CN210794512U

CN210794512U - Goods-shelf-climbing robot

Info

Publication number: CN210794512U
Application number: CN201921420997.0U
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: 2019-08-29
Filing date: 2019-08-29
Publication date: 2020-06-19
Anticipated expiration: 2029-08-29

Abstract

The utility model discloses a climb goods shelves robot. It is including removing the chassis, both sides are equipped with climbing mechanism respectively around removing the chassis, climbing mechanism sets up the structure of climbing at removing the chassis left and right sides including the symmetry, the structure of climbing includes first subassembly and the second subassembly of climbing, first subassembly of climbing includes first support, the top of first support, the bottom is equipped with first sprocket of climbing respectively, the second sprocket of climbing, first sprocket and the second sprocket of climbing are connected through first chain of climbing, first be equipped with first the board of climbing on the chain of climbing, the second subassembly of climbing includes the second support, the top of second support, the bottom is equipped with the third sprocket of climbing respectively, the fourth sprocket of climbing, the third is climbed the sprocket and the fourth is climbed the chain connection through the second, the second is climbed and is equipped with the second on the chain and climbs the board. The utility model discloses need not to carry whole goods shelves, the cost is lower, and the goods shelves size is unrestricted, improves the efficiency that the staff selected the goods.

Description

Goods-shelf-climbing robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a climb goods shelves robot.

Background

The intelligent storage is a link in the logistics process, and the application of the intelligent storage ensures the speed and the accuracy of data input in each link of the goods warehouse management, ensures that an enterprise can timely and accurately master real data of the inventory, and reasonably keeps and controls the inventory of the enterprise. Through scientific coding, the batch, the shelf life and the like of the inventory goods can be conveniently managed.

At present, in the intelligent storage, a plurality of goods shelves for placing goods are arranged in a warehouse, a storage robot carries the goods shelves where the goods are located from the warehouse to an employee processing area according to an order of a wireless instruction, and an operator picks and scans the goods in the employee processing area. However, the storage robot can only carry the whole goods shelf, has high requirements on self-bearing performance and the like, is high in cost, is limited in weight, height and the like of the goods shelf, and is low in efficiency when workers find orders and goods on the goods shelf.

Disclosure of Invention

The utility model discloses a solve above-mentioned technical problem, provide a climb goods shelves robot, it need not to carry whole goods shelves, and the cost is lower, and goods shelves size is unrestricted, improves the efficiency that the staff selected the goods, and its work occupation space is little, can make goods shelves density improve greatly in the warehouse.

In order to solve the problem, the utility model discloses a following technical scheme realizes:

the utility model discloses a rack climbing robot, which is characterized in that the rack climbing robot comprises a mobile chassis, climbing mechanisms are respectively arranged on the front side and the rear side of the mobile chassis, each climbing mechanism comprises climbing structures symmetrically arranged on the left side and the right side of the mobile chassis, each climbing structure comprises a first climbing component arranged on the inner side and a second climbing component arranged on the outer side, each first climbing component comprises a first support longitudinally arranged, a first climbing chain wheel is arranged at the top of the first support, a second climbing chain wheel is arranged at the bottom of the first support, the first climbing chain wheel and the second climbing chain wheel are connected through a first climbing chain, a first climbing plate is arranged on the first climbing chain, each second climbing component comprises a second support longitudinally arranged, a third climbing chain wheel is arranged at the top of the second support, and a fourth climbing chain wheel is arranged at the bottom of the second support, the third climbing chain wheel and the fourth climbing chain wheel are connected through a second climbing chain, a second climbing plate is arranged on the second climbing chain, a controller, a wireless communication module, a mechanical arm used for grabbing articles, a first driving mechanism used for driving the second climbing chain wheel to rotate and a second driving mechanism used for driving the fourth climbing chain wheel to rotate are arranged on the movable chassis, and the controller is electrically connected with the movable chassis, the wireless communication module, the mechanical arm, the first driving mechanism and the second driving mechanism respectively.

In this scheme, climb the goods shelves robot and receive long-range goods of getting/put goods instruction through wireless communication module, remove to goods place goods shelves position through removing the chassis, climb to corresponding the position of putting goods automatically, realize getting goods/put goods through the arm. The goods shelves are arranged side by side, and the goods shelf climbing robot climbs upwards/downwards between the two side by side goods shelves.

