CN209209610U - Robot for intelligent storage - Google Patents

Abstract

The utility model discloses a kind of robots for intelligent storage, it include include pedestal, the fixture for picking and placing cargo from the shelf is movably disposed on the pedestal, the pedestal is arranged with traveling wheel or crawler belt, lifting platform is provided on the pedestal, the fixture is arranged on the lifting platform, several guide posts are vertically arranged on the pedestal, the through-hole passed through for the guide post is provided on the lifting platform, a threaded hole is also set up on the lifting platform, the driving mechanism includes the first motor of the stud being threaded in the threaded hole and the driving stud rotation.The utility model picks and places cargo using the robot that can climb shelf, and accurately cargo pick-and-place may be implemented, and also avoids the larger investment using modes such as manipulators, while also saving space.

Description

Robot for intelligent storage

Technical field

The utility model belongs to logistics field, and in particular to a kind of robot for intelligent storage.

Background technique

Robot has been widely used in intelligent storage, to realize unmanned, intelligent warehousing management, robot Also represent the developing direction in logistic industry future.Currently, the application of robot, shows: being lifted in the bottom of shelf Shelf, to store in a warehouse in moving goods rack；By device of unloading goods, such as mechanical arm, slideway etc., individual package is sent to machine On people, sent by robot to specified transmission channel.Yet there are no directly to climb onto shelf, picking, be then sent to specified Position robot application into intelligent storage.

Utility model content

In order to overcome the above problem, the utility model provides a kind of machine for intelligent storage that can climb shelf People.

The technical solution of the utility model is to provide a kind of robot for intelligent storage comprising including pedestal, It is characterized in that: being movably disposed within the fixture for picking and placing cargo from the shelf on the pedestal, the pedestal is divided into It is equipped with traveling wheel or crawler belt, lifting platform is provided on the pedestal, the fixture is arranged on the lifting platform, on the pedestal Several guide posts are vertically arranged, the through-hole passed through for the guide post is provided on the lifting platform, is also set up on the lifting platform One threaded hole, the driving mechanism include the of the stud being threaded in the threaded hole and driving stud rotation One motor.

Preferably, a horizontally disposed sliding rail, a bracket that can be moved along the sliding rail and one pass through on the lifting platform The second motor that the mode of chain drive drives the bracket mobile.

Preferably, the fixture includes two being vertically arranged clamping plate on the bracket and at least one two institute of driving State the third motor that clamping plate moves horizontally.

Preferably, pressure sensor is provided on the inside of at least one described clamping plate.

Preferably, the side of the pedestal is provided at least one for holding the collet of the guide rod, the collet packet tightly Include the clamping jaw of the arc of two pivot settings on the base and the 4th motor of the clamping jaw rotation of driving two, the folder Setting is reduced the ball or idler wheel of its frictional force between the guide rod on the inside of pawl, also sets up at least one on the pedestal and climbs Bar wheel, the pole-climbing wheel are rotated by the 5th motor driven.

Preferably, two collets are arranged in the side of the pedestal, and the two pole-climbing wheels are arranged among two collets, The axial angle of the two pole-climbing wheels is greater than 90 ゜.

A kind of robot for intelligent storage of the utility model, which is utilized, can climb the robots of shelf to pick and place Accurately cargo pick-and-place may be implemented in cargo, also avoids the larger investment using modes such as manipulators, while also saving empty Between.

Detailed description of the invention

Fig. 1 is the use schematic illustration of the best embodiment of the utility model；

Fig. 2 is the structural schematic diagram of the best embodiment of the utility model.

Specific embodiment

Specific embodiment of the present utility model is described in further detail below.

As shown in Figure 1 to Figure 2, the utility model be applied to intelligent storage, the storage include be arranged in it is several in storage The calculating center (not shown) of a shelf 10, goods information on storing goods shelf 10, further includes the bridge being arranged in front of shelf 10 12, at least one guide rod 14 perpendicular to the ground is provided on bridge 12, further includes one kind of the utility model for intelligent storage Robot 16, data interaction is carried out between calculating center and robot 16 by wireless communication.Bridge 12 can be individually present, It is not secured on shelf 10 or even bridge 12 is lower that idler wheel is arranged, in case of need, mobile in storage, this can subtract The investment stored in a warehouse less also improves space utilization rate, while also not needing to carry out structure of modification to original shelf.

Its working principle is that robot 16 is climbed along guide rod 14 under the scheduling at the center of calculating, realizes and pick and place goods.

Common 16 picking mode of shipping robot is usually all walking to cargo bottom, lifts cargo；Or by taking Object fork protrudes into the gap in the pallet of cargo bottom, lifts cargo together with pallet, both modes are all unsuitable direct From picking object on shelf 10.Thus the utility model devises a new structure: robot 16 includes pedestal 18, on pedestal 18 It is movably disposed within the fixture for picking and placing cargo from shelf 10, pedestal 18 is arranged with traveling wheel 19 or crawler belt.Pedestal It is provided with lifting platform 20 on 18, several guide posts (not shown) are vertically arranged on pedestal 18, are provided on lifting platform 20 for guide post The through-hole passed through also sets up a threaded hole on lifting platform 20, and driving mechanism includes that the stud being threaded in threaded hole (is not schemed Show) and driving stud rotation first motor (not shown), by first motor drive stud rotation, to drive lifting platform 20 move up and down.The mode of driving lifting of lifting table has very much, such as using cylinder, using one of normal in the utility model The mode seen, motor drive stud rotation, and the lifting platform being connected through a screw thread comes so that lifting platform rises or falls.This is a kind of Very common structure, thus expression of not drawing in detail.It is of course also possible to use manipulator replaces fixture, also may be implemented The purpose of utility model of the utility model.

