CN116714931A - Transfer robot for storage and working method thereof - Google Patents
Transfer robot for storage and working method thereof Download PDFInfo
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- CN116714931A CN116714931A CN202310819094.4A CN202310819094A CN116714931A CN 116714931 A CN116714931 A CN 116714931A CN 202310819094 A CN202310819094 A CN 202310819094A CN 116714931 A CN116714931 A CN 116714931A
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- plate
- air bag
- air
- robot
- sleeve
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- 238000000034 method Methods 0.000 title claims description 7
- 230000001681 protective effect Effects 0.000 claims abstract description 46
- 230000005484 gravity Effects 0.000 claims description 14
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims 1
- 230000001276 controlling effect Effects 0.000 description 5
- 230000004308 accommodation Effects 0.000 description 4
- 230000002146 bilateral effect Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/04—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/16—Special arrangements of articles in storage spaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to the technical field of storage handling equipment, in particular to a handling robot for storage, which comprises a bearing piece, a lifting piece and a control piece, wherein the lifting piece and the control piece are both positioned in the bearing piece, the bearing piece comprises a protective shell and a transportation assembly, the transportation assembly is positioned at the bottom of the protective shell, the lifting piece comprises a limiting assembly and an adjusting piece, the limiting assembly is positioned at the top of the adjusting piece, and the control piece comprises a controller arranged on the inner wall of the protective shell; the four corners of the top of the protective shell are vertically provided with first accommodating grooves, first air bags are arranged in the first accommodating grooves, one side of the protective shell is horizontally provided with a goods outlet, and a discharge assembly is arranged in the goods outlet; the limiting assembly comprises a bearing plate, and a first limiting groove and a second limiting groove are symmetrically and vertically formed in the bottom of the bearing plate.
Description
Technical Field
The invention relates to the technical field of storage handling equipment, in particular to a handling robot for storage.
Background
The warehouse is a warehouse for storing and safeguarding goods and articles, namely, a warehouse is a general term of a building and a place for storing, safeguarding and safeguarding the articles, and can be a house building, a cave, a large container or a specific place, etc., and has the functions of storing and safeguarding the articles, and the storage means storage and preservation for use, and has the meaning of storage, safeguarding and delivery for use, and the transportation of the stored goods on the market at present is gradually changed from manual transportation to robot transportation.
The existing robot only singly supports the cargoes when carrying the cargoes, and in the process that the robot sends the cargoes to a specified place, the road surface is uneven, the cargoes are too bumpy, the cargoes are supported unstably, the cargoes fall from the robot, the damage is illuminated, and the loss is increased.
Disclosure of Invention
The present invention is directed to a handling robot for warehouse, which solves the problems set forth in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a transfer robot for storage, includes carrier, lifter and control, wherein, lifter with the control all is located in the carrier, the carrier includes protective housing and transportation subassembly, transportation subassembly is located protective housing bottom, the lifter includes spacing subassembly and regulating part, spacing subassembly is located the regulating part top, the control includes the controller that sets up on the protective housing inner wall; the four corners of the top of the protective shell are vertically provided with first accommodating grooves, first air bags are arranged in the first accommodating grooves, one side of the protective shell is horizontally provided with a goods outlet, and a discharge assembly is arranged in the goods outlet; the limiting assembly comprises a bearing plate, a first limiting groove and a second limiting groove are symmetrically and vertically formed in the bottom of the bearing plate, a limiting shaft is arranged in the first limiting groove, and a limiting gear is connected onto the limiting shaft in a shaft mode.
Optionally, the second holding groove has been seted up vertically to protection shells inner wall bilateral symmetry, and is different from having seted up the second holding groove the third holding groove has been seted up vertically to protection shells inner wall's one side symmetry, protection shells inner wall bilateral symmetry is provided with the second gasbag.
Optionally, the protection casing bilateral symmetry is provided with the air pump, air pump bilateral symmetry is provided with first gas-supply pipe, just the air pump bottom is provided with the second gas-supply pipe, first gas-supply pipe one end level run through the protection casing and with first gasbag intercommunication, second gas-supply pipe one end level run through the protection casing and with second gasbag intercommunication.
