CN211220679U

CN211220679U - Full-automatic storage goods shelf feeding and discharging robot

Info

Publication number: CN211220679U
Application number: CN201922310593.2U
Authority: CN
Inventors: 宋星亮
Original assignee: Zhejiang Moke Robot Technology Co ltd
Current assignee: Zhejiang Moke Robot Technology Co ltd
Priority date: 2019-12-20
Filing date: 2019-12-20
Publication date: 2020-08-11
Anticipated expiration: 2029-12-20

Abstract

The utility model relates to the technical field of robots, in particular to a loading and unloading robot for a full-automatic storage goods shelf; the multifunctional tool clamp comprises a clamp mounting support, part tool clamps symmetrically mounted on two sides of the clamp mounting support, and a lifting sliding table, wherein the working direction of the lifting sliding table is vertically arranged, the working end of the lifting sliding table is fixedly provided with a part tool clamp, and the part tool clamp comprises a part external tool clamp and a part internal tool clamp; the robot solves the problems that a warehouse shelf processing workshop depends on manual loading and unloading and the labor cost is high.

Description

Full-automatic storage goods shelf feeding and discharging robot

Technical Field

The invention relates to the technical field of robots, in particular to a full-automatic storage goods shelf loading and unloading robot.

Background

At present, the form of adopting the on-spot manual assembly of storage about the storage goods shelves, the supplier transports each part of goods shelves to the storage scene, the on-the-spot assembly of installer, from the transport to assembly and the unloading of each spare part of goods shelves, all work all needs artifical the intervention, the human cost is too high, and goods shelves product specification is numerous, the product size is too big, the handling is complicated, the waste in space has been caused, easily cause the injury to installer, relate to the alignment of hole site between a plurality of spare parts and the cooperation relation of every spare part in two positions in the assembly, installer manual operation adjustment is frequent, the assembly efficiency is low, moreover, the on-the-spot no information means of assembly, can't realize the effective management and control to people, the machine, the thing, material, be unfavorable for the effective management and control of. Therefore, aiming at the assembly of the current storage shelf, a comprehensive solution scheme with high informatization and automation degrees, strong adaptability, good flexibility degree and high production efficiency is lacked.

Compared with the traditional automatic feeding and discharging equipment, the robot has the most important advantage that the production cost can be reduced. The use of robots not only provides a low initial cost, but also a fast return on investment due to their high flexibility. The small size and low maintenance costs result in a lower overall cost.

At present, although domestic enterprises have large investment on robots, the robot technology for loading and unloading of full-automatic storage shelves in China is not mature, and the use ratio of the robot cannot be compared with that of foreign enterprises.

Chinese patent CN108000091B discloses a full-automatic storage shelf assembly line and an operation method thereof, the production line comprises a logistics channel, an upright post feeding area, a supporting beam feeding area, an in-line logistics system, a shelf assembly area, a finished product area and a control system, wherein the upright post feeding area, the supporting beam feeding area, the shelf assembly area and the finished product area are connected in series through the in-line logistics system to form an integral production line. The full-automatic warehouse goods assembly production line disclosed by the invention has the advantages that the labor intensity is reduced, the assembly production efficiency is improved, the flexibility degree is high, the assembly production line is suitable for the assembly of various shelf products with different specifications, the number and the distribution mode of stations of each part can be set according to the production beat and the size of a field, and the balanced production is realized.

The robot that this patent was disclosed function singleness is used for snatching respectively and removes stand, a supporting beam, finished product, to the storage goods shelves production line that the frequency of transporting is not high, and the robot is in the wait state for the most time, is a waste to comparatively expensive robot equipment resource, so needs a multi-functional storage goods shelves to change application robot.

Disclosure of Invention

The invention aims to solve the technical problem of providing a full-automatic storage goods shelf feeding and discharging robot, which solves the problem that a storage goods shelf processing workshop depends on manual feeding and discharging and is high in labor cost.

In order to solve the technical problems, the invention provides the following technical scheme:

the utility model provides a full-automatic storage goods shelves go up unloading robot, including the walking track, electrical apparatus control box and industrial robot, walking track level sets up and fixed mounting subaerial, the equal fixed mounting of electrical apparatus control box and industrial robot is at the orbital movable part of walking, walking track and industrial robot all are connected with the electrical apparatus control box electricity, industrial robot's working end fixed mounting has multi-functional frock clamp, multi-functional frock clamp is including anchor clamps installing support and the part frock clamp of installing in anchor clamps installing support both sides symmetrically, the lift slip table, the vertical setting of working direction of lift slip table, the working end fixed mounting of lift slip table has part frock clamp, part frock clamp is including the outside frock clamp of part and the inside frock clamp of part.

Preferably, the part tool clamp comprises a double-head telescopic support and a pair of first rotary drivers, a pressing block and a first claw which are fixedly arranged at two telescopic ends of the double-head telescopic support and have mutually opposite working directions, the double-head telescopic support is fixedly arranged at the bottom end of the clamp mounting support, and the telescopic direction of the double-head telescopic support is horizontal and vertical to the length direction of the clamp mounting support; briquetting fixed mounting is in the flexible end of double-end telescopic bracket, and the middle-end and the briquetting of first claw of colluding are rotatably connected, and the drive end of first claw of colluding is connected with the output transmission of first rotary actuator, and under the operating condition, the work end of first claw of colluding is located the briquetting bottom under.

