CN115180328A

CN115180328A - Storage robot

Info

Publication number: CN115180328A
Application number: CN202210923192.8A
Authority: CN
Inventors: 张泽友
Original assignee: Jiangxi Bozhan Automation Technology Co ltd
Current assignee: Jiangxi Bozhan Automation Technology Co ltd
Priority date: 2022-08-02
Filing date: 2022-08-02
Publication date: 2022-10-14

Abstract

The invention relates to the technical field of warehousing equipment, in particular to a warehousing robot, which comprises a machine forming device, a large warehouse and a small warehouse, wherein the bottoms of the large warehouse and the small warehouse are connected with the top of the machine forming device, and the machine forming device comprises a connecting mechanism: further comprising: the invention discloses a storage ground robot, which is characterized in that a longitudinal support mechanism and an auxiliary support mechanism are connected through a connecting mechanism, and two groups of auxiliary support mechanisms and the longitudinal support mechanism are deformed by driving a first steering engine, a second steering engine and an electromagnetic adsorption component, so that two groups of different storage ground robots are formed, the storage ground robots are adapted to the space between different storage racks in a warehouse, and the problem of resource waste caused by the fact that a plurality of ground robots are used in one warehouse to adapt to the space between different storage racks is solved.

Description

Storage robot

Technical Field

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

Background

Warehousing refers to the activities of warehousing, storing and discharging goods through a warehouse. The fixed goods shelves of a plurality of are usually arranged in the warehouse, the goods are carried through manpower and partial mechanical equipment in the traditional storage mode, time and labor are consumed, the goods are prone to damage and loss in multiple flowing, and logistics cost is increased for enterprises. Therefore, in the prior art, automatic warehousing equipment with less manpower participation appears, and generally comprises a ground robot with wheels, a palletizing robot (or climbing robot), a hoisting robot, an automatic warehousing goods shelf and the like;

due to the fact that the goods are different in size and occupied area, when the goods shelves are generally placed in a warehouse, the space between the goods shelves is different, for example, when large goods are placed, the space between the two goods shelves is large, the goods are convenient to carry, when small goods are placed, the space between the two goods shelves is small, the space is convenient to save, and more goods are placed;

therefore, the invention is necessary to develop a storage robot.

Disclosure of Invention

Therefore, the invention provides a warehousing robot, wherein two groups of auxiliary frame mechanisms and longitudinal support mechanisms are deformed by driving a first steering engine, a second steering engine and an electromagnetic adsorption assembly, so that two groups of different warehousing ground robots are formed, the spacing between different goods shelves in a warehouse is adapted, and the problem of resource waste caused by the fact that a plurality of ground robots are used in one warehouse to adapt to the spacing between different goods shelves is solved.

In order to achieve the above purpose, the invention provides the following technical scheme: the utility model provides a warehouse robot, includes that the machine constitutes device, large-scale storehouse and small-size storehouse bottom all constitute the device top with the machine and be connected, the machine constitutes the device and includes coupling mechanism: further comprising: the longitudinal support mechanism and the auxiliary frame mechanism are connected through the connecting mechanism;

the control main board is fixedly arranged on one side inside the longitudinal support shell, two groups of first batteries are fixedly arranged on the other side inside the longitudinal support shell, a main cover plate is clamped on the top of the longitudinal support shell, and first steering engines are fixedly arranged at two ends of the longitudinal support shell;

the auxiliary frame mechanism is provided with two sets of auxiliary frame mechanisms which are respectively located at two ends of the longitudinal support mechanism, each auxiliary frame mechanism comprises an auxiliary frame shell, a second battery is fixedly mounted inside the auxiliary frame shell, an auxiliary cover plate is fixedly connected to the top of the auxiliary frame shell, and a second steering engine is fixedly mounted on the outer side of the auxiliary frame shell.

Preferably, the connecting mechanism comprises two groups of bridge-shaped plates, the two groups of bridge-shaped plates are respectively arranged at two ends of the longitudinal support mechanism, connecting clamping columns are fixedly arranged at two ends of each bridge-shaped plate, the two groups of connecting clamping columns at the same end are respectively rotatably connected with two groups of first steering engine output ends, and the two groups of connecting clamping columns at the other end are respectively rotatably connected with two groups of second steering engine output ends.