Optionally, the transportation subassembly including set up in the double-end motor in the protective housing, the equal fixedly connected with rotation axis in double-end motor both ends, the rotation axis both ends respectively horizontal penetration protective housing both sides, just the rotation axis with protective housing coupling, rotation axis both ends fixedly connected with runner.
Optionally, the discharging component is including setting up in rotary rod in the goods export, the rotary rod with goods export inner wall coupling, be connected with first track board through the torsional spring on the rotary rod, first spout has been seted up in the first track board, be provided with the second track board in the first spout.
Optionally, the spacing subassembly still including fixed set up in rack in the second holding tank, the rack with spacing gear engagement, loading board bottom fixedly connected with bracing piece, the bracing piece bottom is provided with the sleeve, bracing piece one end symmetry is provided with the slider, the sleeve bottom with protection casing bottom inner wall fixed connection.
Optionally, the sleeve cavity sets up, be provided with the elastic component in the sleeve, the second spout has been seted up vertically to the symmetry on the sleeve inner wall, bracing piece one end is located in the sleeve, the slider is located in the second spout, elastic component one end with sleeve bottom inner wall fixed connection, the elastic component other end with bracing piece bottom fixed connection.
Optionally, the regulating part including set up in the telescopic link of third holding tank, the output fixedly connected with push pedal of telescopic link, telescopic link one end level runs through the protective housing and extends to the protective housing is outside.
Optionally, the control piece still including set up in gravity sensor on the loading board with set up in the camera of protective housing one side, gravity sensor with the controller electrical signal connection, the controller with air pump, double-end motor and camera are all through the electricity connection.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the controller is used for controlling the air pump to inflate the first air bag, so that the first air bag tightly wraps the goods on the bearing plate, and the stability of the goods in the goods carrying process is ensured.
2. According to the invention, the goods can be pushed out from the box body through the push plate and slide down from the first track plate and the second track plate, so that the goods do not need to be manually unloaded, and time and labor are saved.
Drawings
Fig. 1 is a schematic view of the overall structure of a handling robot for warehouse of the present invention;
fig. 2 is a schematic view of a protective housing of a handling robot for storage according to the present invention;
FIG. 3 is a schematic view of a transport assembly of a storage handling robot according to the present invention;
fig. 4 is a schematic view of a first track plate and a first chute of a handling robot for storage according to the present invention;
FIG. 5 is a schematic view of a carrier plate structure of a storage handling robot according to the present invention;
fig. 6 is a schematic view of a part of a limit assembly of the storage handling robot according to the present invention;
fig. 7 is a schematic view of a sleeve structure of a handling robot for warehouse according to the present invention
Fig. 8 is a topological diagram of a transfer robot for warehouse in accordance with the present invention.
In the figure: 1. a carrier; 11. a protective housing; 111. a first accommodation groove; 112. a first air bag; 113. a second accommodation groove; 114. a third accommodation groove; 115. a second air bag; 116. an air pump; 117. a first gas pipe; 118. a second gas pipe; 12. a transport assembly; 121. a double-ended motor; 122. a rotation shaft; 123. a rotating wheel; 13. a cargo outlet; 14. a discharge assembly; 141. a rotating rod; 142. a first track plate; 143. a first chute; 144. a second track plate; 2. a lifting member; 21. a limit component; 211. a carrying plate; 212. a first limit groove; 213. the second limit groove; 214. a limiting shaft; 215. a limit gear; 216. a rack; 217. a support rod; 2171. a slide block; 218. a sleeve; 2181. an elastic member; 2182. a second chute; 22. an adjusting member; 221. a telescopic rod; 222. a push plate; 3. a control member; 31. a controller; 32. a gravity sensor; 33. a camera is provided.