Preferably, the double-end telescopic bracket comprises a fixed plate, a first movable plate and a second movable plate, wherein the fixed plate, the first movable plate and the second movable plate are vertically arranged, the fixed plate is fixedly installed at the bottom end of the clamp installation bracket, and the first movable plate and the second movable plate are respectively arranged on two sides of the fixed plate and are in sliding connection with the fixed plate.

Preferably, the first rotating driver comprises a first hinge, a first linear driver, a first connecting rod and a second connecting rod, the top end and the bottom end of the pressing block are respectively provided with a second supporting leg and a third supporting leg which extend towards the direction of the first hinge, and the middle end of the first hook claw is hinged with the suspended end of the third supporting leg; first hinge and briquetting are located the both sides of double-end telescopic bracket movable part respectively, first linear actuator's fixed part fixed mounting is on the movable part of first hinge, the both ends of first connecting rod are articulated with the work end of first linear actuator and the drive end of first claw respectively, the both ends of second connecting rod are articulated with the free end of second stabilizer blade and the middle-end of first connecting rod respectively, the equal level setting of articulated shaft of first hinge, first connecting rod, second stabilizer blade, third stabilizer blade.

Preferably, the working end of the first hook claw is detachably provided with a cushion block, and the cushion block is made of elastic materials or rigid materials with hardness smaller than that of the storage shelf.

Preferably, the lift slip table is including first mount, second linear actuator, third connecting rod and track, first mount and anchor clamps installing support fixed connection, second linear actuator fixed mounting is in the inside of first mount, the vertical setting of working direction of second linear actuator, the track is fixed mounting respectively in the both sides of first mount, the outside frock clamp of part and the inside frock clamp of part are installed respectively on two tracks, the middle-end of third connecting rod and the working end fixed connection of second linear actuator, the both ends of third connecting rod respectively with the outside frock clamp of part and the non-working end fixed connection of the inside frock clamp of part.

Preferably, the external part tool clamp comprises a second fixing frame and a second rotary driver, the second fixing frame is fixedly connected with the working end of the lifting sliding table, a second hinge and a clamping jaw are mounted on two sides of the bottom of the second fixing frame, a fixing portion of the second hinge is fixedly connected with the second fixing frame, the clamping jaw is fixedly connected with a movable portion of the second hinge, the working end of the second rotary driver is in transmission connection with a driving end of the clamping jaw, the clamping jaw is horizontally arranged with a hinge shaft of the second hinge, and the clamping jaw is clamped on two sides of a part in a working state.

Preferably, the middle end of clamping jaw and the movable part fixed connection of second hinge, the rotatory driver of second is including third sharp driver, third sharp driver fixed mounting is on the top of second mount, the vertical downward setting of working end of third sharp driver, the working end fixed mounting of third sharp driver has both ends towards the double-end hinge that the clamping jaw drive end set up, both ends all are installed at the both ends of double-end hinge both ends respectively with clamping jaw drive end and double-end hinge articulated connecting rod.

Preferably, the external part tool clamp further comprises a connecting plate, a telescopic stand column, a force arm and an electromagnet, the connecting plate is fixedly installed at the non-working part of the second rotary driver, the force arm is sleeved on a working shaft of the third linear driver, the telescopic stand column is vertically arranged, two ends of the telescopic stand column are respectively fixedly connected with the telescopic stand column and the free end of the electromagnet, and the electromagnet is fixedly installed at the bottom end of the connecting plate.

Preferably, the inside frock clamp of part is including third mount and third rotary actuator, the third mount is fixed connection with the work end of lift slip table, third hinge and second are all installed to the both sides of third mount bottom and are colluded the claw, the fixed part and the third mount fixed connection of third hinge, the second colludes the movable part fixed connection of claw and third hinge, the work end and the drive end transmission of second hook claw of third rotary actuator are connected, the second hook claw sets up with the articulated shaft level of third hinge, under operating condition, the second hook claw inserts in the inside of part.

Compared with the prior art, the invention has the beneficial effects that:

the walking track is used for driving the electric appliance control box and the industrial robot to move along the directions of an X axis and a Y axis on a horizontal plane, the electric appliance control box is used for supplying power to the industrial robot and sending a working signal to the industrial robot, the industrial robot is used for driving the clamp mounting bracket to move to a feeding and discharging working position, the clamp mounting bracket is used for mounting a pair of part tool clamps, a lifting sliding table, a part external tool clamp and a part internal tool clamp, the part tool clamps are used for grabbing parts, the part external tool clamp and the part internal tool clamp are respectively used for grabbing the outside and the inside of the part, the part external tool clamp and the part internal tool clamp can work independently or jointly, the multifunctional tool clamp can grab parts and components of the storage goods shelf, and the walking track and the industrial robot are matched with the multifunctional tool clamp to realize full-automatic feeding and discharging of the storage goods shelf.