The process of climbing the target shelf by the shelf climbing robot is as follows:

the goods shelf climbing robot moves between a target goods shelf and an adjacent goods shelf along the ground and stops below a target goods placing position, the four first climbing chains rotate to drive the first climbing plates to rotate to the cross beams of the first-layer goods placing positions of the two goods shelves to be pressed on the cross beams of the first-layer goods placing positions, then, the first climbing chain is continuously rotated to lift the goods-climbing robot until the upper part of the second climbing chain reaches the cross beam of the second layer goods-placing position, the first climbing chain stops rotating, then, four second climbing chains rotate to drive the second climbing plate to rotate to the second layer and put the crossbeam department of goods position and press on the crossbeam of goods position is put on the second layer, then, continue to rotate the second and climb the chain and will climb the lifting of goods shelves robot, until first climbing chain upper portion reaches the crossbeam department that the goods position was put on the third layer, the second climbs the chain stop rotation, so circulate until climbing goods shelves robot moves the target and put the goods position.

The flow of climbing down the goods shelves by the goods shelves climbing robot is operated reversely according to the flow, namely: four second climb the board and press on the crossbeam that goods position was put on a certain layer, rotate the second and climb the chain and will climb the goods shelves robot and descend, make four first board pressure that climbs down on the crossbeam that goods position was put on the one deck, rotate first chain that climbs and will climb the goods shelves robot and descend, then make four second climb the board and press on the crossbeam that goods position was put on the one deck again, so circulate until climbing the goods shelves robot and remove ground.

Preferably, the climbing mechanism further includes a first driving shaft, two second climbing sprockets in the climbing mechanism are all sleeved on the first driving shaft, a first climbing synchronous pulley is further sleeved on the first driving shaft, the first driving mechanism includes a first climbing driving motor, a first driving synchronous pulley and a first synchronization mechanism, the first climbing driving motor is used for driving the first driving synchronous pulley to rotate, the first driving synchronous pulley is connected with the two first climbing synchronous pulleys through the first synchronization mechanism, the first synchronization mechanism is used for enabling the two first climbing synchronous pulleys to synchronously rotate at the same speed in opposite directions, and the first climbing driving motor is electrically connected with the controller.

The first climbing driving motor drives the first driving synchronous belt wheel to rotate, the first driving synchronous belt wheel drives the two first climbing synchronous belt wheels to synchronously and reversely rotate at the same speed through the first synchronous mechanism, the two first climbing synchronous belt wheels respectively drive the first driving shafts of the climbing mechanisms on the front side and the rear side of the moving chassis to synchronously and reversely rotate, and therefore the first climbing chains on the front side and the rear side of the moving chassis are enabled to synchronously and reversely rotate.

Preferably, the climbing mechanism further includes a second driving shaft, two fourth climbing sprockets in the climbing mechanism are all sleeved on the second driving shaft, a second climbing synchronous pulley is further sleeved on the second driving shaft, the second driving mechanism includes a second climbing driving motor, a second driving synchronous pulley and a second synchronizing mechanism, the second climbing driving motor is used for driving the second driving synchronous pulley to rotate, the second driving synchronous pulley is connected with the two second climbing synchronous pulleys through the second synchronizing mechanism, the second synchronizing mechanism is used for enabling the two second climbing synchronous pulleys to synchronously rotate at the same speed in opposite directions, and the second climbing driving motor is electrically connected with the controller.

The second climbing driving motor drives the second driving synchronous belt wheel to rotate, the second driving synchronous belt wheel drives the two second climbing synchronous belt wheels to synchronously and reversely rotate at the same speed through the second synchronous mechanism, and the two second climbing synchronous belt wheels respectively drive the second driving shafts of the climbing mechanisms on the front side and the rear side of the moving chassis to synchronously and reversely rotate, so that the second climbing chains on the front side and the rear side of the moving chassis synchronously and reversely rotate.

Preferably, the first driving shaft is provided with a through hole penetrating through the first driving shaft along the axial direction, and the second driving shaft of the climbing mechanism penetrates through the through hole in the first driving shaft on the first driving shaft and is not in contact with the first driving shaft.

Preferably, the bottom of the movable chassis is provided with a first camera, and the first camera is electrically connected with the controller. First camera is used for discerning the regional subaerial guide wire of storage or the navigation two-dimensional code, and the help is climbed goods shelves robot and is fixed a position, and the cooperation removes the chassis, realizes freely removing in the storage region.

Preferably, a left-right guide rail is arranged below the second supports, a sliding block capable of moving left and right along the guide rail is arranged on the guide rail, the bottoms of the second supports are fixedly connected with the sliding block, the tops of the two second supports of the climbing mechanism are connected through a connecting strip, a translation driving mechanism for driving the sliding block to translate along the guide rail is arranged on the movable chassis, and the translation driving mechanism is electrically connected with the controller.