Description of the embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 8, the present invention provides a carrying robot for storage, which includes a lifting member 2 driving a limiting assembly 21 to lift; a control member 3 for controlling the robot; a carrier 1 for supporting an object; a protective case 11 for protecting the surface of the robot; a transport assembly 12 for moving the robot to carry the cargo; a limiting assembly 21 for limiting the carrier 211; an adjusting member 22 for adjusting the position of the push plate 222; a controller 31 for controlling the air pump 116 to inflate and deflate the air bag; a first accommodation groove 111 for accommodating the first air bag 112; a first air bag 112 for compressing the cargo by inflation to fix the cargo; facilitating the flow of cargo out of the cargo outlet 13; facilitating the smooth flow of cargo out of the discharge assembly 14; a carrier plate 211 for supporting the cargo; a first limit groove 212 for accommodating a limit shaft 214; a second limiting groove 213 for accommodating the second airbag 115 when the bearing plate 211 falls down; a limit shaft 214 for facilitating rotation of the limit gear 215; a limit gear 215 for driving the carrier 211 to move; a second receiving groove 113 for receiving the rack 216; a third receiving groove 114 for receiving the push plate 222; the second air bag 115 is clamped in the second limiting groove 213 when the bearing plate 211 falls down, so as to support the bearing plate 211; an air pump 116 that inflates the first air bag 112 and the second air bag 115; a first gas delivery conduit 117 for facilitating the flow of gas into the first bladder 112; a second gas delivery conduit 118 for facilitating the flow of gas into the second bladder 115; a double-ended motor 121 that drives the rotation shaft 122 to rotate; the rotating wheel 123 is driven to rotate the rotating shaft 122; a wheel 123 for driving the robot to move; a rotating lever 141 that drives the first rail plate 142 to rotate; a first rail plate 142 for facilitating the sliding down of the cargo; the first sliding groove 143 is used for accommodating the second track plate 144, is convenient for being attached to the ground, and ensures that the goods stably fall down the second track plate 144; the limiting gear 215 is convenient for moving the rack 216; a support bar 217 for supporting the carrier plate 211; a sleeve 218 that facilitates receiving the support rod 217; a slider 2171 for supporting the rod 217 to slide in the sleeve 218 in an oriented manner; an elastic member 2181 for elastically restoring the support rod 217 to be lifted; a second chute 2182 facilitating sliding of the slider 2171; a telescopic rod 221 for moving the push plate 222; a pusher plate 222 pushing the cargo out of the cargo outlet 13; a gravity sensor 32 which sends a signal to the controller 31 when it is stressed; the condition of the road surface is checked in real time and a signal is sent to the camera 33 of the controller 31.
The lifting part 2 driving the limiting assembly 21 to lift and the control part 3 controlling the robot are both positioned in the bearing part 1 supporting the object, the bearing part 1 comprises a protective shell 11 protecting the surface of the robot and a transport assembly 12 enabling the robot to move so as to drive goods to be transported, the transport assembly 12 is positioned at the bottom of the protective shell 11, the lifting part 2 comprises a limiting assembly 21 limiting a bearing plate 211 and an adjusting part 22 adjusting the position of a push plate 222, the limiting assembly 21 is positioned at the top of the adjusting part 22, and the control part 3 comprises a controller 31 arranged on the inner wall of the protective shell 11 and used for controlling an air pump 116 to inflate and deflate the air bag; the four corners at the top of the protective shell 11 are vertically provided with first accommodating grooves 111 for accommodating first air bags 112, the first accommodating grooves 111 are internally provided with first air bags 112 for fixing goods by extruding through inflation, one side of the protective shell 11 is horizontally provided with a goods outlet 13 which is convenient for the goods to flow out, and the goods outlet 13 is internally provided with a discharge assembly 14 which is convenient for the goods to flow out stably; the limiting assembly 21 comprises a bearing plate 211 for supporting cargoes, a first limiting groove 212 for accommodating a limiting shaft 214 and a second limiting groove 213 for accommodating the second air bag 115 when the bearing plate 211 falls down are symmetrically and vertically formed in the bottom of the bearing plate 211, a limiting shaft 214 for facilitating rotation of a limiting gear 215 is arranged in the first limiting groove 212, and the limiting shaft 214 is connected with the limiting gear 215 in a shaft connection mode to drive the bearing plate 211 to move.