The robot can automatically feed parts of the storage shelf in the feeding bin and automatically discharge parts of the storage shelf.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a perspective view of the multifunctional tooling fixture of the present invention;

FIG. 3 is a schematic view of a part fixture according to the present invention in an operating condition;

FIG. 4 is a schematic view of the external part fixture of the present invention in an operating condition;

FIG. 5 is a schematic view of the working state of the internal part tooling fixture of the present invention;

FIG. 6 is a perspective view of a part fixture of the present invention;

FIG. 7 is an exploded perspective view of the component fixture of the present invention;

FIG. 8 is a perspective view of a part of the construction of the part tool holder of the present invention in a first operational configuration;

FIG. 9 is a perspective view of a second operating condition of a portion of the construction of the part tool holder of the present invention;

FIG. 10 is a front view of the lift table and part fixture of the present invention;

FIG. 11 is a first perspective view of the lifting slide table and a part fixture of the present invention;

FIG. 12 is a second perspective view of the lifting slide table and part fixture of the present invention;

FIG. 13 is a perspective view of a part external tooling fixture of the present invention;

FIG. 14 is a perspective view of the part internal tooling fixture of the present invention;

the reference numbers in the figures are:

1-a walking track;

2-electric appliance control box;

3-an industrial robot;

4-a clamp mounting bracket;

5-part tooling fixture; 5 a-a fixing plate; 5a 1-first leg; 5a2 — first hook block; 5a 3-second hook block; 5a 4-circular through hole; 5 b-a first flap; 5b1 — first slotted via; 5 c-a second flap; 5c 1-second slotted via; 5 d-a first rotary drive; 5d1 — first hinge; 5d2 — first linear driver; 5d3 — first link; 5d4 — second link; 5 e-briquetting; 5e1 — second leg; 5e 2-third leg; 5 f-a first hook claw; 5f 1-pad;

6, lifting a sliding table; 6 a-a first mount; 6 b-a second linear drive; 6 c-a third link; 6 d-track;

7-external part tooling fixture; 7 a-a second mount; 7 b-a second hinge; 7 c-a clamping jaw; 7 d-a second rotary drive; 7d1 — third linear drive; 7d 2-double-headed hinge; 7d 3-link; 7 e-a connecting plate; 7 f-telescopic upright post; 7 g-moment arm; 7 h-electromagnet;

8, a part internal tool clamp; 8 a-a third mount; 8 b-a third hinge; 8 c-a second claw; 8 d-third rotary drive.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The utility model provides a full-automatic storage goods shelves unloading robot on, as shown in fig. 1 to 5, including walking track 1, electrical control box 2 and industrial robot 3, walking track 1 level sets up and fixed mounting subaerial, the equal fixed mounting of electrical control box 2 and industrial robot 3 is in walking track 1 movable part, walking track 1 and industrial robot 3 all are connected with electrical control box 2 electricity, industrial robot 3's working end fixed mounting has multi-functional frock clamp, multi-functional frock clamp is including anchor clamps installing support 4 and install the part frock clamp 5 in anchor clamps installing support 4 both sides symmetrically, lift slip table 6, the vertical setting of direction of work of lift slip table 6, the working end fixed mounting of lift slip table 6 has part frock clamp, part frock clamp is including the outside frock clamp 7 of part and the inside frock clamp 8 of part.

The walking track 1 is used for driving an electric appliance control box 2 and an industrial robot 3 to move along the directions of an X axis and a Y axis on a horizontal plane, the electric appliance control box 2 is used for supplying power to the industrial robot 3 and sending a working signal to the industrial robot 3, the industrial robot 3 is used for driving a clamp mounting bracket 4 to move to a loading and unloading working position, the clamp mounting bracket 4 is used for mounting a pair of part tool clamps 5, a lifting sliding table 6, a part external tool clamp 7 and a part internal tool clamp 8, the part tool clamps 5 are used for grabbing parts, the lifting sliding table 6 is used for driving the part external tool clamp 7 and the part internal tool clamp 8 to vertically approach or separate towards the parts, the part external tool clamp 7 and the part internal tool clamp 8 are respectively used for grabbing the outside and the inside of the parts, the part external tool clamp 7 and the part internal tool clamp 8 can work independently or, make multi-functional frock clamp can snatch the part and the part of storage goods shelves, walking track 1, industrial robot 3 collocation multi-functional frock clamp have realized the full-automatic unloading of going up of storage goods shelves.

As shown in fig. 6, the part tooling fixture 5 includes a double-head telescopic bracket, and a pair of first rotary drivers 5d, a pressing block 5e and a first hook 5f which are fixedly installed at two telescopic ends of the double-head telescopic bracket and have opposite working directions, the double-head telescopic bracket is fixedly installed at the bottom end of the fixture mounting bracket 4, and the telescopic direction of the double-head telescopic bracket is horizontal and perpendicular to the length direction of the fixture mounting bracket 4; briquetting 5e fixed mounting is in the flexible end of double-end telescopic bracket, and the middle-end and the briquetting 5e of first claw 5f of colluding are rotatably connected, and the drive end of first claw 5f colludes is connected with the output transmission of first rotary actuator 5d, and under the operating condition, the working end of first claw 5f colludes is located briquetting 5e under the bottom.

