CN209554073U

CN209554073U - A kind of storage transfer robot

Info

Publication number: CN209554073U
Application number: CN201822259396.8U
Authority: CN
Inventors: 黄金刚; 喻祥祥
Original assignee: Hangzhou Huiying Intelligent Technology Co Ltd
Current assignee: Hangzhou Huiying Intelligent Technology Co Ltd
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2019-10-29
Anticipated expiration: 2028-12-29

Abstract

The utility model discloses a kind of storage transfer robots.It includes mobile chassis, the left and right sides is symmetrically arranged with bracket on mobile chassis, it is equipped with several pallets on the inside of bracket side by side from top to bottom, mechanical arm is equipped between two brackets and can drive the elevating mechanism of mechanical arm vertical lifting, mechanical arm includes the first movement mechanism for grabbing the manipulator of article He manipulator can be driven to move left and right, first movement mechanism includes two the first guide rails that setting is moved towards along left and right, first guide rail is equipped with the first sliding block that can be slided along the first rail, manipulator is fixedly connected with the first sliding block, the first movement mechanism further includes the first driving mechanism to slide along the first rail for driving manipulator, the mobile chassis bottom is equipped with the first camera, controller and wireless communication module are additionally provided on mobile chassis.The utility model does not need to carry entire shelf, and cost is relatively low, and shelf size is unrestricted, improves the efficiency that staff sorts kinds of goods.

Description

A kind of storage transfer robot

Technical field

The utility model relates to robotic technology field more particularly to a kind of storage transfer robots.

Background technique

Intelligent storage is a link of logistics progress, and the application of intelligent storage ensure that each ring of kinds of goods storehouse management Joint number according to input speed and accuracy, it is ensured that enterprise timely and accurately grasps the truthful data of inventory, rationally keep and control Business inventory.By the coding of science, being also convenient to the batch to inventory good, shelf-life etc. is managed.

Currently, intelligent storage is that multiple shelf for placing kinds of goods are arranged in warehouse, the robot that stores in a warehouse is according to wireless instructions Order shelf where kinds of goods are carried to employee's treatment region from warehouse, staff picks in employee's treatment region, items scanning. But this storage robot can only carry entire shelf, higher cost higher to performance requirements such as the load-bearing of itself, shelf Weight, height etc. it is also restrained, staff looks for order kinds of goods on shelf, and efficiency is lower.

Summary of the invention

In order to solve the above-mentioned technical problem the utility model, provides a kind of storage transfer robot, does not need to carry whole A shelf, cost is relatively low, and shelf size is unrestricted, improves the efficiency that staff sorts kinds of goods.

To solve the above-mentioned problems, the utility model is achieved using following technical scheme:

A kind of storage transfer robot of the utility model, including mobile chassis, the left and right sides is right on the mobile chassis Claim to be equipped with bracket, be equipped with several pallets on the inside of the bracket side by side from top to bottom, be equipped between two brackets mechanical arm and The elevating mechanism of mechanical arm vertical lifting can be driven, the mechanical arm includes for grabbing the manipulator of article and can drive machinery The first movement mechanism that hand moves left and right, the first movement mechanism include two the first guide rails that setting is moved towards along left and right, institute It states the first guide rail and is equipped with the first sliding block that can be slided along the first rail, the manipulator is fixedly connected with the first sliding block, described First movement mechanism further includes the first driving mechanism to slide along the first rail for driving manipulator, two first guide rail difference Positioned at the front and rear sides of pallet, the mobile chassis bottom is equipped with the first camera, is additionally provided with controller on the mobile chassis And wireless communication module, the controller are imaged with mobile chassis, elevating mechanism, manipulator, the first driving mechanism, first respectively Head and wireless communication module electrical connection.

In leading line or navigation two dimensional code on localized ground in the present solution, the first camera is stored in a warehouse for identification, help Transfer robot of storing in a warehouse positions, and cooperates mobile chassis, realizes and moves freely in storage region.Transfer robot of storing in a warehouse passes through wireless Communication module receives the wireless instructions that administrative center sends.

