the first transition upright post, one end of the first transmission belt is fixed with the top end of the fixed upright post, and the other end of the first transmission belt is fixed with the bottom end of the second transition upright post; after the second transmission belt bypasses the second transmission wheel on the second transition upright post, one end is fixed at the top end of the first transition upright post, the other end is fixed at the bottom end of the fourth transition upright post, and so on, and the tail end of the last transmission belt is fixed at the bottom end of the cargo carrying upright post. The setting of this technical scheme can be further under the very low circumstances of fixed stand, transition stand and upright height that carries cargo, obtains very big lifting height when self very low highly, very big reduction the whole height of robot, adaptation higher goods shelves's needs simultaneously.

The design of the lifting driving mechanism 210 and the combined upright post mechanism 200 in the technical scheme ensures that the superposition part between the upright posts is higher when lifting, reduces the shaking and winding degree of the upright posts in the lifting process, and ensures that the material taking and placing box 500 of the goods taking mechanism 300 is more accurate and rapid.

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 pump station assembly 212 provides power, the oil cylinder 211 is a single-operation oil cylinder, the oil cylinder is lifted when the pump station assembly 212 works and supplies oil, and when the pump station assembly 212 does not work and an oil return port is opened, the weight of the combined upright post mechanism 200 and the cargo taking mechanism 300 enables the oil cylinder 211 to descend, and the cut-off valve 213 is arranged at the bottom of the oil cylinder 211 and connected with each other through connecting pipes. The combined upright post mechanism 200 uses hydraulic pressure to lift, so that the lifting load is increased, meanwhile, the pump station assembly 212 adopts servo hydraulic control, the control precision is high, the accuracy of lifting height can be ensured, meanwhile, the oil cylinder can be cut off when the hydraulic system fails by the cut-off valve 213, the transition upright post and the cargo upright post can not fall, and the safety protection effect is achieved.

As shown in fig. 1, 3 and 7, the cargo picking mechanism 300 includes a mounting base 301 fixedly connected to a bottom side end of the cargo upright 202, a rotation driving mechanism mounted on the mounting base 301, and a cargo box assembly driven to rotate by the rotation 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 fixedly connected with the rotary support 303 and in a half frame shape and a telescopic cargo fork assembly arranged on the inner bottom surface of the fixed cargo box 304. The telescopic fork assembly comprises a telescopic fork 305 and a telescopic electric cylinder 306 for driving the telescopic fork 305 to enter and exit the fixed cargo compartment 304. The telescoping cylinder 306 is secured to the outside of the stationary cargo box 304.

Based on the above technical solution, the cargo picking mechanism 300 is lifted along with the cargo upright 202, so as to lift the bin 500 to a high position or pick up and remove the high position of the cargo rack, and realize the turnover and access operation of the bin 500. The arrangement of the rotary driving mechanism enables the cargo box assembly to rotate, so that the cargo box 500 in different positions and directions can be fetched and placed. The rotary power assembly 302 drives the slewing bearing to rotate 303 through gears, and the telescopic fork 305 is mounted on the slewing bearing 303, so that the telescopic fork 305 rotates along with the rotation of the slewing bearing 303, and the telescopic fork 305 can pick up and discharge a material box from a goods shelf and a storage mechanism. The rotary precision and stability of the telescopic fork taking and placing box are improved, and the precision of the telescopic fork taking and placing box is guaranteed.

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

In this technical solution, as shown in fig. 1, the stacking and unpacking device 400 is further installed on the truck body 100. As shown in fig. 2, the stacking and unpacking device 400 includes a material conveying mechanism 420 having a direction consistent with the telescopic direction of the telescopic fork 305, two shifting fork mechanisms 430 disposed on two sides of the material conveying mechanism 420 and synchronously moving in opposite directions or in opposite directions, and two lifting and carrying mechanisms 410 respectively driving the two shifting fork mechanisms 430 to synchronously lift.

Based on the above technical solution, 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 goods taking mechanism 300, after the material box 500 is located on the material conveying mechanism 420, the two fork mechanisms 430 clamp the lowest layer of material box first, then the lifting and carrying mechanisms 410 drive the two fork mechanisms 430 and the clamped material box to ascend, then convey a material box to the material conveying mechanism 420 through the goods taking mechanism 300, after conveying in place, the lifting and carrying mechanisms 410 drive the two fork mechanisms 430 and the originally clamped material box to descend to the newly conveyed material box, so that 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 walks, so that conveying and turnover of the material box are realized. In contrast, the two shifting fork mechanisms 430 clamp the two next to last boxes at the lowest level first, the lifting and carrying mechanism 410 drives the two shifting fork mechanisms 430 and the clamped boxes to ascend, after the boxes at the next to last layer leave the boxes at the lowest level, the material conveying mechanism 420 conveys the boxes at the lowest level out (onto the material taking mechanism 300), and then the two shifting fork mechanisms 430 and the clamped boxes descend to realize the box-disassembling operation.