First rotary actuator 5d, briquetting 5e and first claw 5f make up and are used for clinching the inboard manipulator on one side of part, first rotary actuator 5d drives the direction rotation that the work end of first claw 5f colluded towards briquetting 5e bottom and makes the bottom of briquetting 5e and the work end of first claw 5f collude can carry the inboard one side of part, double-end telescopic bracket can stretch out and draw back towards both sides, make the horizontal relative distance between a pair of manipulator of installing two telescopic ends at double-end telescopic bracket can adjust, thereby make part frock clamp 5 can adjust double-end telescopic bracket's total length as required and make its part that adapts to different width.

As shown in fig. 7, the double-headed telescopic bracket includes a fixed plate 5a, a first movable plate 5b and a second movable plate 5c, the fixed plate 5a, the first movable plate 5b and the second movable plate 5c are all vertically disposed, the fixed plate 5a is fixedly mounted at the bottom end of the clamp mounting bracket 4, and the first movable plate 5b and the second movable plate 5c are respectively disposed on two sides of the fixed plate 5a and slidably connected with the fixed plate 5 a.

The two sides of the top of the fixed plate 5a are provided with first legs 5a1 fixedly connected with the clamp mounting bracket 4, the upper and lower surfaces of the fixed plate 5a are respectively provided with a first hook block 5a2 and a second hook block 5a3 which are respectively arranged towards the directions of the first movable plate 5b and the second movable plate 5c, the first hook block 5a2 and the second hook block 5a3 are both in an L shape and have the same structure, the first movable plate 5b and the second movable plate 5c have the same structure, the fixed plate 5a and the first hook block 5a2 are combined into a sliding chute in clearance fit with the first movable plate 5b, and the fixed plate 5a and the second hook block 5a3 are combined into a sliding chute in clearance fit with the second movable plate 5c, so that the first movable plate 5b and the second movable plate 5c can horizontally slide relative to the fixed plate 5 a;

a plurality of circular through holes 5a4 uniformly distributed along the length direction of the fixed plate 5a are formed in the fixed plate 5a, a first slotted through hole 5b1 and a second slotted through hole 5c1 which extend along the horizontal direction and correspond to the circular through holes 5a4 are respectively formed in the first movable plate 5b and the second movable plate 5c, and the first movable plate 5b and the second movable plate 5c can be limited from sliding relative to the fixed plate 5a by a bolt passing through the first slotted through hole 5b1 to be fixedly connected with the circular through hole 5a4 or a bolt passing through the second slotted through hole 5c1 and the circular through hole 5a 4; the staff can unscrew the bolt and then slide first fly leaf 5b and second fly leaf 5c and adjust the length of double-end telescopic bracket, also can increase linear actuator to double-end telescopic bracket, makes it can stretch out and draw back automatically.

As shown in fig. 8 and 9, the first rotary actuator 5d includes a first hinge 5d1, a first linear actuator 5d2, a first link 5d3, and a second link 5d4, the top end and the bottom end of the pressing block 5e are respectively provided with a second leg 5e1 and a third leg 5e2 extending toward the first hinge 5d1, and the middle end of the first hook 5f is hinged to the suspended end of the third leg 5e 2; the first hinge 5d1 and the press block 5e are respectively located on two sides of the movable portion of the double-head telescopic bracket, the fixed portion of the first linear actuator 5d2 is fixedly installed on the movable portion of the first hinge 5d1, two ends of the first connecting rod 5d3 are respectively hinged with the working end of the first linear actuator 5d2 and the driving end of the first hook 5f, two ends of the second connecting rod 5d4 are respectively hinged with the suspended end of the second supporting leg 5e1 and the middle end of the first connecting rod 5d3, and hinged shafts of the first hinge 5d1, the first connecting rod 5d3, the second connecting rod 5d4, the second supporting leg 5e1 and the third supporting leg 5e2 are all horizontally arranged.

The first linear actuator 5d2 is a single-shaft single-rod cylinder, the working end of the first linear actuator 5d2 contracts and drives the first connecting rod 5d3 to rotate clockwise around the hinge shaft of the first connecting rod 5d4, the second connecting rod 5d4 adaptively rotates anticlockwise along with the movement of the first connecting rod 5d3, so that the first connecting rod 5d3 is driven to rotate anticlockwise around the hinge shafts of the second leg 5e1 and the second connecting rod 5d4, meanwhile, the first linear actuator 5d2 adaptively rotates around the hinge shaft of the first connecting rod 5d1, the first hook 5f adaptively rotates around the hinge shafts of the first hook 5f and the third leg 5e2 along with the movement of the first connecting rod 5d3, so that the working end of the first anticlockwise hook 5f moves away from the bottom end of the press block 5e, and the manipulator opens; conversely, the working end of the first linear actuator 5d2 is extended to drive the working end of the first hook 5f to move toward the bottom of the pressing block 5 e.