Transfer robot store in a warehouse by elevating mechanism drive mechanical arm lifting, mechanical arm is for removing the kinds of goods on pallet It is put on the shelf in storage region, or the kinds of goods on the shelf in region of storing in a warehouse is removed and are put on pallet.

Pallet is for storing kinds of goods.Pallet on each bracket is fixed on the inside of bracket, between two bracket top trays Horizontal distance be greater than manipulator width, moved up and down to manipulator and provide enough spaces.Two first guide rail difference It will not bump against with pallet positioned at the front and rear sides of pallet, when thus lower mobile on the robotic arm.When mechanical arm needs to hold in the palm some When kinds of goods on disk are removed, manipulator is first moved between two bracket top trays by first movement mechanism, then, elevating mechanism Mechanical arm is driven to drop to height where kinds of goods on the pallet, then first movement mechanism drives manipulator to be moved at the kinds of goods Kinds of goods are removed.

After transfer robot of storing in a warehouse receives pick-up instruction, shelf position where storage transfer robot is moved to kinds of goods It sets, warehousing position is located at the front side or rear side in space between two bracket top trays where making kinds of goods, and manipulator is moved to two branch Between frame top tray, then, height where manipulator is moved to kinds of goods is put on an idle pallet after removing the kinds of goods, complete It is operated at picking；

After transfer robot of storing in a warehouse, which receives, gets in stocks instruction, storage transfer robot is moved to for storing the goods that need to get in stocks The shelf location of product is used in the front side or rear side for storing warehousing position space between two bracket top trays of the kinds of goods, Manipulator removes the kinds of goods from pallet, and then, manipulator is moved between two bracket top trays, and later, manipulator moves The warehousing position height for storing the kinds of goods is moved, which is put into corresponding warehousing position, completes operation of getting in stocks.

Storage transfer robot can be good at completing picking in storage/goods putting operation, not need to carry entire shelf, cost Lower, shelf size is unrestricted, improves the efficiency that staff sorts kinds of goods.

Preferably, the horizontal distance between two bracket top trays is greater than the width of manipulator.

Preferably, the manipulator includes grasping mechanism and the second moving machine that can drive grasping mechanism back-and-forth motion Structure, second mobile mechanism include the top plate, intermediate plate and bottom plate set gradually from top to bottom, the top plate and the first sliding block It is fixedly connected, the top board undersurface two sides are equipped with to be inserted into pair respectively with matched second guide rail of intermediate plate, the intermediate plate two sides The second guide rail is answered, the intermediate plate can be slided along the second guide rail, and the intermediate plate bottom surface both side is equipped with and the matched third of bottom plate Corresponding third guide rail is inserted into guide rail, the bottom plate two sides respectively, and the bottom plate can be slided along third guide rail, the intermediate plate top surface It is fixed with the first synchronous belt that setting is moved towards along front and back, the top plate is equipped with strip through-hole, is equipped with and drives in the strip through-hole The second driving mechanism that dynamic first synchronous belt is moved forward and backward, second mobile mechanism further includes the first pierce tap and the second steel wire Band, the intermediate plate rear and front end are respectively equipped with the first directive wheel and the second directive wheel, first pierce tap one end and top plate Rear end is fixedly connected, and first pierce tap bypasses the first directive wheel, and the first pierce tap other end is fixed with base plate rear end Connection, second pierce tap one end is fixedly connected with top plate front end, and second pierce tap is around the second directive wheel, and described the The two pierce tap other ends are fixedly connected with bottom plate front end, and the top plate rear and front end is designed with second camera, the controller It is electrically connected respectively with the second driving mechanism, second camera.

Second driving mechanism drives the first synchronous belt level to be moved forward and backward, since the first level of synchronization band is fixed on intermediate plate On, drive intermediate plate level to be moved forward and backward so the first synchronous belt moves horizontally.First pierce tap is led around the first of intermediate plate To wheel, both ends are separately fixed at top plate rear end, base plate rear end.Second pierce tap bypasses the second directive wheel of intermediate plate, both ends point It is not fixed on top plate front end, bottom plate front end.Intermediate plate move forward, by the first pierce tap drive bottom plate Forward, intermediate plate to After move, by the second pierce tap drive bottom plate move back, thus realize intermediate plate, bottom plate two-stage linkage.Second camera is used for The relative position on mechanical arm and shelf between kinds of goods is determined, convenient for finely tuning the position of mechanical arm, so that more accurately grabbing goods Product, moreover it is possible to be confirmed whether to be the kinds of goods for needing to grab.

