CN214323422U

CN214323422U - Robot caching device

Info

Publication number: CN214323422U
Application number: CN202023225970.1U
Authority: CN
Inventors: 郭帅; 朱维金; 宋佳馨; 王凤利; 苗利
Original assignee: Tianjin Xinsong Robot Automation Co ltd
Current assignee: Tianjin Xinsong Robot Automation Co ltd
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2021-10-01
Anticipated expiration: 2030-12-28

Abstract

The utility model relates to a goods shelves warehouse system, in particular to buffer memory device of robot. The automatic storage rack comprises a linear travelling mechanism, a rotary driving device, a supporting frame, a lifting driving mechanism, a cache rack, a mechanical arm and a storage rack, wherein the storage rack is arranged on two sides of the linear travelling mechanism; the rotary driving device and the supporting frame are arranged on the linear travelling mechanism, and the rotary driving device can drive the supporting frame to rotate; the lifting driving mechanism and the buffer frame are arranged on the supporting frame; the mechanical arm is arranged on the lifting driving mechanism; the mechanical arm is used for conveying articles between the buffer storage rack and the goods shelf. The utility model discloses novel structure, each part cooperation is inseparable, coordinate the function, has that the precision is high, fast, stability is high, the fault rate is low and mobility, flexibility are high, and application scope is wide.

Description

Robot caching device

Technical Field

The utility model relates to a goods shelves warehouse system, in particular to buffer memory device of robot.

Background

Currently, rack storage systems are known which comprise adjacently arranged storage racks, a guide rail extending along a rack aisle, and at least one separate transport vehicle which can be moved along the guide rail for transporting the loaded goods to a storage location. The buffer device with the supply conveyor is arranged on the side end of the rack warehouse, wherein the supply conveyor is arranged on the height of each rack plane. Although the existing shelf warehousing systems meet the requirement of high throughput, the shelf warehousing systems are very complex in structure and high in control technical consumption, so that the operation is complicated, the working efficiency is low, and the production cost is high.

SUMMERY OF THE UTILITY MODEL

To the above problem, an object of the utility model is to provide a buffer memory device of robot to it is complicated to solve current goods shelves warehouse system structure and control, the higher problem of cost.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a robot cache device comprises a linear walking mechanism, a rotary driving device, a supporting frame, a lifting driving mechanism, a cache frame, a mechanical arm and a goods shelf, wherein the goods shelf is arranged on two sides of the linear walking mechanism; the rotary driving device and the supporting frame are arranged on the linear travelling mechanism, and the rotary driving device can drive the supporting frame to rotate; the lifting driving mechanism and the buffer frame are arranged on the supporting frame; the mechanical arm is arranged on the lifting driving mechanism; the mechanical arm is used for conveying the articles between the buffer storage rack and the shelf.

The supporting frame comprises a steel structure upright post, an aluminum section upright post, an upper frame and a lower frame, wherein the steel structure upright post and the aluminum section upright post are arranged in parallel, and the upper end and the lower end of the steel structure upright post are connected through the upper frame and the lower frame respectively; the lifting driving mechanism is arranged on the steel structure upright post;

the upper end of the cache frame is connected with the upper frame, and the lower end of the cache frame is connected with the lower frame.

The lifting driving mechanism comprises a lifting guide rail, a lifting linear motor and a lifting sliding plate, wherein the lifting guide rail is arranged on the steel structure upright post along the vertical direction, and the lifting sliding plate is connected with the lifting guide rail in a sliding manner;

the lifting linear motor comprises a lifting motor stator and a lifting linear motor rotor, wherein the lifting motor stator is arranged on the steel structure upright post, and the lifting linear motor rotor is arranged on the inner side of the lifting sliding plate and corresponds to the lifting motor stator; the mechanical arm is arranged on the outer side of the lifting sliding plate.

The steel structure upright post is provided with a lifting magnetic grid; and the lifting sliding plate is provided with a lifting magnetic grid reading head corresponding to the lifting magnetic grid.

The mechanical arm comprises an upright post, a large arm, a small arm and a finger, wherein the upright post is connected with the lifting driving mechanism; one end of the large arm is rotatably connected with the upright post, the other end of the large arm is rotatably connected with one end of the small arm, and the fingers are rotatably arranged at the other end of the small arm.

The rotation axes of the large arm, the small arm and the fingers are all distributed along the vertical direction.

The linear traveling mechanism comprises a base, a traveling guide rail, a traveling sliding plate and a traveling linear motor, wherein the traveling guide rail is arranged on the base along the horizontal direction, and the traveling sliding plate is connected with the traveling guide rail in a sliding manner;

the walking linear motor comprises a walking linear motor stator and a walking linear motor rotor, wherein the walking linear motor stator is arranged on the base; the traveling linear motor rotor is arranged at the bottom of the traveling sliding plate and corresponds to the traveling linear motor stator; the supporting frame is rotatably connected with the walking sliding plate.

The base is provided with a walking magnetic grid, and the walking sliding plate is provided with a walking magnetic grid reading head corresponding to the walking magnetic grid.

The buffer storage rack is provided with a plurality of layers of buffer storage stations along the height direction, and the goods shelf is provided with a plurality of layers of goods interfaces along the height direction.

And a maintenance wheel is arranged at the top of the supporting frame.

The utility model has the advantages and beneficial effects that:

the utility model discloses novel structure, each part cooperation is inseparable, coordinate the function, has that the precision is high, fast, stability is high, the fault rate is low and mobility, flexibility are high, and application scope is wide.

The utility model discloses let the motion characteristic that the system has dynamic cache, the motion beat of lift system can realize directly driving the motion, and is efficient, and the quality is light, and is fast, and full play directly drives linear electric motor and directly drives the characteristic of rotating electrical machines.