The goods shelf climbing robot can also perform translation operation on the goods shelf, and the flow is as follows:

when the goods position is put on a certain layer of goods shelves to the robot that climbs goods shelves, will four first climbing board lifting not with the crossbeam contact of this layer goods position of putting, then, control four second supports along the guide rail translation, then, drop four first climbing boards on the crossbeam of this layer goods position of putting, climb four second climbing board lifting not with the crossbeam contact of this layer goods position of putting, then, the control removes the chassis and for the translation of second support along the equidirectional, so circulate, the realization is climbed goods shelves the robot and is operated on goods shelves translation.

As preferred, translation actuating mechanism includes translation driving motor, translation lead screw, translation screw and connecting rod, the translation lead screw is along controlling the trend level setting, the translation screw sets up on the translation lead screw, the connecting rod cover establish in the translation lead screw outside and with translation screw fixed connection, connecting rod and translation lead screw mutually perpendicular, the connecting rod both ends respectively with remove the left slider fixed connection at both ends around in chassis, translation driving motor is used for driving the translation lead screw to rotate, translation driving motor is connected with the controller electricity.

The translation driving motor drives the translation lead screw to rotate, drives the translation screw to translate, the translation screw drives the sliding blocks at the left front end and the left rear end of the moving chassis to translate through the connecting rod, and the left second support of the climbing mechanism drives the right second support to translate through the connecting strip.

Preferably, the first climbing chain is further provided with a first climbing plate mounting seat, the first climbing plate is fixed on the first climbing plate mounting seat, both sides of the first climbing plate mounting seat are provided with first guide bearings, both sides of the first support are provided with first guide channels through which the first guide bearings pass, the second climbing chain is further provided with a second climbing plate mounting seat, the second climbing plate is fixed on the second climbing plate mounting seat, both sides of the second climbing plate mounting seat are provided with second guide bearings, and both sides of the second support are provided with second guide channels through which the second guide bearings pass.

Preferably, the mechanical arm comprises a supporting plate, a middle plate and a bottom plate which are sequentially arranged from top to bottom, guide seats are symmetrically arranged on the left side and the right side of the middle plate, the guide seats are arranged along the front-back direction, a first guide groove is arranged on the inner side of each guide seat, first guide structures are symmetrically arranged on the left side and the right side of the bottom surface of the supporting plate, each first guide structure comprises a plurality of first guide wheels which are arranged in a straight line, each first guide wheel can roll along the first guide groove on one side, a second guide groove is arranged on the outer side of each guide seat, second guide structures are symmetrically arranged on the left side and the right side of the upper surface of the bottom plate, each second guide structure comprises a plurality of second guide wheels which are arranged in a straight line, each second guide wheel can roll along the second guide groove on one side, a first synchronous belt along the front-back direction is arranged on the bottom surface of, be equipped with in the bar through-hole and be annular double-sided hold-in range and drive double-sided hold-in range pivoted third actuating mechanism, first hold-in range meshes with double-sided hold-in range, the arm still includes second hold-in range and third hold-in range, the intermediate lamella front end is equipped with the third leading wheel, the intermediate lamella rear end is equipped with the fourth leading wheel, second hold-in range one end and layer board rear end fixed connection, the second hold-in range is around third leading wheel, the second hold-in range other end and bottom plate rear end fixed connection, third hold-in range one end and layer board front end fixed connection, the third hold-in range is around the fourth leading wheel, the third hold-in range other end and bottom plate front end fixed connection, both ends all are equipped with the second camera around the bottom plate, the controller is connected with third actuating mechanism, second camera electricity respectively.

The third driving mechanism drives the double-sided synchronous belt to rotate, the double-sided synchronous belt rotates to drive the first synchronous belt to move horizontally, and the first synchronous belt is fixed on the middle plate and drives the middle plate to move horizontally. The second synchronous belt bypasses a third guide wheel of the middle plate, two ends of the second synchronous belt are respectively fixed at the rear end of the supporting plate and the rear end of the bottom plate, the third synchronous belt bypasses a fourth guide wheel of the middle plate, and two ends of the third synchronous belt are respectively fixed at the front end of the supporting plate and the front end of the bottom plate. The intermediate plate moves forward, drives the layer board antedisplacement through the second hold-in range, and the intermediate plate moves backward, drives the layer board retrogradation through the third hold-in range to realize intermediate plate, layer board two-stage linkage.