Preferably, first driving mechanism includes the rack gear being disposed therein on first guide rail, nibbles with rack gear The first servo motor of gear and sliding tooth the wheel rotation of conjunction, the first servo motor are arranged on top plate, and described first Servo motor is electrically connected with the controller.First servo motor drives manipulator to lead first by driving gear to move on rack gear It is moved left and right on rail.

Preferably, second driving mechanism includes the first synchronous pulley, the second synchronous pulley, double-sided synchronous belt, the One driving motor, first synchronous pulley, the second synchronous pulley are located at the front and rear sides of strip through-hole, and described first is same Belt wheel and the second synchronous pulley are walked by Double-side Synchronous band connection, first driving motor is for driving the first synchronous belt rotation Dynamic, first synchronous belt and double-sided synchronous belt are intermeshed, and first driving motor is electrically connected with the controller.First driving For motor for driving double-sided synchronous belt to rotate, double-sided synchronous belt rotation drives the first synchronous belt to move horizontally.

Preferably, the grasping mechanism include one along left and right move towards be arranged support plate, two be symmetrical set Claw and two move towards the 4th guide rail being arranged along left and right, support plate and two the 4th guide rails are all disposed within bottom base plate, institute It states support board ends and stretches out bottom plate two sides, bottom plate two sides are stretched out at the 4th guide rail both ends, and the 4th guide rail both ends are equipped with can Along the second sliding block of the 4th guide rail sliding, the claw in left side is fixedly connected with the second sliding block on the left of two the 4th guide rails, right side Claw be fixedly connected with the second sliding block on the right side of two the 4th guide rails, the support board ends be respectively equipped with the second driving electricity Machine, second driving motor is for driving the claw of corresponding side to move left and right, second driving motor and controller electricity Connection.Controller realizes that grasping mechanism acts the pick-and-place of kinds of goods by two claw relative motions of control.

Preferably, the claw includes mounting plate and multiple raised lines for being arranged on the inside of mounting plate, the raised line is before It is in alignment that arrangement is moved towards afterwards.

Preferably, the bracket includes the pillar for being symmetricly set on mobile chassis front and rear sides, each pallet two sides point It is not fixedly connected with two pillars, the pallet is located between two pillars of place bracket.

Preferably, the elevating mechanism include third synchronous pulley on the inside of each post top portion is set, setting exists Four the 4th synchronous pulleys of mobile chassis top surface and the third driving mechanism that mobile chassis top surface is arranged in, four the 4th same It walks belt wheel and four third synchronous pulleys corresponds, under the 4th synchronous pulley is located at corresponding third synchronous pulley just Side, with corresponding third synchronous pulley by the second synchronous band connection, the third driving mechanism is used for the 4th synchronous pulley Four the 4th synchronous pulley rotations of driving, each post inboard are designed with the 5th vertical guide rail, and the 5th guide rail is equipped with The third sliding block that can be slided along the 5th guide rail, the first guide rail both ends positioned at front side are sliding with the third on left front lateral brace respectively On block, forward right side pillar third sliding block connection, positioned at the first guide rail both ends of rear side respectively with the third on left back lateral brace Third sliding block connection on sliding block, right lateral side pillar, four the second synchronous belts and four third sliding blocks correspond, and each second Synchronous belt is fixedly connected with corresponding third sliding block, and third driving mechanism is electrically connected with the controller.

The 5th guide rail in front left side, forward right side pillar is located on front side of pallet, and the 5th in left rear side, right lateral side pillar leads Rail is located on rear side of pallet.Third driving mechanism drives four the 4th synchronous pulleys to rotate synchronously, and four the 4th synchronous pulleys drive Four third synchronous pulley rotations, four the second synchronous belts drive the sliding of third sliding block, so that mechanical arm be driven to go up and down.