The working end of the first hook claw 5f is detachably provided with a cushion block 5f1, and the cushion block 5f1 is made of elastic materials or rigid materials with hardness smaller than that of the storage shelf.

Cushion 5f1 is the consumer, and cushion 5f1 is through the working end fixed connection of bolt with first colluding claw 5f for damage the storage rack when preventing briquetting 5e and first colluding claw 5f from pressing from both sides tightly, cushion 5f1 can be rubber materials also can be copper or rigid plastic, can quick replacement when long-term use back cushion 5f1 wearing and tearing.

As shown in fig. 10 to 12, the lifting sliding table 6 includes a first fixing frame 6a, a second linear actuator 6b, a third connecting rod 6c and a rail 6d, the first fixing frame 6a is fixedly connected with the clamp mounting frame 4, the second linear actuator 6b is fixedly mounted inside the first fixing frame 6a, the working direction of the second linear actuator 6b is vertically arranged, the rails 6d are respectively and fixedly mounted on two sides of the first fixing frame 6a, the external part tooling fixture 7 and the internal part tooling fixture 8 are respectively mounted on the two rails 6d, the middle end of the third connecting rod 6c is fixedly connected with the working end of the second linear actuator 6b, and two ends of the third connecting rod 6c are respectively and fixedly connected with the non-working ends of the external part tooling fixture 7 and the internal part tooling fixture 8.

First mount 6a is used for fixed mounting second linear actuator 6b and track 6d, track 6d is including slide rail and slider, track 6d is used for installing outside frock clamp 7 of part and the inside frock clamp 8 of part and guides the outside frock clamp 7 of part and the inside frock clamp 8's of part moving direction, second linear actuator 6b is the unipolar single pole cylinder, third connecting rod 6c is used for connecting the work end and the outside frock clamp 7 of part of second linear actuator 6b, the non-work portion of the inside frock clamp 8 of part for second linear actuator 6b can drive the outside frock clamp 7 of part and the inside frock clamp 8 of part vertically reciprocates.

As shown in fig. 13, the external part tooling fixture 7 includes a second fixing frame 7a and a second rotary actuator 7d, the second fixing frame 7a is fixedly connected to the working end of the lifting slide table 6, a second hinge 7b and a clamping jaw 7c are installed on both sides of the bottom of the second fixing frame 7a, a fixing portion of the second hinge 7b is fixedly connected to the second fixing frame 7a, the clamping jaw 7c is fixedly connected to a movable portion of the second hinge 7b, a working end of the second rotary actuator 7d is connected to a driving end of the clamping jaw 7c in a transmission manner, a hinge shaft of the clamping jaw 7c and the second hinge 7b is horizontally disposed, and the clamping jaw 7c is clamped on both sides of the part in a working state.

The second rotary actuator 7d is configured to drive the two clamping jaws 7c respectively located at both sides of the second fixing frame 7a to rotate around the hinge axes thereof with the second hinge 7b, so that the two clamping jaws 7c can move toward or away from each other, thereby allowing the clamping jaws 7c to clamp or release the part from the outside.

The middle end of the clamping jaw 7c is fixedly connected with the movable part of the second hinge 7b, the second rotary driver 7d comprises a third linear driver 7d1, the third linear driver 7d1 is fixedly installed at the top end of the second fixed frame 7a, the working end of the third linear driver 7d1 is vertically and downwards arranged, the two ends of the working end of the third linear driver 7d1 are fixedly installed with a double-head hinge 7d2, the two ends of the double-head hinge 7d2 are respectively installed with a connecting rod 7d3, and the two ends of the connecting rod are respectively hinged with the driving end of the clamping jaw 7c and the double- head hinge 7d 2.

The third linear driver 7d1 is a single-shaft single-rod cylinder, the third linear driver 7d1 drives the double-head hinge 7d2 to drive the connecting rod 7d3 to vertically move up and down, and the connecting rod 7d3 moves and rotates around the hinge shaft of the double-head hinge 7d2, so that the clamping jaw 7c is driven to rotate around the hinge shaft of the second hinge 7b, and the clamping jaw 7c can rotate to approach or move away from each other.

The external work fixture 7 for the parts further comprises a connecting plate 7e, a telescopic upright post 7f, a force arm 7g and an electromagnet 7h, the connecting plate 7e is fixedly installed at the non-working part of the second rotary driver 7d, the force arm 7g is sleeved on a working shaft of the third linear driver 7d1, the telescopic upright post 7f is vertically arranged, two ends of the telescopic upright post 7f are fixedly connected with the suspended ends of the telescopic upright post 7f and the electromagnet 7h respectively, and the electromagnet 7h is fixedly installed at the bottom end of the connecting plate 7 e.