Further, the second accommodating groove 113 for accommodating the rack 216 is vertically formed on two sides of the inner wall of the protective housing 11, and the third accommodating groove 114 for accommodating the push plate 222 is vertically formed on one side of the inner wall of the protective housing 11, which is different from the second accommodating groove 113, and the second air bag 115 for supporting the bearing plate 211 is symmetrically formed on two sides of the inner wall of the protective housing 11 and is clamped in the second limiting groove 213 when the bearing plate 211 falls down.
Further, the protection casing 11 is symmetrically provided with an air pump 116 for inflating the first air bag 112 and the second air bag 115, the air pump 116 is symmetrically provided with a first air pipe 117 for facilitating air to flow into the first air bag 112, the bottom of the air pump 116 is provided with a second air pipe 118 for facilitating air to flow into the second air bag 115, one end of the first air pipe 117 horizontally penetrates through the protection casing 11 and is communicated with the first air bag 112, and one end of the second air pipe 118 horizontally penetrates through the protection casing 11 and is communicated with the second air bag 115.
Further, the transportation assembly 12 comprises a double-headed motor 121 which is arranged in the protective housing 11 and drives the rotating shaft 122 to rotate, the rotating shaft 122 is fixedly connected with the two ends of the double-headed motor 121 and drives the rotating wheel 123 to rotate, the two ends of the rotating shaft 122 respectively horizontally penetrate through the two sides of the protective housing 11, the rotating shaft 122 is in shaft connection with the protective housing 11, and the two ends of the rotating shaft 122 are fixedly connected with the rotating wheel 123 which drives the robot to move.
Further, the discharging assembly 14 comprises a rotating rod 141 which is arranged in the goods outlet 13 and drives the first track plate 142 to rotate, the rotating rod 141 is connected with the inner wall of the goods outlet 13 in a shaft mode, the rotating rod 141 is connected with the first track plate 142 which is convenient for the goods to slide down through a torsion spring, a first sliding groove 143 which is used for accommodating the second track plate 144 is formed in the first track plate 142, the first sliding groove 143 is internally provided with the second track plate 144 which is convenient for being attached to the ground, and the goods can be guaranteed to stably fall down.
Further, the limiting assembly 21 further comprises a rack 216 fixedly arranged in the second accommodating groove 113 and convenient for a limiting gear 215 to be meshed with the limiting gear 215, a supporting rod 217 for supporting the supporting plate 211 is fixedly connected to the bottom of the supporting plate 211, a sleeve 218 for accommodating the supporting rod 217 is arranged at the bottom of the supporting rod 217, sliding blocks 2171 for enabling the supporting rod 217 to slide in the sleeve 218 in a directional mode are symmetrically arranged at one end of the supporting rod 217, and the bottom of the sleeve 218 is fixedly connected with the inner wall of the bottom of the protective shell 11.
Further, the sleeve 218 is hollow, an elastic member 2181 for elastically resetting the supporting rod 217 to jack up the supporting rod is arranged in the sleeve 218, a second sliding groove 2182 for facilitating sliding of the sliding block 2171 is symmetrically and vertically formed in the inner wall of the sleeve 218, one end of the supporting rod 217 is located in the sleeve 218, the sliding block 2171 is located in the second sliding groove 2182, one end of the elastic member 2181 is fixedly connected with the inner wall of the bottom of the sleeve 218, and the other end of the elastic member 2181 is fixedly connected with the bottom of the supporting rod 217.
Further, the adjusting member 22 includes a telescopic rod 221 disposed in the third accommodating groove 114 and configured to move the push plate 222, and an output end of the telescopic rod 221 is fixedly connected with the push plate 222 for pushing the cargo to make the cargo come out from the cargo outlet 13, and one end of the telescopic rod 221 horizontally penetrates the protective housing 11 and extends to the outside of the protective housing 11.