The supporting plate is used for supporting goods or a turnover box with goods. The second camera is used for determining the relative position between the mechanical arm and the goods/turnover box on the goods shelf, so that the position of the mechanical arm can be finely adjusted conveniently, the goods/turnover box can be taken and placed more accurately, and whether the goods/turnover box needs to be taken down or not can be determined.

The utility model has the advantages that: (1) the whole goods shelf does not need to be carried, the cost is low, the size of the goods shelf is not limited, the efficiency of workers for picking the goods is improved, the occupied working space is small, and the density of the goods shelf in the warehouse can be greatly improved. (2) The goods-climbing robot can move on the goods shelf in a translation way, so that goods can be taken and placed more accurately.

Drawings

FIG. 1 is a schematic structural view of an embodiment;

FIG. 2 is a bottom view of FIG. 1;

FIG. 3 is a cross-sectional view A-A of FIG. 2;

FIG. 4 is a rear view of FIG. 1;

FIG. 5 is a cross-sectional view B-B of FIG. 4;

FIG. 6 is a cross-sectional view C-C of FIG. 5;

FIG. 7 is a right side view of FIG. 1;

FIG. 8 is a schematic connection block diagram of an embodiment;

FIG. 9 is a schematic view of the construction of the robotic arm;

FIG. 10 is a left side view of FIG. 9;

FIG. 11 is a bottom view of FIG. 9;

fig. 12 is a schematic diagram of the operation of the rack-climbing robot in the storage area.

In the figure: 1. a mobile chassis, 2, a first bracket, 3, a first climbing sprocket, 4, a second climbing sprocket, 5, a first climbing chain, 6, a first climbing plate, 7, a second bracket, 8, a third climbing sprocket, 9, a fourth climbing sprocket, 10, a second climbing chain, 11, a second climbing plate, 12, a controller, 13, a wireless communication module, 14, a mechanical arm, 15, a first driving shaft, 16, a first climbing synchronous pulley, 17, a first climbing driving motor, 18, a first driving synchronous pulley, 19, a first synchronous mechanism, 20, a second driving shaft, 21, a second climbing synchronous pulley, 22, a second climbing driving motor, 23, a second driving synchronous pulley, 24, a second synchronous mechanism, 25, a first camera, 26, a guide rail, 27, a slider, 28, a connecting bar, 29, a translation driving motor, 30, a translation lead screw, 31, a translation lead screw, 32. the device comprises a connecting rod, 33, a first climbing plate mounting seat, 34, a first guide bearing, 35, a first guide channel, 36, a second climbing plate mounting seat, 37, a second guide bearing, 38, a second guide channel, 39, a supporting plate, 40, a middle plate, 41, a bottom plate, 42, a guide seat, 43, a first guide groove, 44, a first guide wheel, 45, a second guide groove, 46, a second guide wheel, 47, a first synchronous belt, 48, a strip-shaped through hole, 49, a double-sided synchronous belt, 50, a second synchronous belt, 51, a third synchronous belt, 52, a third guide wheel, 53, a fourth guide wheel, 54, a second camera, 55, a driving wheel, 56, a servo motor, 57, a universal wheel, 58, a base, 59, a third driving mechanism, 60, a shelf, 61 and a turnover box.

Detailed Description

The technical solution of the present invention is further specifically described below by way of examples and with reference to the accompanying drawings.

The shelf climbing robot of the embodiment, as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7 and fig. 8, includes a moving chassis 1, climbing mechanisms are respectively disposed on front and rear sides of the moving chassis 1, each climbing mechanism includes climbing structures symmetrically disposed on left and right sides of the moving chassis 1, each climbing structure includes a first climbing component disposed on an inner side and a second climbing component disposed on an outer side, the first climbing component includes a first bracket 2 disposed longitudinally, a first climbing sprocket 3 is disposed on a top of the first bracket 2, a second climbing sprocket 4 is disposed on a bottom of the first bracket 2, the first climbing sprocket 3 and the second climbing sprocket 4 are connected by a first climbing chain 5, a first climbing plate 6 is disposed on the first climbing chain 5, the second climbing component includes a second bracket 7 disposed longitudinally, a third climbing sprocket 8 is disposed on a top of the second bracket 7, the bottom of the second support 7 is provided with a fourth climbing sprocket 9, the third climbing sprocket 8 and the fourth climbing sprocket 9 are connected through a second climbing chain 10, the second climbing chain 10 is provided with a second climbing plate 11, the mobile chassis 1 is provided with a controller 12, a wireless communication module 13, a mechanical arm 14 for grabbing articles, a first driving mechanism for driving the second climbing sprocket 4 to rotate and a second driving mechanism for driving the fourth climbing sprocket 9 to rotate, the bottom of the mobile chassis 1 is provided with a first camera 25, and the controller 12 is respectively electrically connected with the mobile chassis 1, the wireless communication module 13, the mechanical arm 14, the first camera 25, the first driving mechanism and the second driving mechanism.