As shown in fig. 8 and 9, the fork mechanism 430 in this embodiment includes a fork plate 401 disposed in parallel and having a movement direction perpendicular to the conveying direction of the conveying mechanism 420, a clamping driving assembly for driving the fork plate 401 to move, and a fork mounting plate 402 for mounting the clamping driving assembly. The clamping driving assembly comprises a clamping speed reducing motor 403 and a crank assembly 404 driven by the clamping speed reducing motor 403. The crank assembly 404 comprises an L-shaped crank 4041 and a column wheel 406 fixedly connected to the end of the crank 4041 far away from the clamping speed reducing motor 403. The fork plate 401 is provided with an oblong slot 405, and the column wheel 406 is arranged in the oblong slot 405. The fork plate 401 is further provided with a guide assembly 407, and the guide assembly 407 includes a dovetail guide groove 4071 formed on a side of the fork plate 401 facing the fork mounting plate 402 and a dovetail guide post 4072 mounted on a side of the fork mounting plate 402 facing the fork plate 401. The dovetail guide post 4072 is disposed in the dovetail guide slot 4071, and a center line of the dovetail guide slot 4071 is parallel to a clamping direction of the shift fork plate 401.

Based on the above technical scheme, the clamping gear motor 403 works to drive the crank 4041 to rotate, the column wheel 406 at the end part of the crank 4041 moves in the long round groove 405, so as to drive the shifting fork plate 401 to move along the center line direction of the dovetail guide groove 4071, the two shifting fork plates 401 relatively move to realize clamping, and the two shifting fork plates 401 move backwards to realize loosening. In the above technical scheme, two opposite shifting fork plates 401 are adopted to clamp the material box 500, so that the contact area of the clamping part is large, the clamping is reliable, the bearing capacity is increased, and the material box with more layers can be clamped and lifted. In the above technical scheme, through the design of the structures of the dovetail guide groove 4071 and the dovetail guide pillar 4072, the guiding of the shifting fork plate 401 is realized, based on the characteristics of the structures of the dovetail guide groove 4071 and the dovetail guide pillar 4072, the shifting fork plate 401 obtains an upward moving guiding outwards, the limiting and the mounting of the shifting fork plate in the vertical direction are realized, the problems that the shifting fork plate 401 is deviated in the vertical direction in the clamping process are avoided, and the clamping reliability is ensured. In the above technical scheme, the driving guide mechanism for realizing the movement and clamping of the shifting fork plate 401 through the crank assembly 404 has large clamping force, and the crank assembly 404 has simple structure and small volume, and is convenient for installation and layout.

As shown in fig. 10, in this embodiment, the lifting and conveying mechanism 410 includes lifting slide rails 411 disposed at two ends of the fork mounting plate 402 and a lifting screw assembly 413 passing through the fork mounting plate 402 and screwed together. The lifting slide rails 411 are respectively provided with lifting slide blocks 412, and the lifting slide blocks 412 are respectively and fixedly installed at two ends of the shifting fork mounting plate 402. The lifting screw assembly 413 comprises a screw rod parallel to the lifting slide rail and a lifting speed reducing motor 414 connected to one end of the screw rod and driving the screw rod to rotate. The shifting fork plate 401 is provided with an avoidance groove 415 with the axis consistent with the clamping direction of the shifting fork plate 401, and the screw rod passes through the avoidance groove 415 and is installed.

Based on the above technical scheme, lifting is realized through the lifting screw rod assembly 413 and the lifting gear motor 414, lifting positioning is accurate, the structure is simple, installation and layout are convenient, and ensuring is realized. The fork mounting plate 402 reciprocates linearly up and down synchronously.

As shown in fig. 2, in this embodiment, the conveying mechanism 420 includes a conveying surface mainly formed by a plurality of conveying rollers driven by a conveying motor, and a baffle plate disposed at an end of the conveying surface far from the cargo picking 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 adapted to at least the size of the bin. The baffle box plate can be vertically fixed or oriented through an air cylinder and the like, so that the feed box and the like can conveniently enter the conveying surface from the two ends of the conveying surface.

Based on the technical scheme, the unpacking action is as follows; the stacked bins 500 are transported to the transport surface of the transport mechanism 420 by an external transport line or stacked to the transport surface of the transport mechanism 420 by the pick mechanism 300; then, the lifting and conveying mechanism 410 is lifted synchronously, so that the two shifting fork plates 401 of the two shifting fork mechanisms 430 are driven to lift to the middle position of the second bin from bottom to top, the two shifting fork plates 401 synchronously move inwards to clamp the second bin from bottom to top and then lift upwards for a 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 conveying mechanism 420, the conveying roller shaft of the conveying mechanism 420 rotates, the lowest bin 500 is conveyed to the picking mechanism 300, and the picking mechanism 300 can pick up one bin 500 at the lowest layer for storage or turnover and the like.