The third linear driver 7d1 drives the double-head hinge 7d2 to drive the connecting plate 7e and the electromagnet 7h to vertically move up and down, the telescopic upright post 7f is adaptively telescopic, the force arm 7g and the telescopic upright post 7f are used for balancing the weight of the connecting plate 7e and the weight of the electromagnet 7h distributed on two sides of the double-head hinge 7d2, and the electromagnet 7h is used for sucking parts and providing a gain effect for clamping of the clamping jaw 7 c.

As shown in fig. 14, the internal part tooling fixture 8 includes a third fixing frame 8a and a third rotary actuator 8d, the third fixing frame 8a is fixedly connected to the working end of the lifting sliding table 6, a third hinge 8b and a second hook claw 8c are installed on both sides of the bottom of the third fixing frame 8a, a fixing portion of the third hinge 8b is fixedly connected to the third fixing frame 8a, the second hook claw 8c is fixedly connected to the movable portion of the third hinge 8b, the working end of the third rotary actuator 8d is in transmission connection with the driving end of the second hook claw 8c, the second hook claw 8c is horizontally disposed with the hinge shaft of the third hinge 8b, and in the working state, the second hook claw 8c is inserted into the internal part.

The structures of the third fixing frame 8a, the third hinge 8b and the third rotary driver 8d are basically the same as those of the second fixing frame 7a, the second hinge 7b and the second rotary driver 7d, except that the bottom end of the clamping jaw 7c is provided with a bulge which is inwards used for hooking the bottom of the outer side of the part, the bottom end of the second hook claw 8c is provided with a bulge which is outwards used for hooking the top of the inner side of the part, and the third rotary driver 8d is used for driving the second hook claw 8c to be inwards folded or outwards unfolded.

The working principle of the invention is as follows:

the walking track 1 is used for driving an electric appliance control box 2 and an industrial robot 3 to move along the directions of an X axis and a Y axis on a horizontal plane, the electric appliance control box 2 is used for supplying power to the industrial robot 3 and sending a working signal to the industrial robot 3, the industrial robot 3 is used for driving a clamp mounting bracket 4 to move to a loading and unloading working position, the clamp mounting bracket 4 is used for mounting a pair of part tool clamps 5, a lifting sliding table 6, a part external tool clamp 7 and/or a part internal tool clamp 8, the part tool clamps 5 are used for grabbing parts, the lifting sliding table 6 is used for driving the part external tool clamp 7 and the part internal tool clamp 8 to vertically approach or separate towards the parts, the part external tool clamp 7 and the part internal tool clamp 8 are respectively used for grabbing the outside and the inside of the parts, the part external tool clamp 7 and the part internal tool clamp 8 can work independently or, make multi-functional frock clamp can snatch the part and the part of storage goods shelves, walking track 1, industrial robot 3 collocation multi-functional frock clamp have realized the full-automatic unloading of going up of storage goods shelves.

a plurality of circular through holes 5a4 uniformly distributed along the length direction of the fixed plate 5a are formed in the fixed plate 5a, a first slotted through hole 5b1 and a second slotted through hole 5c1 which extend along the horizontal direction and correspond to the circular through holes 5a4 are respectively formed in the first movable plate 5b and the second movable plate 5c, and the first movable plate 5b and the second movable plate 5c can be limited from sliding relative to the fixed plate 5a by a bolt passing through the first slotted through hole 5b1 to be fixedly connected with the circular through hole 5a4 or a bolt passing through the second slotted through hole 5c1 and the circular through hole 5a 4; the worker can unscrew the bolts and then slide the first movable plate 5b and the second movable plate 5c to adjust the length of the double-head telescopic support, and a linear driver can be added to the double-head telescopic support to enable the double-head telescopic support to automatically extend and retract;

the first rotary driver 5d, the pressing block 5e and the first hook 5f are combined into a manipulator for clamping one side of the inner side of the component, the first linear driver 5d2 is a single-shaft single-rod cylinder, the working end of the first linear driver 5d2 contracts and drives the first connecting rod 5d3 to rotate clockwise around the hinge shaft of the first connecting rod 5d4, the second connecting rod 5d4 rotates counterclockwise adaptively along with the movement of the first connecting rod 5d3, so as to drive the first connecting rod 5d3 to rotate counterclockwise around the hinge shaft of the second leg 5e1 and the second connecting rod 5d4, meanwhile, the first linear driver 5d2 rotates adaptively around the hinge shaft of the first hinge 5d1, the first hook 5f rotates counterclockwise around the hinge shaft of the first hook 5f and the third leg 5e2 adaptively along with the movement of the first connecting rod 5d3, so as to make the working end of the first hook 5f move away from the bottom end of the pressing block 5e, the manipulator is opened; conversely, the working end of the first linear driver 5d2 extends out to drive the working end of the first hook claw 5f to move towards the direction close to the bottom end of the pressing block 5 e;