The climbing mechanism further comprises a first driving shaft 15, two second climbing chain wheels 4 in the climbing mechanism are sleeved on the first driving shaft 15, a first climbing synchronous belt wheel 16 is further sleeved on the first driving shaft 15, the first driving mechanism comprises a first climbing driving motor 17, a first driving synchronous belt wheel 18 and a first synchronization mechanism 19, the first climbing driving motor 17 is used for driving the first driving synchronous belt wheel 18 to rotate, the first driving synchronous belt wheel 18 is connected with the two first climbing synchronous belt wheels 16 through the first synchronization mechanism 19, the first synchronization mechanism 19 is used for enabling the two first climbing synchronous belt wheels 16 to synchronously rotate in opposite directions at the same speed, and the first climbing driving motor 17 is electrically connected with the controller 12.

The climbing mechanism further comprises a second driving shaft 20, two fourth climbing sprockets 9 in the climbing mechanism are sleeved on the second driving shaft 20, a second climbing synchronous pulley 21 is further sleeved on the second driving shaft 20, the second driving mechanism comprises a second climbing driving motor 22, a second driving synchronous pulley 23 and a second synchronizing mechanism 24, the second climbing driving motor 22 is used for driving the second driving synchronous pulley 23 to rotate, the second driving synchronous pulley 23 is connected with the two second climbing synchronous pulleys 21 through the second synchronizing mechanism 24, the second synchronizing mechanism 24 is used for enabling the two second climbing synchronous pulleys 21 to synchronously rotate in the opposite direction at the same speed, and the second climbing driving motor 22 is electrically connected with the controller 12.

The first drive shaft 15 is provided with a through hole extending through the first drive shaft 15 in the axial direction, and the second drive shaft 20 of the climbing mechanism extends through the through hole in the first drive shaft 15 and does not contact the first drive shaft 15.

The first climbing driving motor drives the first driving synchronous belt wheel to rotate, the first driving synchronous belt wheel drives the two first climbing synchronous belt wheels to synchronously and reversely rotate at the same speed through the first synchronous mechanism, the two first climbing synchronous belt wheels respectively drive the first driving shafts of the climbing mechanisms on the front side and the rear side of the moving chassis to synchronously and reversely rotate, and therefore the first climbing chains on the front side and the rear side of the moving chassis are enabled to synchronously and reversely rotate. The first synchronous mechanism is composed of a plurality of synchronous belt wheels and a synchronous belt.

The second climbing driving motor drives the second driving synchronous belt wheel to rotate, the second driving synchronous belt wheel drives the two second climbing synchronous belt wheels to synchronously and reversely rotate at the same speed through the second synchronous mechanism, and the two second climbing synchronous belt wheels respectively drive the second driving shafts of the climbing mechanisms on the front side and the rear side of the moving chassis to synchronously and reversely rotate, so that the second climbing chains on the front side and the rear side of the moving chassis synchronously and reversely rotate. The second synchronous mechanism is composed of a plurality of synchronous belt wheels and a synchronous belt.

A left-right guide rail 26 is arranged below the second support 7, a sliding block 27 capable of moving left and right along the guide rail 26 is arranged on the guide rail 26, the bottom of the second support 7 is fixedly connected with the sliding block 27, the tops of the two second supports 7 of the climbing mechanism are connected through a connecting strip 28, a translation driving mechanism for driving the sliding block 27 to translate along the guide rail 26 is arranged on the movable chassis 1, and the translation driving mechanism is electrically connected with the controller 12.

In this scheme, first camera is used for discerning storage region subaerial guide wire or navigation two-dimensional code, and the help is climbed goods shelves robot and is fixed a position, and the cooperation removes the chassis, realizes freely removing in storage region. The goods shelf climbing robot receives a remote goods taking/placing instruction through the wireless communication module, moves to the goods shelf position where goods are located through the mobile chassis, automatically climbs to the corresponding goods placing position, and achieves goods taking/placing through the mechanical arm.