Based on the technical scheme, the stacking action is as follows; the two lifting and carrying mechanisms 410 synchronously act to move the two shifting fork plates 401 of the two shifting fork mechanisms 430 to the side surface of the lowest-layer material box 500, then the two shifting fork mechanisms 430 work, the two shifting fork plates 401 clamp the lowest-layer material box, then the two lifting and carrying mechanisms 410 synchronously ascend to drive the two shifting fork mechanisms 430 and the clamped material box to ascend a certain distance, at the moment, no material box exists on the conveying surface of the conveying mechanism 420, the goods taking mechanism 300 can convey one material box to the conveying surface of the conveying mechanism 420, or an external conveying line can convey one material box to the conveying surface, after conveying in place, the two shifting fork mechanisms 430 and the clamped material box descend, and the lifted material box is piled on the lowest-layer material box, so that the box piling operation is completed.

Based on the technical scheme, when the material box is carried and stored, a plurality of or a plurality of layers of material boxes can be simultaneously operated, and the stacking operation or the unpacking operation of storing is completed once, so that single storage is not needed, and the efficiency is greatly improved. Meanwhile, the stacked feed boxes occupy small space, so that the storage capacity of the trolley is increased, and the overall height of the trolley is reduced.

As shown in fig. 11, in this technical solution, the carrier body 100 is further provided with a traveling driving mechanism 120, and the traveling driving mechanism 120 includes traveling supporting wheels 130 uniformly distributed on the bottom of the carrier body 100 and two traveling driving wheels 121 disposed on the bottom of the carrier body 100. The walking driving wheel 121 is provided with a driving shaft 122, and the driving shaft 122 is fixedly connected with an adjustable mounting plate 123 through a bearing. One end of the adjustable mounting plate 123 is hinged with the carrier body 100, the other end of the adjustable mounting plate passes through a connecting column 126, and a compression spring 125 is sleeved on the connecting column 126. The pressing spring 125 presses the adjustable mounting plate 123 toward the ground. The end of the main 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 design of the adjustable mounting plate 123, the connecting column 126 and the compression spring 125 makes the walking driving wheel 121 always contact with the ground and keep a certain positive pressure, so as to ensure that the carrier body 100 can freely move on the ground without slipping; meanwhile, the device can be better adapted to some rugged ground, so that the carrier body 100 can walk on the rugged ground without larger shaking or larger jolt. Four walking supporting wheels 130 set up in four apex angle positions of carrier body 100 bottom, as four fulcra of carrier body, form a great fixed loading surface and make carrier body 100 be difficult to rock, have shared the main weight that has born carrier body 100, have also guaranteed the steady operation of carrier body 100 subaerial simultaneously.

The technical scheme of the invention is described above by way of example with reference to the accompanying drawings, and it is apparent that the specific implementation of the invention is not limited by the above manner, and it is within the scope of the invention if various insubstantial improvements of the method concept and technical scheme of the invention are adopted or the inventive concept and technical scheme are directly applied to other occasions without improvement.

Claims

1. The material box carrying robot is characterized by comprising a carrier body and a material box lifting device arranged on the carrier 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 lifting driving mechanism comprises an oil cylinder arranged in a vertical state, a driving wheel arranged at the top end of a transition upright post and a driving belt which bypasses the driving wheel and is meshed with the driving wheel, two ends of the driving belt are respectively fixed at the top end of a fixed upright post and the bottom end of a cargo upright post, 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 upright post to drive the transition upright post to lift, and the transition upright post lifts and lowers the cargo upright post through the meshed driving wheel and the driving belt;

the folding and unfolding device comprises a conveying mechanism, two shifting fork mechanisms and two lifting and transporting mechanisms, wherein the conveying mechanism is consistent with the telescopic direction of a telescopic fork, the two shifting fork mechanisms are oppositely arranged on two sides of the conveying mechanism and synchronously do opposite or opposite movement, and the two lifting and transporting mechanisms respectively drive the two shifting fork mechanisms to synchronously lift;

2. The bin handling robot of claim 1, wherein the fixed upright, the transition upright and the cargo upright are single uprights with cross sections in a C shape, the back of the transition upright is further provided with a limit guide post which faces and is clamped on the inner side of the fixed upright, the cargo upright faces the transition upright, and the cargo taking mechanism is mounted on the back of the cargo upright.

3. The bin handling robot of claim 1, wherein the pick-up mechanism includes a mounting base fixedly connected to a lateral bottom end of the cargo post, a rotary drive mechanism mounted to the mounting base, and a cargo box assembly driven to rotate by the rotary drive mechanism;

4. The bin handling robot of claim 1, wherein the carrier body is further provided with a traveling driving mechanism, the traveling driving mechanism comprises traveling supporting wheels uniformly distributed at the bottom of the carrier body and two traveling driving wheels arranged at the bottom of the carrier body, the traveling driving wheels are penetrated with driving shafts, the driving shafts are fixedly connected with adjustable mounting plates through bearings, one ends of the adjustable mounting plates are hinged with the carrier body, the other ends of the adjustable mounting plates are penetrated with connecting columns, the connecting columns are sleeved with compression springs, the compression springs compress the adjustable mounting plates towards the ground, the driving shafts are far away from traveling driving wheel ends and fixedly connected with traveling motors, and the traveling motors are fixedly connected with the adjustable mounting plates.