Preferably, coupling mechanism still includes the electromagnetic adsorption subassembly, the electromagnetic adsorption subassembly includes the base, base bottom and arbitrary a set of sub vehicle frame casing lateral wall fixed connection, base inside wall fixed mounting receives around the inner core, it has the conductive coil to receive around the winding of inner core lateral wall, receive around inner core inside wall fixed mounting have the magnetism suction disc, another group sub vehicle frame casing lateral wall four corners department fixed mounting has the spring, spring other end fixed mounting has same metal sheet.

Preferably, six sets of Mecanum wheels are arranged at the bottom of the longitudinal support shell, the three sets of Mecanum wheels positioned on the same side are fixedly connected with the side wall of the longitudinal support shell, mecanum wheels are fixedly mounted at the bottoms of the two sets of bridge plates, and Mecanum wheels are fixedly mounted at the bottoms of the two sets of auxiliary frame shells.

Preferably, two sets of first steering wheel one side and two sets of second steering wheel have all been seted up first card hole, and two sets of first steering wheel opposite side has seted up second card hole.

Preferably, four groups of first square fixture blocks are fixedly mounted at four corners of the bottom of the large warehouse and are respectively connected with four groups of first clamp holes in a clamped mode, two groups of first limiting clamp plates are fixedly mounted on two side walls of the bottom of the large warehouse respectively, the first limiting clamp plates located on the same side are connected with the outer side wall of the longitudinal support shell in a clamped mode, and the first limiting clamp plates located on the other side are connected with the outer side wall of the auxiliary frame shell in a clamped mode.

Preferably, the bottom of the small cargo warehouse is fixedly provided with four groups of second limiting clamping plates, the four groups of second limiting clamping plates are respectively clamped with two groups of two side walls of the auxiliary frame shell, the bottom of the small cargo warehouse is fixedly provided with two groups of second square clamping blocks, the two groups of second square clamping blocks are respectively clamped with two groups of first clamping holes positioned on a second steering engine, the bottom of the small cargo warehouse is fixedly provided with four groups of third square clamping blocks, the four groups of third square clamping blocks are respectively clamped with two groups of first clamping holes and second clamping holes positioned on the first steering engine, the bottom of the small cargo warehouse is also fixedly provided with four groups of third limiting clamping plates, and the two groups of third limiting clamping plates positioned on the same side are respectively clamped with one side of the longitudinal support shell.

The invention has the beneficial effects that:

1. when large goods need to be transported, two groups of first steering engines and two groups of second steering engines are sequentially rotated by 90 degrees, the robot deforms, the magnetic attraction plate is magnetized by electrifying the conductive coil, electromagnetic attraction force is generated between the magnetic attraction plate and the metal plate, when the attraction force is greater than the reaction force of the spring, the metal plate starts to move towards the iron core direction of the magnetic attraction plate, the auxiliary frame mechanism is combined with the longitudinal frame mechanism, at the moment, the first limiting clamping plate and the first square clamping block are respectively clamped with the first clamping hole, the longitudinal frame shell and the auxiliary frame shell, the large goods bin can be fixed on the machine forming device, at the moment, the whole warehousing robot can transport large goods

2. When small-size goods need be carried, cut off the power supply through the conductive coil for in the electromagnetic adsorption subassembly, make magnetism inhale the board and lose magnetism, the metal sheet breaks away from with magnetism inhale the board through the pulling force of spring backward, two sets of first steering engines and two sets of second steering engines carry out 90 rotations in proper order, make the robot take place to warp, make and indulge gimbal mechanism, the bridge plate is in a straight line with sub vehicle frame mechanism, robot after the deformation is whole rotatory 90, make the spacing cardboard of second simultaneously, the square fixture block of second, the third shape fixture block, the spacing cardboard of third respectively with sub vehicle frame casing both sides wall, the first card hole on the second steering engine, first card hole and second card hole on the first steering engine, it carries out the joint to indulge gimbal casing both sides wall, can install small-size storehouse on the robot, can make the robot pass through the less goods shelves of interval, the effect through complicated topography of being convenient for has.