As shown in fig. 12, the shelves 60 are arranged side by side, the goods placing positions on the shelves are used for placing turnover boxes 61, the same type of goods are placed in each turnover box, the shelf climbing robot climbs upwards/downwards between the two side by side shelves, and the mechanical arm of the shelf climbing robot is used for taking down the turnover box carried by the robot to the shelf of the storage area or taking down the turnover box on the shelf of the storage area to the robot.

Translation actuating mechanism includes translation driving motor 29, translation lead screw 30, translation screw 31 and connecting rod 32, translation lead screw 30 moves towards the level setting along controlling, translation screw 31 sets up on translation lead screw 30, the connecting rod 32 cover establish in translation lead screw 30 the outside and with translation screw 31 fixed connection, connecting rod 32 and translation lead screw 30 mutually perpendicular, connecting rod 32 both ends respectively with remove the left slider 27 fixed connection at both ends around of chassis 1, translation driving motor 29 is used for driving translation lead screw 30 to rotate, translation driving motor 29 is connected with controller 12 electricity.

Still be equipped with first board mount pad 33 that climbs on the first chain 5 that climbs, first board 6 that climbs is fixed on first board mount pad 33 that climbs, first board 6 mount pad both sides of climbing all are equipped with first guide bearing 34, the first support 2 left and right sides is equipped with the first direction passageway 35 that supplies first guide bearing 34 to pass through, still be equipped with second board mount pad 36 that climbs on the second chain 10 that climbs, second board 11 that climbs is fixed on second board mount pad 36, second board mount pad 36 both sides all are equipped with second guide bearing 37 that climbs, the second support 7 left and right sides is equipped with the second direction passageway 38 that supplies second guide bearing 37 to pass through. The two first guide channels are positioned at the left side and the right side of the section, close to the outer section, of the first climbing chain, and the two second guide channels are positioned at the left side and the right side of the section, close to the outer section, of the second climbing chain.

As shown in fig. 9, 10 and 11, the mechanical arm 14 includes a supporting plate 39, an intermediate plate 40 and a bottom plate 41 sequentially arranged from top to bottom, guide seats 42 are symmetrically arranged on the left and right sides of the intermediate plate 40, the guide seats 42 are arranged along the front and back directions, a first guide groove 43 is arranged inside the guide seats 42, first guide structures are symmetrically arranged on the left and right sides of the bottom surface of the supporting plate 39, each first guide structure includes a plurality of first guide wheels 44 arranged in a straight line, the first guide wheels 44 can roll along the first guide grooves 45 on the side where the first guide wheels 44 are located, a second guide groove 45 is arranged outside the guide seats 42, second guide structures are symmetrically arranged on the left and right sides of the upper surface of the bottom plate 41, each second guide structure includes a plurality of second guide wheels 46 arranged in a straight line, the second guide wheels 46 can roll along the second guide grooves 45 on the side where the second guide wheels are located, a first synchronous belt 47 is arranged on the bottom surface of, an annular double-sided synchronous belt 49 and a third driving mechanism 59 for driving the double-sided synchronous belt 49 to rotate are arranged in the strip-shaped through hole 48, the first synchronous belt 47 is meshed with the double-sided synchronous belt 49, the mechanical arm 14 further comprises a second synchronous belt 50 and a third synchronous belt 51, a third guide wheel 52 is arranged at the front end of the intermediate plate 40, a fourth guide wheel 53 is arranged at the rear end of the intermediate plate 40, one end of the second synchronous belt 50 is fixedly connected with the rear end of the supporting plate 39, the second synchronous belt 50 bypasses the third guide wheel 52, the other end of the second synchronous belt 50 is fixedly connected with the rear end of the bottom plate 41, one end of the third synchronous belt 51 is fixedly connected with the front end of the supporting plate 39, the third synchronous belt 51 bypasses the fourth guide wheel 53, the other end of the third synchronous belt 51 is fixedly connected with the front end of the bottom plate 41, the front end, the second camera 54 is electrically connected.

The third driving mechanism drives the double-sided synchronous belt to rotate, the double-sided synchronous belt rotates to drive the first synchronous belt to move horizontally, and the first synchronous belt is fixed on the middle plate and drives the middle plate to move horizontally. The second synchronous belt bypasses a third guide wheel of the middle plate, two ends of the second synchronous belt are respectively fixed at the rear end of the supporting plate and the rear end of the bottom plate, the third synchronous belt bypasses a fourth guide wheel of the middle plate, and two ends of the third synchronous belt are respectively fixed at the front end of the supporting plate and the front end of the bottom plate. The intermediate plate moves forward, drives the layer board antedisplacement through the second hold-in range, and the intermediate plate moves backward, drives the layer board retrogradation through the third hold-in range to realize intermediate plate, layer board two-stage linkage. The third driving mechanism comprises a main driving wheel, two driven synchronous belt wheels and a motor for driving the main driving wheel to rotate, and the motor is electrically connected with the controller.