the first fixing frame 6a is used for fixedly mounting a second linear actuator 6b and a track 6d, the track 6d comprises a sliding rail and a sliding block, the track 6d is used for mounting a part external tooling fixture 7 and a part internal tooling fixture 8 and guiding the moving directions of the part external tooling fixture 7 and the part internal tooling fixture 8, the second linear actuator 6b is a single-shaft single-rod cylinder, and the third connecting rod 6c is used for connecting the working end of the second linear actuator 6b with the part external tooling fixture 7 and the non-working part of the part internal tooling fixture 8, so that the second linear actuator 6b can drive the part external tooling fixture 7 and the part internal tooling fixture 8 to vertically move up and down;

the second rotary driver 7d is used for driving the two clamping jaws 7c respectively positioned at two sides of the second fixed frame 7a to rotate around the hinging shafts of the two clamping jaws 7c and the second hinge 7b, so that the two clamping jaws 7c can get close to or get away from each other, and the clamping jaws 7c can clamp or release the part from the outside;

the third linear driver 7d1 is a single-shaft single-rod cylinder, the third linear driver 7d1 drives the double-head hinge 7d2 to drive the connecting rod 7d3 to vertically move up and down, and the connecting rod 7d3 moves and rotates around a hinge shaft between the connecting rod and the double-head hinge 7d2, so that the clamping jaw 7c is driven to rotate around a hinge shaft between the clamping jaw 7c and the second hinge 7b, and the clamping jaws 7c can rotate to approach or move away from each other;

the third linear driver 7d1 drives the double-head hinge 7d2 to drive the connecting plate 7e and the electromagnet 7h to vertically move up and down, the telescopic upright post 7f is adaptively telescopic, the force arm 7g and the telescopic upright post 7f are used for balancing the weight of the connecting plate 7e and the electromagnet 7h distributed on two sides of the double-head hinge 7d2, and the electromagnet 7h is used for sucking parts and providing a gain effect for clamping of the clamping jaw 7 c;

the structures of the third fixing frame 8a, the third hinge 8b and the third rotary driver 8d are basically the same as those of the second fixing frame 7a, the second hinge 7b and the second rotary driver 7d, except that the bottom end of the clamping jaw 7c is provided with a hook part which is inwards used for clamping the bottom of the outer side of the part, the bottom end of the second hook claw 8c is provided with a hook part which is outwards used for hooking the top of the inner side of the part, and the third rotary driver 8d is used for driving the second hook claw 8c to be inwards folded or outwards unfolded.

Claims

1. A loading and unloading robot for a full-automatic storage shelf is characterized by comprising a walking track (1), an electrical appliance control box (2) and an industrial robot (3), wherein the walking track (1) is horizontally arranged and fixedly installed on the ground, the electrical appliance control box (2) and the industrial robot (3) are fixedly installed at the movable part of the walking track (1), the walking track (1) and the industrial robot (3) are electrically connected with the electrical appliance control box (2), a multifunctional tooling fixture is fixedly installed at the working end of the industrial robot (3), the multifunctional tooling fixture comprises a fixture installation support (4), component tooling fixtures (5) and a lifting sliding table (6), the component tooling fixtures are symmetrically installed at two sides of the fixture installation support (4), the working direction of the lifting sliding table (6) is vertically arranged, and the working end of the lifting sliding table (6) is fixedly installed with the component tooling fixtures, the part tool clamp comprises a part external tool clamp (7) and a part internal tool clamp (8).

2. The loading and unloading robot for the full-automatic storage shelf as claimed in claim 1, wherein the part tooling fixture (5) comprises a double-head telescopic bracket and a pair of first rotary drivers (5d), a pressing block (5e) and a first hook claw (5f) which are fixedly arranged at two telescopic ends of the double-head telescopic bracket and have mutually opposite working directions, the double-head telescopic bracket is fixedly arranged at the bottom end of the fixture mounting bracket (4), and the telescopic direction of the double-head telescopic bracket is horizontal and vertical to the length direction of the fixture mounting bracket (4); briquetting (5e) fixed mounting is in the flexible end of double-end telescopic bracket, and the middle-end and briquetting (5e) of first claw (5f) of colluding are rotatably connected, and the drive end of first claw (5f) of colluding is connected with the output transmission of first rotary actuator (5d), and under the operating condition, the working end of first claw (5f) of colluding is located briquetting (5e) bottom under.

3. The loading and unloading robot for the full-automatic storage shelf as claimed in claim 2, wherein the double-head telescopic support comprises a fixed plate (5a), a first movable plate (5b) and a second movable plate (5c), the fixed plate (5a), the first movable plate (5b) and the second movable plate (5c) are vertically arranged, the fixed plate (5a) is fixedly installed at the bottom end of the clamp mounting support (4), and the first movable plate (5b) and the second movable plate (5c) are respectively arranged on two sides of the fixed plate (5a) and are slidably connected with the fixed plate (5 a).