Preferably, the mobile chassis includes pedestal, two walking modules that base bottom is arranged in and is arranged the bottom of at Several universal wheels of seat bottom, the walking module are connect by damping with pedestal, and the walking module includes driving Second servo motor of wheel and driving driving wheel rotation, the controller are electrically connected with the second servo motor.

The beneficial effects of the utility model are: not needing to carry entire shelf, cost is relatively low, and shelf size is unrestricted, mentions High staff sorts the efficiency of kinds of goods.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of embodiment；

Fig. 2 is the right view of Fig. 1；

Fig. 3 is the top view of Fig. 1；

Fig. 4 is a kind of circuit theory connection block diagram of embodiment；

Fig. 5 is the A-A cross-sectional view of Fig. 1；

Fig. 6 is the structural schematic diagram of mechanical arm；

Fig. 7 is the bottom view of Fig. 6；

Fig. 8 is the structural schematic diagram of mobile chassis；

Fig. 9 is to store in a warehouse transfer robot in the schematic diagram of regional work of storing in a warehouse.

In figure: 1, mobile chassis, 2, pallet, 3, mechanical arm, 4, elevating mechanism, 5, manipulator, the 6, first guide rail, 7, first Sliding block, the 8, first driving mechanism, the 9, first camera, 10, controller, 11, wireless communication module, 12, top plate, 13, intermediate plate, 14, bottom plate, the 15, first synchronous belt, 16, strip through-hole, the 17, first pierce tap, the 18, second pierce tap, the 19, first directive wheel, 20, the second directive wheel, 21, second camera, 22, rack gear, 23, gear, 24, first servo motor, the 25, first synchronous pulley, 26, the second synchronous pulley, 27, double-sided synchronous belt, the 28, first driving motor, 29, support plate, 30, claw, the 31, the 4th guide rail, 32, the second sliding block, 33, mounting plate, 34, raised line, 35, pillar, 36, third synchronous pulley, the 37, the 4th synchronous pulley, 38, second Synchronous belt, the 39, the 5th guide rail, 40, third sliding block, 41, third driving mechanism, 42, pedestal, 43, universal wheel, 44, damping, 45, driving wheel, the 46, second servo motor, 47, turnover box, 48, shelf, the 49, second driving motor.

Specific embodiment

Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.

A kind of storage transfer robot of the present embodiment, as shown in Figure 1, Figure 2, Figure 3, Figure 4, including mobile chassis 1, it is mobile The left and right sides is symmetrically arranged with bracket on chassis 1, is equipped with several pallets 2 on the inside of bracket side by side from top to bottom, between two brackets Equipped with mechanical arm 3 and the elevating mechanism 4 of 3 vertical lifting of mechanical arm can be driven, mechanical arm 3 includes the machinery for grabbing article Hand 5 and the first movement mechanism that manipulator 5 can be driven to move left and right, first movement mechanism include two and move towards setting along left and right First guide rail 6, the first guide rail 6 are equipped with the first sliding block 7 that can be slided along the first guide rail 6, and manipulator 5 and the first sliding block 7 are fixed Connection, first movement mechanism further include the first driving mechanism 8 slided for driving manipulator 5 along the first guide rail 6, and two first Guide rail 6 is located at the front and rear sides of pallet 2, and the horizontal distance between two bracket top trays 2 is greater than the width of manipulator 5, 1 bottom of mobile chassis is equipped with the first camera 9, is additionally provided with controller 10 and wireless communication module 11, controller on mobile chassis 1 10 respectively with mobile chassis 1, elevating mechanism 4, manipulator 5, the first driving mechanism 8, the first camera 9 and wireless communication module 11 Electrical connection.

Bracket includes the pillar 35 for being symmetricly set on 1 front and rear sides of mobile chassis, each 2 two sides of pallet respectively with two branch Column 35 is fixedly connected, and pallet 2 is located between two pillars 35 of place bracket.

As shown in figure 9, being placed with the turnover box 47 of unified specification on the shelf 48 in storage region, it is placed in turnover box 47 Same kinds of goods.Turnover box is convenient for manipulator crawl.