Further, the control member 3 further includes a gravity sensor 32 disposed on the carrying plate 211 and a camera 33 disposed on one side of the protective housing 11 for checking the road surface condition in real time and sending a signal to the controller 31, wherein the gravity sensor 32 is electrically connected with the controller 31, and the controller 31 is electrically connected with the air pump 116, the double-headed motor 121 and the camera 33.
Working principle: when the goods fall on the bearing plate 211, the bearing plate 211 slides down in the sleeve 218 under the influence of gravity and presses the supporting rod 217, at this moment, the gravity sensor 32 on the bearing plate 211 is stressed and sends a signal to the controller 31, the controller 31 controls the air pump 116 to respectively inflate the first air bag 112 and the second air bag 115, when the second air bag 115 is full of air, the second air bag 115 is just clamped in the second limiting groove 213 and supports the bearing plate 211, and the first air bag 112 is close to the middle of the bearing plate 211 when inflated and extrudes and fixes the goods, so that the goods are prevented from colliding in the transportation process.
Further, when the goods are fixed, the controller 31 controls the double-headed motor 121 to operate, the double-headed motor 121 drives the rotating shaft 122 to rotate, so that the rotating shaft 122 drives the rotating wheel 123 to rotate, thereby driving the robot to move, the camera 33 looks at the road surface condition in real time and sends a signal to the controller 31 to control, when moving to a designated place, the controller 31 controls the air pump 116 to pump air to the first air bag 112 and the second air bag 115, the first air bag 112 and the second air bag 115 retract, the bearing plate 211 continuously descends under the gravity, and continuously descends until the supporting rod 217 completely slides into the sleeve 218.
Further, the output end of the telescopic rod 221 is pushed out to push the push plate 222 to move, so that the goods are pushed to the goods outlet 13, when the goods are pushed to the first track plate 142 on the goods outlet 13, the push plate 222 is pushed forward, the goods push the first track plate 142 to rotate along the rotating rod 141, when a certain angle is reached, the second track plate 144 in the first sliding groove 143 slides out from the first sliding groove 143, and the objects fall on a designated place through the first track plate 142 and the second track plate 144.
Further, when the goods fall out, the torsion spring drives the first track plate 142 to reset, the second track plate 144 slides into the first chute 143 when the first track plate is reset to a certain angle, the telescopic rod 221 retracts to drive the push plate 222 to return to the third accommodating groove 114, at this time, the elastic piece 2181 elastically resets to jack up the supporting rod 217, and the carrying plate 211 follows the supporting rod 217 to be jacked up to the original position for waiting for the next goods carrying.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a transfer robot for storage, includes carrier (1), lifting part (2) and control piece (3), its characterized in that, lifting part (2) with control piece (3) all are located in carrier (1), carrier (1) are including protection casing (11) and transportation subassembly (12), transportation subassembly (12) are located protection casing (11) bottom, lifting part (2) are including spacing subassembly (21) and regulating part (22), spacing subassembly (21) are located regulating part (22) top, control piece (3) including set up in controller (31) on protection casing (11) inner wall; the four corners of the top of the protective shell (11) are vertically provided with first accommodating grooves (111), first air bags (112) are arranged in the first accommodating grooves (111), one side of the protective shell (11) is horizontally provided with a goods outlet (13), and a discharge assembly (14) is arranged in the goods outlet (13); the limiting assembly (21) comprises a bearing plate (211), a first limiting groove (212) and a second limiting groove (213) are symmetrically and vertically formed in the bottom of the bearing plate (211), a limiting shaft (214) is arranged in the first limiting groove (212), and a limiting gear (215) is connected onto the limiting shaft (214) in a shaft mode.
2. The handling robot for storage according to claim 1, wherein the second accommodating groove (113) is symmetrically and vertically formed on two sides of the inner wall of the protective housing (11), the third accommodating groove (114) is symmetrically and vertically formed on one side of the inner wall of the protective housing (11) different from the second accommodating groove (113), and the second air bags (115) are symmetrically formed on two sides of the inner wall of the protective housing (11).