Drawings

Fig. 1 is a schematic structural view of a warehousing robot provided by the invention matched with a large warehouse;

FIG. 2 is a schematic view of a warehouse robot and a small warehouse according to the present invention;

FIG. 3 is a schematic diagram of the construction of the machine component of the present invention;

FIG. 4 is a schematic structural view of a deformed machine component according to the present invention;

FIG. 5 is a bottom perspective view of the machine component of the present invention;

FIG. 6 is an exploded view of the machine component of the present invention;

FIG. 7 is a schematic structural view of a bridge plate provided by the present invention;

FIG. 8 is a schematic structural view of a longitudinal support mechanism and a sub-frame mechanism provided in the present invention;

fig. 9 is a schematic structural view of an electromagnetic absorption assembly and a metal plate according to the present invention;

FIG. 10 is an exploded view of an electromagnetic attraction assembly provided by the present invention;

FIG. 11 is a schematic view of a large cargo hold according to the present invention;

fig. 12 is a schematic structural view of a small warehouse provided by the present invention.

In the figure: the machine comprises a device 100, a longitudinal support mechanism 110, a longitudinal support shell 111, a control main board 112, a first battery 113, a main cover plate 114, a first clamping hole 115, a second clamping hole 116, a first steering engine 117, a sub-frame mechanism 120, a sub-frame shell 121, a second battery 122, a sub-cover plate 123, a second steering engine 124, a connecting mechanism 130, a bridge-shaped plate 131, a connecting clamping column 132, a metal plate 133, a spring 134, an electromagnetic adsorption component 140, a base 141, a wound inner core 142, a conductive coil 143, a magnetic adsorption plate 144, a Mecanum wheel 150, a large cargo bin 200, a first limit clamping plate 210, a first square clamping block 220, a small cargo bin 300, a second limit clamping plate 310, a second square clamping block 320, a third square clamping block 330 and a third limit clamping plate 340.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

Referring to fig. 1 to 12, the warehousing robot provided by the present invention includes a machine configuration device 100, a large warehouse 200, and a small warehouse 300, wherein the bottoms of the large warehouse 200 and the small warehouse 300 are both connected to the top of the machine configuration device 100, and the machine configuration device 100 includes a connection mechanism 130: further comprising: the longitudinal support mechanism 110 and the auxiliary frame mechanism 120 are connected through a connecting mechanism 130;

the longitudinal support mechanism 110 comprises a longitudinal support shell 111, a control main board 112 is fixedly mounted on one side inside the longitudinal support shell 111, the control main board 112 can control the operation and deformation of the whole robot, two groups of first batteries 113 are fixedly mounted on the other side inside the longitudinal support shell 111, the first batteries 113 can provide electric power support for a first steering engine 117, a main cover plate 114 is clamped on the top of the longitudinal support shell 111, and the first steering engine 117 is fixedly mounted at two ends of the longitudinal support shell 111;

sub vehicle frame mechanism 120 is equipped with two sets ofly, and two sets of auxiliary vehicle frame mechanisms 120 are located respectively and indulge 110 both ends of prop up mechanism, and sub vehicle frame mechanism 120 includes sub vehicle frame casing 121, and two sets of sub vehicle frame casing 121 inside equal fixed mounting have second battery 122, and second battery 122 provides electric power for second steering wheel 124 and supports, and two sets of sub vehicle frame casing 121 tops all joint have vice apron 123, and two sets of sub vehicle frame casing 121 outsides equal fixed mounting have second steering wheel 124.