The supporting plate is used for supporting the turnover box. The second camera is used for determining the relative position between the mechanical arm and the turnover box on the goods shelf, so that the position of the mechanical arm can be finely adjusted, the goods/turnover box can be taken and placed more accurately, and whether the goods/turnover box needs to be taken down can be determined.

The mobile chassis 1 comprises a base 58, two walking modules arranged at the bottom of the base 58 and a plurality of universal wheels 57 arranged at the bottom of the base 58, the walking modules comprise driving wheels 55 and servo motors 56 for driving the driving wheels 55 to rotate, and the controller 12 is electrically connected with the servo motors 56.

Claims

1. The shelf climbing robot is characterized by comprising a moving chassis (1), wherein climbing mechanisms are respectively arranged on the front side and the rear side of the moving chassis (1), each climbing mechanism comprises climbing structures symmetrically arranged on the left side and the right side of the moving chassis (1), each climbing structure comprises a first climbing component arranged on the inner side and a second climbing component arranged on the outer side, each first climbing component comprises a first support (2) longitudinally arranged, a first climbing chain wheel (3) is arranged at the top of each first support (2), a second climbing chain wheel (4) is arranged at the bottom of each first support (2), the first climbing chain wheel (3) and the second climbing chain wheel (4) are connected through a first climbing chain (5), a first climbing plate (6) is arranged on each first climbing chain (5), each second climbing component comprises a second support (7) longitudinally arranged, the top of the second support (7) is provided with a third climbing chain wheel (8), the bottom of the second support (7) is provided with a fourth climbing chain wheel (9), the third climbing chain wheel (8) and the fourth climbing chain wheel (9) are connected through a second climbing chain (10), the second climbing chain (10) is provided with a second climbing plate (11), the mobile chassis (1) is provided with a controller (12), a wireless communication module (13), a mechanical arm (14) used for grabbing objects, a first driving mechanism used for driving the second climbing chain wheel (4) to rotate and a second driving mechanism used for driving the fourth climbing chain wheel (9) to rotate, and the controller (12) is electrically connected with the mobile chassis (1), the wireless communication module (13), the mechanical arm (14), the first driving mechanism and the second driving mechanism respectively.

2. The robot for climbing racks according to claim 1, characterized in that the climbing mechanism further comprises a first driving shaft (15), two second climbing sprockets (4) of the climbing mechanism are both sleeved on the first driving shaft (15), the first driving shaft (15) is further sleeved with a first climbing synchronous pulley (16), the first driving mechanism comprises a first climbing driving motor (17), a first driving synchronous pulley (18) and a first synchronizing mechanism (19), the first climbing driving motor (17) is used for driving the first driving synchronous pulley (18) to rotate, the first driving synchronous pulley (18) is connected with the two first climbing synchronous pulleys (16) through the first synchronizing mechanism (19), the first synchronizing mechanism (19) is used for enabling the two first climbing synchronous pulleys (16) to synchronously rotate in opposite directions at the same speed, the first climbing driving motor (17) is electrically connected with the controller (12).

3. The robot for climbing racks according to claim 2, characterized in that the climbing mechanism further comprises a second driving shaft (20), two fourth climbing sprockets (9) of the climbing mechanism are both sleeved on the second driving shaft (20), the second driving shaft (20) is further sleeved with a second climbing synchronous pulley (21), the second driving mechanism comprises a second climbing driving motor (22), a second driving synchronous pulley (23) and a second synchronous mechanism (24), the second climbing driving motor (22) is used for driving the second driving synchronous pulley (23) to rotate, the second driving synchronous pulley (23) is connected with the two second climbing synchronous pulleys (21) through the second synchronous mechanism (24), the second synchronous mechanism (24) is used for enabling the two second climbing synchronous pulleys (21) to synchronously rotate in opposite directions at the same speed, the second climbing drive motor (22) is electrically connected with the controller (12).

4. The robot of claim 3, wherein the first drive shaft (15) is provided with a through hole extending through the first drive shaft (15) in the axial direction, and the second drive shaft (20) of the climbing mechanism passes through the through hole in the first drive shaft (15) and is not in contact with the first drive shaft (15).