3. The transfer robot for storage according to claim 2, wherein the protection housing (11) is symmetrically provided with an air pump (116), a first air pipe (117) is symmetrically provided on both sides of the air pump (116), a second air pipe (118) is provided on the bottom of the air pump (116), one end of the first air pipe (117) horizontally penetrates through the protection housing (11) and is communicated with the first air bag (112), and one end of the second air pipe (118) horizontally penetrates through the protection housing (11) and is communicated with the second air bag (115).
4. A handling robot for storage according to claim 3, wherein the transportation assembly (12) comprises a double-headed motor (121) arranged in the protective housing (11), two ends of the double-headed motor (121) are fixedly connected with rotating shafts (122), two ends of the rotating shafts (122) respectively penetrate through two sides of the protective housing (11) horizontally, the rotating shafts (122) are in shaft connection with the protective housing (11), and two ends of the rotating shafts (122) are fixedly connected with rotating wheels (123).
5. The carrying robot for storage according to any one of claims 1, 2, 3 and 4, wherein the discharging assembly (14) comprises a rotating rod (141) arranged in the goods outlet (13), the rotating rod (141) is axially connected with the inner wall of the goods outlet (13), a first track plate (142) is connected to the rotating rod (141) through a torsion spring, a first sliding groove (143) is formed in the first track plate (142), and a second track plate (144) is arranged in the first sliding groove (143).
6. The carrying robot for storage according to any one of claims 2, 3 and 4, wherein the limiting assembly (21) further comprises a rack (216) fixedly arranged in the second accommodating groove (113), the rack (216) is meshed with the limiting gear (215), a supporting rod (217) is fixedly connected to the bottom of the bearing plate (211), a sleeve (218) is arranged at the bottom of the supporting rod (217), sliding blocks (2171) are symmetrically arranged at one end of the supporting rod (217), and the bottom of the sleeve (218) is fixedly connected with the inner wall of the bottom of the protective housing (11).
7. The carrying robot for storage of claim 6, wherein the sleeve (218) is hollow, an elastic member (2181) is arranged in the sleeve (218), a second chute (2182) is symmetrically and vertically formed in the inner wall of the sleeve (218), one end of the supporting rod (217) is located in the sleeve (218), the sliding block (2171) is located in the second chute (2182), one end of the elastic member (2181) is fixedly connected with the inner wall of the bottom of the sleeve (218), and the other end of the elastic member (2181) is fixedly connected with the bottom of the supporting rod (217).
8. The handling robot for warehouse according to any one of claims 2, 3 and 7, wherein the adjusting member (22) comprises a telescopic rod (221) disposed in the third accommodating groove (114), an output end of the telescopic rod (221) is fixedly connected with a push plate (222), and one end of the telescopic rod (221) horizontally penetrates through the protective housing (11) and extends to the outside of the protective housing (11).
9. The handling robot for warehouse according to claim 4, wherein the control member (3) further comprises a gravity sensor (32) disposed on the carrying plate (211) and a camera (33) disposed on one side of the protective housing (11), the gravity sensor (32) is electrically connected with the controller (31), and the controller (31) is electrically connected with the air pump (116), the double-headed motor (121) and the camera (33).