Further, the connecting mechanism 130 includes two sets of bridge-shaped plates 131, the two sets of bridge-shaped plates 131 are respectively located at two ends of the longitudinal support mechanism 110, connecting clamping posts 132 are fixedly mounted at two ends of the bridge-shaped plates 131, the two sets of connecting clamping posts 132 located at the same end are respectively rotatably connected with output ends of the two sets of first steering engines 117, the two sets of connecting clamping posts 132 located at the other end are respectively rotatably connected with output ends of the two sets of second steering engines 124, specifically, the two sets of first steering engines 117 and the two sets of second steering engines 124 sequentially rotate for 90 degrees, the robot deforms, the magnetic attraction plate 144 is magnetized by electrifying the conductive coil 143, electromagnetic attraction is generated between the magnetic attraction plate 144 and the metal plate 133, when the attraction is greater than the reactive force of the spring 134, the metal plate 133 starts to move towards the iron core direction of the magnetic attraction plate 144, and the auxiliary frame mechanism 120 is combined with the longitudinal support mechanism 110.

Further, the connection mechanism 130 further includes an electromagnetic absorption component 140, the electromagnetic absorption component 140 includes a base 141, the bottom of the base 141 is fixedly connected to any one set of side walls of the subframe housing 121, a wound inner core 142 is fixedly mounted on an inner side wall of the base 141, an electrically conductive coil 143 is wound on an outer side wall of the wound inner core 142, a magnetic absorption plate 144 is fixedly mounted on an inner side wall of the wound inner core 142, a spring 134 is fixedly mounted at a corner of another set of side walls of the subframe housing 121, and the same metal plate 133 is fixedly mounted at the other end of the spring 134.

Further, six sets of mecanum wheels 150 are arranged at the bottom of the longitudinal support housing 111, the three sets of mecanum wheels 150 located on the same side are all fixedly connected with the side wall of the longitudinal support housing 111, the six sets of mecanum wheels 150 provide support for the longitudinal support housing 111, the two sets of bridge plates 131 are all fixedly provided with the mecanum wheels 150 at the bottom, the mecanum wheels 150 provide support for the bridge plates 131, and the two sets of subframe housings 121 are all fixedly provided with the mecanum wheels 150 at the bottom, specifically, the mecanum wheels 150 can depend on the directions and speeds of the respective wheels, the final combination of the forces generates a resultant force vector in any required direction, so that the platform can freely move in the direction of the final resultant force vector, and the directions of the wheels are not changed, and a plurality of small rollers are obliquely distributed on the wheel rims of the wheels, so that the wheels can laterally slide, the generatrices of the small rollers are special, and when the wheels rotate around the fixed wheel spindle, the envelops of the small rollers are cylindrical surfaces, so that the wheels can continuously roll forwards, the mecanum wheels 150 are compact in structure, and can move, and are a flexible omnidirectional wheel. 4 novel wheels are combined, so that the all-directional movement function can be realized more flexibly and conveniently.

Furthermore, one side of two groups of first steering engines 117 and two groups of second steering engines 124 are both provided with first clamping holes 115, the other side of two groups of first steering engines 117 is provided with second clamping holes 116, four corners of the bottom of the large warehouse 200 are both fixedly provided with four groups of first square clamping blocks 220, the four groups of first square clamping blocks 220 are respectively clamped with the four groups of first clamping holes 115, two groups of first limiting clamping plates 210 are respectively fixedly arranged on two side walls of the bottom of the large warehouse 200, two groups of first limiting clamping plates 210 positioned on the same side are respectively clamped with the outer side wall of the longitudinal support shell 111, two groups of first limiting clamping plates 210 positioned on the other side are respectively clamped with the outer side wall of the auxiliary frame shell 121, in particular, the first limiting clamping plates 210 and the first square clamping blocks 220 are respectively clamped with the first clamping holes 115, the longitudinal support shell 111 and the auxiliary frame shell 121, namely, the large warehouse 200 can be fixed on the machine forming device 100, at this time, the whole robot can carry large goods, four groups of second limiting clamping plates 310 are fixedly arranged at the bottom of the small cargo bin 300, the four groups of second limiting clamping plates 310 are respectively clamped with two side walls of the two groups of auxiliary frame shells 121, two groups of second square clamping blocks 320 are fixedly arranged at the bottom of the small cargo bin 300, the two groups of second square clamping blocks 320 are respectively clamped with two groups of first clamping holes 115 arranged on the second steering engines 124, four groups of third square clamping blocks 330 are fixedly arranged at the bottom of the small cargo bin 300, the four groups of third square clamping blocks 330 are respectively clamped with two groups of first clamping holes 115 and second clamping holes 116 arranged on the first steering engines 117, four groups of third limiting clamping plates 340 are also fixedly arranged at the bottom of the small cargo bin 300, the two groups of third limiting clamping plates 340 arranged at the same side are respectively clamped with one side of the longitudinal support shell 111, and particularly, the second limiting clamping blocks 310, the second square clamping blocks 320, the third square clamping blocks 330 and the third limiting clamping plates 340 are respectively clamped with two side walls of the auxiliary frame shells, first card hole 115 on the second steering wheel 124, first card hole 115 and second card hole 116 on the first steering wheel 117, indulge support casing 111 both sides wall and carry out the joint, can install the robot with small-size storehouse 300 on to can make whole warehouse robot can carry out small-size goods transport, can pass through comparatively complicated topography simultaneously.