A sliding rail 26, one is horizontally disposed on lifting platform 20 to pass through chain (not along the bracket 28 that sliding rail 26 moves and one Diagram) transmission mobile the second motor (not shown) of mode driving arm 28.Two slab structures are vertically arranged on bracket 28 The third motor (not shown) that clamping plate 30 and at least one two clamping plate 30 of driving move horizontally.Third motor is passed by chain Dynamic mode, drives that two clamping plates 30 are opposite or opposite direction is mobile, realizes the movement pressed from both sides, put.It is set on the inside of at least one clamping plate 30 It is equipped with pressure sensor (not shown), to monitor the size of grip force, avoids grip force excessive, damage goods.The inside of clamping plate 30 Rubber slab (not shown) is also set up, to increase frictional force.Pressure sensor often uses the mature product of industry industry, as long as can To detect 30 pressure of clamping plate.

Its working principle is that motor driven support 28 moves forward, so that clamping plate 30 reaches the two sides of cargo, then third Motor drives clamping plate 30 to tighten, so that fixed cargo, first motor drive lifting platform 20 to rise, to lift cargo, realization is taken The movement of goods, goods putting are then on the contrary.Relative to traditional mode, additional space is not both needed, pallet is not needed yet, mentions significantly The high space utilization rate of storage, decreases additional consumption.The model of its motor and the position of setting are the common skill of industry One of the common sense of art personnel's indispensability, and where the innovative point of non-the utility model, thus the utility model does not illustrate in detail.

There are many relevant research of climbing level robot 16, such as CN2018101193, CN201810473479.The utility model There is provided a kind of new 16 structure of climbing level robot: guide rod 14 is cylindrical structure, and a collet bracket 32, collet is arranged on pedestal 18 2 are provided on bracket 32 for holding the collet 34 of guide rod 14 tightly, collet 34 includes that the arc on pedestal 18 is arranged in two pivots The clamping jaw 36 of shape and the 4th motor (not shown) of driving two clamping jaws 36 rotation, setting is reduced itself and guide rod on the inside of clamping jaw 36 The ball (not shown) or idler wheel of frictional force between 14.Multiple rows of, two pole-climbing wheels 38 of every row are set among two collets 34.Collet branch Frame 32 is the arcwall face of indent towards the side of shown guide rod 14, and two pole-climbing wheels 38 are horizontally set on the arcwall face, so that two The axial angle of pole-climbing wheel 38 is greater than 90 ゜, and pole-climbing wheel 38 is rotated by the 5th motor driven.

Its working principle is that two collets 34 hold guide rod 14 tightly, so that pole-climbing wheel 38 is tightly abutted against on guide rod 14, using climbing Robot 16 is fixed on guide rod 14 by the frictional force between bar wheel 38 and guide rod 14, the rotation of the 5th motor driven pole-climbing wheel 38, Realize that robot 16 moves up and down on guide rod 14.Certainly, further 2 collet branch can also be set on pedestal 18 Frame 32, four collets 34, clamp two adjacent guide rods 14, to provide more reliable support respectively altogether.

Further, it is provided with identification code (not shown) on each guide rod 14, robot 16 includes taking pictures to identification code To confirm the camera 40 of 14 position of guide rod, positioned by camera 40 to guide rod 14.Camera 40 can be also used for cargo It takes pictures positioning, clamping plate 30 is accurately inserted into from cargo two sides gap.Electronic tag can be set on cargo (such as RFID), pass through the reader (not shown) being arranged in robot 16, the accurate identity for determining cargo.

Further, guide rod 14 is movably disposed on bridge 12, is made by way of motor drive (not shown) The case where guide rod 14 is moved along bridge 12, thus can be to avoid more guide rod 14 are used.

Above embodiments are only the one such embodiment of the utility model, and the description thereof is more specific and detailed, but simultaneously Therefore it cannot be interpreted as that a limitation on the scope of the patent of the present invention.It should be pointed out that for the ordinary skill of this field For personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this The protection scope of utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.

Claims (6)

1. a kind of robot for intelligent storage comprising pedestal, it is characterised in that: be movably disposed on the pedestal For picking and placing the fixture of cargo from shelf, the pedestal is arranged with traveling wheel or crawler belt, lifting is provided on the pedestal Platform, the fixture are arranged on the lifting platform, several guide posts are vertically arranged on the pedestal, are provided on the lifting platform For the through-hole that the guide post passes through, a threaded hole is also set up on the lifting platform, driving mechanism includes being threaded in the spiral shell The first motor of stud and driving the stud rotation in pit.

2. the robot according to claim 1 for intelligent storage, it is characterised in that: be horizontally disposed on the lifting platform One sliding rail, a bracket that can be moved along the sliding rail and one drive second that the bracket moves by way of chain drive Motor.

3. the robot according to claim 2 for intelligent storage, it is characterised in that: the fixture is set vertically including two Set the third motor that clamping plate and at least one two described clamping plate of driving on the bracket move horizontally.

4. the robot according to claim 3 for intelligent storage, it is characterised in that: on the inside of at least one described clamping plate It is provided with pressure sensor.

5. the robot according to claim 1 for intelligent storage, it is characterised in that: the side of the pedestal is provided with At least one is used to hold tightly the collet of the guide post, and the collet includes the folder of the arc of two pivot settings on the base Pawl and the 4th motor of the clamping jaw rotation of driving two, clamping jaw inside setting are reduced it and rub between the guide post The ball or idler wheel of power also set up at least one pole-climbing wheel on the pedestal, and the pole-climbing wheel is rotated by the 5th motor driven.

6. the robot according to claim 5 for intelligent storage, it is characterised in that: the side setting two of the pedestal The two pole-climbing wheels are arranged in a collet, the two collets centres, and the axial angle of the two pole-climbing wheels is greater than 90 ゜.