Transfer robot store in a warehouse by elevating mechanism drive mechanical arm lifting, mechanical arm is for taking the turnover box on pallet It transfers on the shelf in storage region, or the turnover box on the shelf in region of storing in a warehouse is removed and is put on pallet.

Pallet is for storing turnover box.Pallet on each bracket is fixed on the inside of bracket, two bracket top trays it Between horizontal distance be greater than manipulator width, moved up and down to manipulator and provide enough spaces.Two first guide rails point Not Wei Yu pallet front and rear sides, will not bump against with pallet when thus lower mobile on the robotic arm.When mechanical arm is needed some When turnover box on pallet is removed, manipulator is first moved between two bracket top trays by first movement mechanism, then, lifting Mechanism drives mechanical arm to drop to height where turnover box on the pallet, and then first movement mechanism drives manipulator to be moved to this Turnover box is removed at turnover box.

After transfer robot of storing in a warehouse receives pick-up instruction, storage transfer robot is moved to the week for being placed with and needing picking product Shelf location where turnning box makes warehousing position where being placed with the turnover box for needing picking product be located at space between two bracket top trays Front side or rear side, manipulator are moved between two bracket top trays, and then, height will where manipulator is moved to the turnover box The turnover box is put on an idle pallet after removing, and completes picking operation；

After transfer robot of storing in a warehouse, which receives, gets in stocks instruction, storage transfer robot, which is moved to, is placed with the kinds of goods that need to get in stocks The corresponding shelf location of turnover box is used in and stores the warehousing position of the turnover box and be located between two bracket top trays before space Side or rear side, manipulator remove the turnover box from pallet, and then, manipulator is moved between two bracket top trays, it Afterwards, manipulator is moved to the warehousing position height for storing the turnover box, which is put into corresponding warehousing position, completes to get in stocks Operation.

As shown in Figure 6, Figure 7, manipulator 5 includes grasping mechanism and the second moving machine that can drive grasping mechanism back-and-forth motion Structure, the second mobile mechanism include the top plate 12, intermediate plate 13 and bottom plate 14 set gradually from top to bottom, top plate 12 and the first sliding block 7 are fixedly connected, 12 bottom surface both side of top plate be equipped with matched second guide rail of intermediate plate 13, correspondence is inserted into 13 two sides of intermediate plate respectively Second guide rail, intermediate plate 13 can be slided along the second guide rail, 13 bottom surface both side of intermediate plate be equipped with the matched third guide rail of bottom plate 14, Corresponding third guide rail is inserted into 14 two sides of bottom plate respectively, and bottom plate 14 can be slided along third guide rail, and 13 top surface of intermediate plate is fixed with along preceding The first synchronous belt 15 of setting is moved towards afterwards, and top plate 12 is equipped with strip through-hole 16, and it is synchronous to be equipped with driving first in strip through-hole 16 The second driving mechanism being moved forward and backward with 15, the second mobile mechanism further include the first pierce tap 17 and the second pierce tap 18, centre 13 rear and front end of plate is respectively equipped with the first directive wheel 19 and the second directive wheel 20, and 17 one end of the first pierce tap and 12 rear end of top plate are solid Fixed connection, the first pierce tap 17 bypass the first directive wheel 19, and 17 other end of the first pierce tap is fixedly connected with 14 rear end of bottom plate, the Two pierce taps, 18 one end is fixedly connected with 12 front end of top plate, and the second pierce tap 18 bypasses the second directive wheel 20, the second pierce tap 18 The other end is fixedly connected with 14 front end of bottom plate, and 12 rear and front end of top plate is designed with second camera 21, and controller 10 is respectively with Two driving mechanisms, second camera 21 are electrically connected.

Second driving mechanism drives the first synchronous belt level to be moved forward and backward, since the first level of synchronization band is fixed on intermediate plate On, drive intermediate plate level to be moved forward and backward so the first synchronous belt moves horizontally.First pierce tap is led around the first of intermediate plate To wheel, both ends are separately fixed at top plate rear end, base plate rear end.Second pierce tap bypasses the second directive wheel of intermediate plate, both ends point It is not fixed on top plate front end, bottom plate front end.Intermediate plate move forward, by the first pierce tap drive bottom plate Forward, intermediate plate to After move, by the second pierce tap drive bottom plate move back, thus realize intermediate plate, bottom plate two-stage linkage.Second camera is used for The relative position on mechanical arm and shelf between turnover box is determined, convenient for finely tuning the position of mechanical arm, so that more accurately grabbing Turnover box, moreover it is possible to be confirmed whether to be the turnover box for needing to grab.