The application process of the invention is as follows: when large goods need to be carried (running between goods ways with larger spacing), the two groups of first steering engines 117 and the two groups of second steering engines 124 rotate by 90 degrees in sequence, the robot deforms, the conductive coils 143 are electrified, the magnetic attraction plate 144 is magnetized, electromagnetic attraction is generated between the magnetic attraction plate 144 and the metal plate 133, when the attraction force is larger than the reaction force of the springs 134, the metal plate 133 starts to move towards the iron core direction of the magnetic attraction plate 144, the auxiliary frame mechanism 120 is combined with the longitudinal frame mechanism 110, at the moment, the first limiting clamping plate 210 and the first square clamping block 220 are respectively clamped with the first clamping holes 115, the longitudinal frame shell 111 and the auxiliary frame shell 121, the large goods bin 200 can be fixed on the machine forming device 100, at the moment, the whole storage robot can carry the large goods, when the current in the conductive coils 143 is smaller than a certain value or the power supply is interrupted, the electromagnetic attraction force is smaller than the reaction force of the springs 134, and the metal plate 133 returns to the original release position under the reaction force of the springs 134;

when small goods need to be carried (running between goods lanes with small space or goods lanes with complex terrains), the power is cut off through the conductive coil 143 in the electromagnetic adsorption component 140, the magnetic adsorption plate 144 loses magnetism, the metal plate 133 is separated from the magnetic adsorption plate 144 through the backward pulling force of the spring 134, two groups of first steering engines 117 and two groups of second steering engines 124 sequentially rotate for 90 degrees, the robot is deformed, the longitudinal support mechanism 110, the bridge-shaped plate 131 and the sub-frame mechanism 120 are in a straight line, the deformed robot integrally rotates for 90 degrees, meanwhile, the second limiting clamping plate 310, the second square clamping block 320, the third square clamping block 330 and the third limiting clamping plate 340 are respectively clamped with two side walls of the sub-frame shell 121, the first clamping hole 115 on the second steering engine 124, the first clamping hole 115 and the second clamping hole 116 on the first steering engine 117 and two side walls of the longitudinal support shell 111, the small goods bin 300 can be installed on the robot, the robot can pass through the goods shelves with small space, and the effect of facilitating passing through the complex terrains is achieved.

The above description is only a preferred embodiment of the present invention, and any person skilled in the art may modify the present invention or modify it into an equivalent technical solution by using the technical solution described above. Therefore, any simple modifications or equivalent substitutions made in accordance with the technical solution of the present invention are within the scope of the claims of the present invention.