5. The robot of claim 1, wherein the bottom of the mobile chassis (1) is provided with a first camera (25), and the first camera (25) is electrically connected with the controller (12).

6. The robot for climbing racks according to claim 1, characterized in that a left-right guide rail (26) is arranged below the second support (7), a slide block (27) capable of moving left and right along the guide rail (26) is arranged on the guide rail (26), the bottom of the second support (7) is fixedly connected with the slide block (27), the tops of the two second supports (7) of the climbing mechanism are connected through a connecting bar (28), a translational driving mechanism for driving the slide block (27) to translate along the guide rail (26) is arranged on the movable chassis (1), and the translational driving mechanism is electrically connected with the controller (12).

7. The rack climbing robot according to claim 6, wherein the translation driving mechanism comprises a translation driving motor (29), a translation screw rod (30), a translation screw nut (31) and a connecting rod (32), the translation screw rod (30) is horizontally arranged along the left and right directions, the translation screw nut (31) is arranged on the translation screw rod (30), the connecting rod (32) is sleeved outside the translation screw rod (30) and is fixedly connected with the translation screw nut (31), the connecting rod (32) is perpendicular to the translation screw rod (30), two ends of the connecting rod (32) are respectively fixedly connected with sliding blocks (27) at the front end and the rear end of the left side of the moving chassis (1), the translation driving motor (29) is used for driving the translation screw rod (30) to rotate, and the translation driving motor (29) is electrically connected with the controller (12).

8. The robot of claim 1, wherein the first climbing chain (5) is further provided with a first climbing plate mounting seat (33), the first climbing plate (6) is fixed on a first climbing plate mounting seat (33), first guide bearings (34) are arranged on two sides of the first climbing plate (6) mounting seat, the left side and the right side of the first bracket (2) are provided with first guide channels (35) for the first guide bearings (34) to pass through, a second climbing plate mounting seat (36) is also arranged on the second climbing chain (10), the second climbing plate (11) is fixed on a second climbing plate mounting seat (36), two sides of the second climbing plate mounting seat (36) are provided with second guide bearings (37), and second guide channels (38) for the second guide bearings (37) to pass through are arranged at the left side and the right side of the second support (7).

9. The shelf climbing robot according to claim 1, wherein the mechanical arm (14) comprises a support plate (39), an intermediate plate (40) and a bottom plate (41) which are sequentially arranged from top to bottom, guide seats (42) are symmetrically arranged on the left side and the right side of the intermediate plate (40), the guide seats (42) are arranged along the front-back direction, a first guide groove (43) is arranged on the inner side of each guide seat (42), first guide structures are symmetrically arranged on the left side and the right side of the bottom surface of the support plate (39), each first guide structure comprises a plurality of first guide wheels (44) which are arranged in a straight line, each first guide wheel (44) can roll along the first guide groove (43) on one side of the support plate, a second guide groove (45) is arranged on the outer side of each guide seat (42), second guide structures are symmetrically arranged on the left side and the right side of the upper surface of the bottom plate (41), each second guide structure comprises a plurality of second guide wheels (46) which are arranged in a, the second guide wheel (46) can roll along a second guide groove (45) on one side of the middle plate (40), a first synchronous belt (47) moving along the front and back direction is arranged on the bottom surface of the middle plate (40), a strip-shaped through hole (48) is formed in the bottom plate (41), a third driving mechanism (59) which is annular and is used for driving a double-sided synchronous belt (49) to rotate is arranged in the strip-shaped through hole (48), the first synchronous belt (47) is meshed with the double-sided synchronous belt (49), the mechanical arm (14) further comprises a second synchronous belt (50) and a third synchronous belt (51), a third guide wheel (52) is arranged at the front end of the middle plate (40), a fourth guide wheel (53) is arranged at the rear end of the middle plate (40), one end of the second synchronous belt (50) is fixedly connected with the rear end of the supporting plate (39), and the third guide wheel (52) is wound by the second synchronous belt (50), second hold-in range (50) other end and bottom plate (41) rear end fixed connection, third hold-in range (51) one end and layer board (39) front end fixed connection, fourth leading wheel (53) are walked around in third hold-in range (51), third hold-in range (51) other end and bottom plate (41) front end fixed connection, both ends all are equipped with second camera (54) around bottom plate (41), controller (12) are connected with third actuating mechanism (59), second camera (54) electricity respectively.