First driving mechanism 8 includes the rack gear 22 being disposed therein on first guide rail 6 and 22 meshed gears of rack gear 23 and driving gear 23 rotate first servo motor 24, first servo motor 24 be arranged on top plate 12, the first servo electricity Machine 24 is electrically connected with controller 10.First servo motor drives manipulator in the first guide rail by driving gear to move on rack gear On move left and right.

Second driving mechanism includes the first synchronous pulley 25, the second synchronous pulley 26, the driving electricity of double-sided synchronous belt 27, first Machine 28, the first synchronous pulley 25, the second synchronous pulley 26 are located at the front and rear sides of strip through-hole 16, the first synchronous pulley 25 It is connected with the second synchronous pulley 26 by double-sided synchronous belt 27, the first driving motor 28 is for driving 26 turns of the first synchronous pulley Dynamic, the first synchronous belt 15 is intermeshed with double-sided synchronous belt 27, and the first driving motor 28 is electrically connected with controller 10.First driving For motor for driving double-sided synchronous belt to rotate, double-sided synchronous belt rotation drives the first synchronous belt to move horizontally.

Grasping mechanism includes 29, two claws being symmetrical set 30 and two of support plate that setting is moved towards along left and right Root moves towards the 4th guide rail 31 of setting along left and right, and support plate 29 and two the 4th guide rails 31 are all disposed within 14 bottom of bottom plate, supports 14 two sides of bottom plate are stretched out at 29 both ends of plate, and 14 two sides of bottom plate are stretched out at 31 both ends of the 4th guide rail, and 31 both ends of the 4th guide rail are equipped with can be along the Second sliding block 32 in the second sliding block 32 of four guide rails 31 sliding, the claw 30 in left side and two 31 left sides of the 4th guide rail is fixed to be connected It connects, the claw 30 on right side is fixedly connected with second sliding block 32 on two 31 right sides of the 4th guide rail, and 29 both ends of support plate are respectively equipped with Second driving motor 49, the second driving motor 49 is for driving the claw 30 of corresponding side to move left and right, the second driving motor 49 It is electrically connected with controller 10.Controller realizes that grasping mechanism is dynamic to the pick-and-place of kinds of goods by two claw relative motions of control Make.

Claw 30 includes mounting plate 33 and multiple raised lines 34 that 33 inside of mounting plate is arranged in, and raised line 34 moves towards row along front and back It arranges in alignment.

As shown in Fig. 1, Fig. 3, Fig. 5, elevating mechanism 4 includes the third synchronous pulley that each 35 inside top of pillar is arranged in 36, four the 4th synchronous pulleys 37 that 1 top surface of mobile chassis is set and the third driving machine that 1 top surface of mobile chassis is set Structure 41, four the 4th synchronous pulleys 37 and four third synchronous pulleys 36 correspond, and the 4th synchronous pulley 37 is located at corresponding Immediately below third synchronous pulley 36, the 4th synchronous pulley 37 is connected with corresponding third synchronous pulley 36 by the second synchronous belt 38, Third driving mechanism 41 is designed with vertical the 5th on the inside of each pillar 35 and leads for driving four the 4th synchronous pulley 37 rotations Rail 39, the 5th guide rail 39 are equipped with the third sliding block 40 that can be slided along the 5th guide rail 39, positioned at 6 both ends of the first guide rail point of front side It is not connect with the third sliding block 40 on left front lateral brace, the third sliding block 40 on forward right side pillar, positioned at the first guide rail 6 of rear side Both ends are connect with the third sliding block 40 on left back lateral brace, the third sliding block 40 on right lateral side pillar respectively, four second synchronizations Band 38 and four third sliding blocks 40 correspond, and each second synchronous belt 38 is fixedly connected with corresponding third sliding block 40, third Driving mechanism 41 is electrically connected with controller 10.