Claims

1. The utility model provides a warehouse robot, includes that the machine constitutes device (100), large-scale warehouse (200) and small-size warehouse (300) bottom all are connected its characterized in that with machine constitution device (100) top: the machine component device (100) includes a connection mechanism (130): further comprising: the longitudinal support mechanism (110) and the auxiliary frame mechanism (120) are connected through a connecting mechanism (130);

the longitudinal support mechanism (110) comprises a longitudinal support shell (111), a control main board (112) is fixedly mounted on one side inside the longitudinal support shell (111), two groups of first batteries (113) are fixedly mounted on the other side inside the longitudinal support shell (111), a main cover plate (114) is clamped on the top of the longitudinal support shell (111), and first steering engines (117) are fixedly mounted at two ends of the longitudinal support shell (111);

auxiliary frame mechanism (120) are equipped with two sets ofly, and are two sets of auxiliary frame mechanism (120) are located respectively and indulge a frame mechanism (110) both ends, auxiliary frame mechanism (120) are two sets of including sub vehicle frame casing (121) inside equal fixed mounting has second battery (122), and is two sets of sub vehicle frame casing (121) top all joint has vice apron (123), and is two sets of sub vehicle frame casing (121) outside equal fixed mounting has second steering wheel (124).

2. A warehousing robot as claimed in claim 1, characterized in that: coupling mechanism (130) are including bridge plate (131), bridge plate (131) are equipped with two sets ofly, and are two sets of bridge plate (131) are located respectively and indulge gimbal mechanism (110) both ends, the equal fixed mounting in bridge plate (131) both ends has connecting block post (132), is located two sets ofly of same end connecting block post (132) rotate with two sets of first steering wheel (117) output respectively and are connected, are located two sets of the other end connecting block post (132) rotate with two sets of second steering wheel (124) output respectively and are connected.

3. A warehousing robot as claimed in claim 1, characterized in that: coupling mechanism (130) still include electromagnetic adsorption subassembly (140), electromagnetic adsorption subassembly (140) are including base (141), base (141) bottom and arbitrary a set of sub vehicle frame casing (121) lateral wall fixed connection, base (141) inside wall fixed mounting receives around inner core (142), receive around inner core (142) lateral wall winding have conductive coil (143), receive around inner core (142) inside wall fixed mounting have magnetism suction disc (144), another group sub vehicle frame casing (121) lateral wall four corners department fixed mounting has spring (134), spring (134) other end fixed mounting has same metal sheet (133).

4. A warehousing robot as claimed in claim 2, characterized in that: indulge support casing (111) bottom and be equipped with six sets of mecanum wheels (150), lie in the three sets of with one side mecanum wheel (150) all with indulge support casing (111) lateral wall fixed connection, two sets of equal fixed mounting in bridge plate (131) bottom has mecanum wheel (150), and is two sets of equal fixed mounting in sub vehicle frame casing (121) bottom has mecanum wheel (150).

5. A warehousing robot as claimed in claim 1, characterized in that: two sets of first steering wheel (117) one side and two sets of second steering wheel (124) are gone up and have all been seted up first card hole (115), and two sets of first steering wheel (117) opposite side has seted up second card hole (116).

6. A warehousing robot as claimed in claim 5, characterized in that: equal fixed mounting in large-scale warehouse (200) bottom four corners department has four groups of first square fixture block (220), four groups first square fixture block (220) respectively with four groups of first card holes (115) joint, large-scale warehouse (200) bottom both sides wall respectively fixed mounting have two sets of first spacing cardboard (210), lie in with two sets of one side first spacing cardboard (210) all with indulge support shell (111) lateral wall joint, lie in the opposite side two sets of first spacing cardboard (210) all with sub vehicle frame shell (121) lateral wall joint.

7. A warehousing robot as claimed in claim 5, characterized in that: the small cargo bin (300) bottom fixed mounting has four groups of spacing cardboard of second (310), four groups spacing cardboard of second (310) respectively with two sets of sub vehicle frame casing (121) both sides wall joint, small cargo bin (300) bottom fixed mounting has two sets of square fixture blocks of second (320), two sets of square fixture block of second (320) respectively with two sets of first card hole (115) joint that are located on second steering wheel (124), small cargo bin (300) bottom fixed mounting has four groups of third shape fixture block (330), four groups third shape fixture block (330) respectively with two sets of first card hole (115) that are located on first steering wheel (117), second card hole (116) joint, small cargo bin (300) bottom still fixed mounting has four groups of spacing cardboard of third (340), is located two sets of same one side spacing cardboard of third (340) all with indulge support casing (111) one side joint.