10. A method for operating a storage robot according to any one of claims 1-9, characterized in that when a load falls on a carrier plate (211), the carrier plate (211) is pressed against a support rod (217) to slide down in a sleeve (218) under the influence of gravity, at this time, a gravity sensor (32) on the carrier plate (211) is forced to send a signal to a controller (31), the controller (31) controls an air pump (116) to inflate a first air bag (112) and a second air bag (115) respectively, when the second air bag (115) is full of air, the second air bag (115) is just completely clamped in a second limiting groove (213) and supports the carrier plate (211), the first air bag (112) approaches the middle of the carrier plate (211) when inflated and presses and fixes the load, so as to prevent the load from collision in the transportation process, when the load is fixed, the controller (31) controls a double-headed motor (121) to drive a rotating shaft (122) to rotate, so that the rotating shaft (122) drives a person to rotate, and thus the robot (33) is driven to move to a real-time when the rotating shaft (123) is driven to move to a road surface to move, and the robot is controlled to move to a real-time condition, the controller (31) controls the air pump (116) to pump air to the first air bag (112) and the second air bag (115), the first air bag (112) and the second air bag (115) retract, the bearing plate (211) continuously descends under the gravity, the bearing plate continuously descends until the supporting rod (217) completely slides into the sleeve (218), the output end of the telescopic rod (221) is ejected, the push plate (222) is pushed to move, the goods are pushed to the goods outlet (13), when the goods are pushed onto the first track plate (142) on the goods outlet (13), the pushing plate (222) is pushed forward, the goods push the first track plate (142) to rotate along the rotating rod (141), when a certain angle is reached, the second track plate (144) in the first chute (143) slides out of the first chute (143), the object falls on a designated place through the first track plate (142) and the second track plate (144), when the goods fall out, the torsion spring drives the first track plate (142) to reset, the second track plate (144) slides into the first chute (143) when the first track plate is reset to a certain angle, the telescopic rod (221) retracts to drive the push plate (222) to return into the third accommodating groove (114), at the moment, the elastic piece (2181) is elastically reset to jack up the supporting rod (217), and the bearing plate (211) is jacked to the original position along with the supporting rod (217) to wait for the next cargo carrying.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310819094.4A CN116714931A (en) | 2022-05-27 | 2022-05-27 | Transfer robot for storage and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210584099.9A CN114771693B (en) | 2022-05-27 | 2022-05-27 | Transfer robot for storage and working method thereof |
| CN202310819094.4A CN116714931A (en) | 2022-05-27 | 2022-05-27 | Transfer robot for storage and working method thereof |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210584099.9A Division CN114771693B (en) | 2022-05-27 | 2022-05-27 | Transfer robot for storage and working method thereof |
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| CN116714931A true CN116714931A (en) | 2023-09-08 |
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| CN202310819094.4A Pending CN116714931A (en) | 2022-05-27 | 2022-05-27 | Transfer robot for storage and working method thereof |
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Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AUPQ032299A0 (en) * | 1999-05-12 | 1999-06-03 | Firebelt Pty Limited | Tipping trailers |
| CN208855662U (en) * | 2018-09-11 | 2019-05-14 | 广州安道拓汽车座椅有限公司 | A kind of multi-purpose vehicle(MPV) front row tooling transport vehicle |
| EP3980603A4 (en) * | 2019-06-10 | 2023-11-01 | Milwaukee Electric Tool Corporation | Transportable machine including a track system |
| CN211567999U (en) * | 2020-01-03 | 2020-09-25 | 江西省慧源新材科技有限公司 | Large-scale cargo transfer device for cargo import and export |
| CN211809783U (en) * | 2020-03-09 | 2020-10-30 | 无锡同茂电子科技有限公司 | Liquid crystal flat panel display protection device convenient to transport |
| CN111824509B (en) * | 2020-07-15 | 2021-06-04 | 浙江立镖机器人有限公司 | Cargo loading and conveying system |
| CN111806545A (en) * | 2020-07-29 | 2020-10-23 | 陈洁 | Material and cargo carrying device |
| CN214028918U (en) * | 2020-12-18 | 2021-08-24 | 深圳市嘉明特科技有限公司 | AGV intelligence protection dolly |
| CN112960048B (en) * | 2021-01-28 | 2022-07-29 | 九众九机器人有限公司 | Robot is used in commodity circulation transport |
| CN215883432U (en) * | 2021-07-07 | 2022-02-22 | 江苏电能机械有限公司 | Trackless flat car capable of automatically loading and unloading goods |
| CN114408009B (en) * | 2022-02-25 | 2023-02-28 | 研华科技(中国)有限公司 | Conveying device and method for installation of computer server |
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- 2022-05-27 CN CN202210584099.9A patent/CN114771693B/en active Active
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| Publication number | Publication date |
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| CN114771693B (en) | 2023-10-31 |
| CN114771693A (en) | 2022-07-22 |
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