As shown in figure 8, mobile chassis 1 includes that pedestal 42, two walking modules that 42 bottom of pedestal is arranged in and setting exist Several universal wheels 43 of 42 bottom of pedestal, walking module are connect by damping 44 with pedestal 42, and walking module includes driving The second servo motor 46 that driving wheel 45 and driving driving wheel 45 rotate, controller 10 are electrically connected with the second servo motor 46.

Claims

1. a kind of storage transfer robot, which is characterized in that including mobile chassis (1), the left and right sides on the mobile chassis (1) It is symmetrically arranged with bracket, several pallets (2) is equipped on the inside of the bracket side by side from top to bottom, is equipped with mechanical arm between two brackets (3) and the elevating mechanism (4) of mechanical arm (3) vertical lifting can be driven, the mechanical arm (3) includes the machine for grabbing article Tool hand (5) and the first movement mechanism that manipulator (5) can be driven to move left and right, the first movement mechanism include two along left and right The first guide rail (6) of setting is moved towards, first guide rail (6) is equipped with the first sliding block (7) that can be slided along the first guide rail (6), The manipulator (5) is fixedly connected with the first sliding block (7), and the first movement mechanism further includes for driving manipulator (5) edge The first driving mechanism (8) of first guide rail (6) sliding, two first guide rails (6) are located at the front and rear sides of pallet (2), institute It states mobile chassis (1) bottom and is equipped with the first camera (9), be additionally provided with controller (10) and channel radio on the mobile chassis (1) Believe module (11), the controller (10) respectively with mobile chassis (1), elevating mechanism (4), manipulator (5), the first driving mechanism (8), the first camera (9) and wireless communication module (11) electrical connection.

2. a kind of storage transfer robot according to claim 1, which is characterized in that between two bracket top trays (2) Horizontal distance be greater than manipulator (5) width.

3. a kind of storage transfer robot according to claim 1, which is characterized in that the manipulator (5) includes crawl Mechanism and the second mobile mechanism that grasping mechanism can be driven to be moved forward and backward, second mobile mechanism include successively setting from top to bottom Top plate (12), intermediate plate (13) and the bottom plate (14) set, the top plate (12) are fixedly connected with the first sliding block (7), the top plate (12) bottom surface both side is equipped with is inserted into corresponding second with matched second guide rail of intermediate plate (13), intermediate plate (13) two sides respectively Guide rail, the intermediate plate (13) can be slided along the second guide rail, and intermediate plate (13) bottom surface both side is equipped with and matches with bottom plate (14) Third guide rail, bottom plate (14) two sides are inserted into corresponding third guide rail respectively, and the bottom plate (14) can be slided along third guide rail, Intermediate plate (13) top surface is fixed with the first synchronous belt (15) that setting is moved towards along front and back, and the top plate (12) is equipped with bar shaped Through-hole (16), interior the second driving mechanism for being equipped with driving the first synchronous belt (15) and being moved forward and backward of the strip through-hole (16) are described Second mobile mechanism further includes the first pierce tap (17) and the second pierce tap (18), and intermediate plate (13) rear and front end is set respectively There are the first directive wheel (19) and the second directive wheel (20), the fixed company in described first pierce tap (17) one end and top plate (12) rear end It connects, first pierce tap (17) bypasses the first directive wheel (19), after the first pierce tap (17) other end and bottom plate (14) End is fixedly connected, and described second pierce tap (18) one end is fixedly connected with top plate (12) front end, second pierce tap (18) around It crosses the second directive wheel (20), the second pierce tap (18) other end is fixedly connected with bottom plate (14) front end, the top plate (12) Rear and front end is designed with second camera (21), the controller (10) respectively with the second driving mechanism, second camera (21) Electrical connection.

4. a kind of storage transfer robot according to claim 3, which is characterized in that the first driving mechanism (8) packet Include the rack gear (22) being disposed therein on first guide rail (6) and rack gear (22) meshed gears (23) and driving gear (23) first servo motor (24) rotated, the first servo motor (24) are arranged on top plate (12), first servo Motor (24) is electrically connected with controller (10).