4. The loading and unloading robot for the full-automatic storage shelf as claimed in claim 2, wherein the first rotary driver (5d) comprises a first hinge (5d1), a first linear driver (5d2), a first connecting rod (5d3) and a second connecting rod (5d4), the top end and the bottom end of the pressing block (5e) are respectively provided with a second supporting leg (5e1) and a third supporting leg (5e2) which extend towards the first hinge (5d1), and the middle end of the first hook claw (5f) is hinged to the suspended end of the third supporting leg (5e 2); the first hinge (5d1) and the pressing block (5e) are respectively located on two sides of the movable portion of the double-head telescopic support, the fixed portion of the first linear driver (5d2) is fixedly installed on the movable portion of the first hinge (5d1), two ends of the first connecting rod (5d3) are respectively hinged with the working end of the first linear driver (5d2) and the driving end of the first hook claw (5f), two ends of the second connecting rod (5d4) are respectively hinged with the suspended end of the second supporting leg (5e1) and the middle end of the first connecting rod (5d3), and hinged shafts of the first hinge (5d1), the first connecting rod (5d3), the second connecting rod (5d4), the second supporting leg (5e1) and the third supporting leg (5e2) are all horizontally arranged.

5. The loading and unloading robot for the fully automatic storage shelf as claimed in claim 2, wherein the working end of the first hook (5f) is detachably provided with a pad (5f1), and the pad (5f1) is made of an elastic material or a rigid material with hardness smaller than that of the storage shelf.

6. The robot for loading and unloading materials on a full-automatic storage shelf as claimed in claim 1, wherein the lifting sliding table (6) comprises a first fixing frame (6a), a second linear driver (6b), a third connecting rod (6c) and rails (6d), the first fixing frame (6a) is fixedly connected with the clamp mounting bracket (4), the second linear driver (6b) is fixedly mounted inside the first fixing frame (6a), the working direction of the second linear driver (6b) is vertically arranged, the rails (6d) are respectively fixedly mounted on two sides of the first fixing frame (6a), the external part fixture (7) and the internal part fixture (8) are respectively mounted on the two rails (6d), the middle end of the third connecting rod (6c) is fixedly connected with the working end of the second linear driver (6b), and the two ends of the third connecting rod (6c) are respectively mounted with the external part fixture (7) and the internal part fixture (8) Is fixedly connected with the non-working end of the connecting rod.

7. The loading and unloading robot for the full-automatic storage shelf as claimed in claim 1, wherein the part external tooling fixture (7) comprises a second fixed frame (7a) and a second rotary driver (7d), the second fixed frame (7a) is fixedly connected with the working end of the lifting sliding table (6), a second hinge (7b) and a clamping jaw (7c) are mounted on two sides of the bottom of the second fixed frame (7a), a fixed portion of the second hinge (7b) is fixedly connected with the second fixed frame (7a), the clamping jaw (7c) is fixedly connected with a movable portion of the second hinge (7b), a working end of the second rotary driver (7d) is in transmission connection with a driving end of the clamping jaw (7c), the clamping jaw (7c) and a hinge shaft of the second hinge (7b) are horizontally arranged, and the clamping jaw (7c) is clamped on two sides of a part in a working state.

8. The fully-automatic loading and unloading robot for the storage racks as claimed in claim 7, wherein the middle end of the clamping jaw (7c) is fixedly connected with the movable portion of the second hinge (7b), the second rotary driver (7d) comprises a third linear driver (7d1), the third linear driver (7d1) is fixedly installed at the top end of the second fixing frame (7a), the working end of the third linear driver (7d1) is vertically and downwardly arranged, the working end of the third linear driver (7d1) is fixedly installed with a double-headed hinge (7d2) of which two ends are arranged towards the driving end of the clamping jaw (7c), and two ends of the double-headed hinge (7d2) are respectively installed with a connecting rod (7d3) of which two ends are hinged with the driving end of the clamping jaw (7c) and the double-headed hinge (7d 2).

9. The robot for loading and unloading the full-automatic storage shelf according to claim 8 is characterized in that the part external tooling fixture (7) further comprises a connecting plate (7e), a telescopic upright post (7f), a force arm (7g) and an electromagnet (7h), wherein the connecting plate (7e) is fixedly installed at the non-working part of the second rotary driver (7d), the force arm (7g) is sleeved on the working shaft of the third linear driver (7d1), the telescopic upright post (7f) is vertically arranged, two ends of the telescopic upright post (7f) are respectively fixedly connected with the suspended ends of the telescopic upright post (7f) and the electromagnet (7h), and the electromagnet (7h) is fixedly installed at the bottom end of the connecting plate (7 e).

10. The loading and unloading robot for the full-automatic storage shelf as claimed in claim 1, wherein the tooling fixture (8) inside the part comprises a third fixing frame (8a) and a third rotary driver (8d), the third fixing frame (8a) is fixedly connected with the working end of the lifting sliding table (6), a third hinge (8b) and a second hook claw (8c) are mounted on two sides of the bottom of the third fixing frame (8a), a fixing portion of the third hinge (8b) is fixedly connected with the third fixing frame (8a), the second hook claw (8c) is fixedly connected with the movable portion of the third hinge (8b), the working end of the third rotary driver (8d) is in transmission connection with the driving end of the second hook claw (8c), the second hook claw (8c) is horizontally arranged with the hinge shaft of the third hinge (8b), and the second hook claw (8c) is inserted into the part in a working state.