5. a kind of storage transfer robot according to claim 3, which is characterized in that second driving mechanism includes the One synchronous pulley (25), the second synchronous pulley (26), double-sided synchronous belt (27), the first driving motor (28), described first is synchronous Belt wheel (25), the second synchronous pulley (26) are located at the front and rear sides of strip through-hole (16), first synchronous pulley (25) It is connected with the second synchronous pulley (26) by double-sided synchronous belt (27), first driving motor (28) synchronizes for driving first Belt wheel (25) rotation, first synchronous belt (15) and double-sided synchronous belt (27) are intermeshed, first driving motor (28) It is electrically connected with controller (10).

6. a kind of storage transfer robot according to claim 3, which is characterized in that the grasping mechanism includes an edge Support plate (29), two claws (30) being symmetrical set and the two edges left and right that setting is moved towards in left and right move towards the 4th of setting Guide rail (31), support plate (29) and two the 4th guide rails (31) are all disposed within bottom plate (14) bottom, support plate (29) both ends Bottom plate (14) two sides are stretched out, bottom plate (14) two sides are stretched out at the 4th guide rail (31) both ends, and the 4th guide rail (31) both ends are set There is the second sliding block (32) that can be slided along the 4th guide rail (31), the claw (30) in left side and the on the left of two the 4th guide rails (31) Two sliding blocks (32) are fixedly connected, the claw (30) on right side and the fixed company of the second sliding block (32) on the right side of two the 4th guide rails (31) It connects, support plate (29) both ends are respectively equipped with the second driving motor (49), and second driving motor (49) is for driving pair The claw (30) of side is answered to move left and right, second driving motor (49) is electrically connected with controller (10).

7. a kind of storage transfer robot according to claim 6, which is characterized in that the claw (30) includes mounting plate (33) and multiple raised lines (34) on the inside of mounting plate (33) are set, the raised line (34) along front and back trend be arranged in one it is straight Line.

8. a kind of storage transfer robot according to claim 1, which is characterized in that the bracket includes being symmetricly set on The pillar (35) of mobile chassis (1) front and rear sides, each pallet (2) two sides are fixedly connected with two pillars (35) respectively, described Pallet (2) is located between two pillars (35) of place bracket.

9. a kind of storage transfer robot according to claim 8, which is characterized in that the elevating mechanism (4) includes setting It sets same at four the 4th of mobile chassis (1) top surface in the third synchronous pulley (36) of each pillar (35) inside top, setting Belt wheel (37) and setting are walked in the third driving mechanism (41) of mobile chassis (1) top surface, four the 4th synchronous pulleys (37) with Four third synchronous pulleys (36) correspond, and the 4th synchronous pulley (37) is being located at corresponding third synchronous pulley (36) just Lower section, the 4th synchronous pulley (37) and corresponding third synchronous pulley (36) are connected by the second synchronous belt (38), and described the Three driving mechanisms (41) are designed with vertical for driving the rotation of four the 4th synchronous pulleys (37) on the inside of each pillar (35) Five guide rails (39), the 5th guide rail (39) are equipped with the third sliding block (40) that can be slided along the 5th guide rail (39), are located at front side The first guide rail (6) both ends respectively with the third sliding block (40) on left front lateral brace, the third sliding block (40) on forward right side pillar Connection, positioned at the first guide rail (6) both ends of rear side respectively on left back lateral brace third sliding block (40), on right lateral side pillar Third sliding block (40) connection, four the second synchronous belts (38) correspond with four third sliding blocks (40), each second synchronous belt (38) it is fixedly connected with corresponding third sliding block (40), third driving mechanism (41) is electrically connected with controller (10).

10. a kind of storage transfer robot according to claim 1, which is characterized in that the mobile chassis (1) includes bottom Seat (42), setting pedestal (42) bottom two walking modules and setting pedestal (42) bottom several universal wheels (43), the walking module is connect by damping (44) with pedestal (42), the walking module include driving wheel (45) and The second servo motor (46) of driving wheel (45) rotation is driven, the controller (10) is electrically connected with the second servo motor (46).