Drawings

Fig. 1 is one of axonometric views of a robot cache device of the present invention;

FIG. 2 is an enlarged view taken at point I in FIG. 1;

fig. 3 is a second perspective view of a robot cache device according to the present invention;

FIG. 4 is an enlarged view taken at II in FIG. 3;

fig. 5 is a front view of a robot buffer device according to the present invention;

FIG. 6 is a top view of FIG. 5;

FIG. 7 is a left side view of FIG. 5;

fig. 8 is an enlarged view of fig. 7 at point iii.

In the figure: the device comprises a base 1, a walking guide rail 2, a walking linear motor stator 3, a walking linear motor rotor 4, a walking sliding plate 5, a walking magnetic grid 6, a walking magnetic grid reading head 7, a walking magnetic grid reading head 8, a lower frame 9, a rotary driving device 10, a steel structure upright post 11, a lifting guide rail 12, a lifting magnetic grid reading head 12, a lifting magnetic grid 13, a lifting motor stator 14, a lifting linear motor rotor 15, a lifting sliding plate 16, an upright post 17, a large arm 18, a small arm 19, a finger 20, an aluminum profile upright post 21, a buffer frame 22, an upper frame 23, a maintenance wheel 24, a goods shelf 25, a goods interface 26, goods 27 and a mechanical arm 30.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1 and fig. 3, the utility model provides a robot buffer device, which comprises a linear traveling mechanism, a rotary driving device 9, a supporting frame, a lifting driving mechanism, a buffer frame 22, a mechanical arm 30 and a goods shelf 25, wherein the goods shelf 25 is arranged on two sides of the linear traveling mechanism; the rotary driving device 9 and the supporting frame are arranged on the linear walking mechanism, and the rotary driving device 9 can drive the supporting frame to rotate; the lifting driving mechanism and the buffer frame 22 are arranged on the supporting frame; the robot 30 is disposed on the elevating drive mechanism, and the robot 30 is used for transferring the articles between the buffer storage rack 22 and the shelf 25.

The embodiment of the utility model provides an in, be equipped with multilayer buffer memory station along direction of height on the buffer memory frame 22, be equipped with multilayer goods interface 26 along direction of height on the goods shelves 25, buffer memory station and goods interface 26 can hold in the palm and put goods 27. The buffer frame 22 enables the system to have the motion characteristic of dynamic buffer, and the motion rhythm of the system is improved. The top of the support frame is provided with maintenance wheels 24.

As shown in fig. 1-2, in the embodiment of the present invention, the supporting frame includes a steel structure column 10, an aluminum section column 21, an upper frame 23 and a lower frame 8, wherein the steel structure column 10 and the aluminum section column 21 are arranged in parallel, and the upper and lower ends are connected through the upper frame 23 and the lower frame 8 respectively; the lifting driving mechanism is arranged on the steel structure upright post 10, the upper end of the buffer frame 22 is connected with the upper frame 23, and the lower end is connected with the lower frame 8.

As shown in fig. 4, in the embodiment of the present invention, the lifting driving mechanism includes a lifting guide rail 11, a lifting linear motor and a lifting sliding plate 16, wherein the lifting guide rail 11 is vertically disposed on the steel structure upright 10, and the lifting sliding plate 16 is slidably connected to the lifting guide rail 11; specifically, the lifting linear motor comprises a lifting motor stator 14 and a lifting linear motor rotor 15, wherein the lifting motor stator 14 is arranged on the steel structure upright post 10, and the lifting linear motor rotor 15 is arranged on the inner side of the lifting sliding plate 16 and corresponds to the lifting motor stator 14; the robot arm 30 is disposed outside the elevation slide plate 16.

On the basis of the above embodiment, the steel structure upright post 10 is provided with a lifting magnetic grid 13; the lifting sliding plate 16 is provided with a lifting magnetic grid reading head 12 corresponding to the lifting magnetic grid 13, and the lifting magnetic grid reading head 12 is used for reading lifting movement position data of the lifting sliding plate 16.

As shown in fig. 4, in the embodiment of the present invention, the mechanical arm 30 includes a column 17, a large arm 18, a small arm 19 and a finger 20, wherein the column 17 is connected to the lifting driving mechanism; one end of the large arm 18 is rotatably connected to the column 17, the other end is rotatably connected to one end of the small arm 19, and the finger 20 is rotatably provided at the other end of the small arm 19.

Further, the rotation axes of the large arm 18, the small arm 19 and the finger 20 are all arranged in the vertical direction, so that the mechanical arm 30 rotates in the horizontal plane. In the present embodiment, the robot arm 30 has 5 degrees of freedom.

Specifically, adjacent two parts of the upright post 17, the large arm 18, the small arm 19 and the finger 20 are connected by a direct drive motor and a bearing to form a linear motion pair with a rotating shaft vertical to the ground. The fingers 20 can pick and place goods 27 for warehousing transfers between the goods interfaces 26 of any of the shelves 25.

As shown in fig. 5-8, in the embodiment of the present invention, the linear traveling mechanism includes a base 1, a traveling guide rail 2, a traveling sliding plate 5 and a traveling linear motor, wherein the traveling guide rail 2 is horizontally disposed on the base 1, and the traveling sliding plate 5 is slidably connected to the traveling guide rail 2; specifically, the walking linear motor comprises a walking linear motor stator 3 and a walking linear motor rotor 4, wherein the walking linear motor stator 3 is arranged on the base 1; the traveling linear motor rotor 4 is arranged at the bottom of the traveling sliding plate 5 and corresponds to the traveling linear motor stator 3; the supporting frame is rotatably connected with the walking sliding plate 5.

As shown in fig. 2, in addition to the above-mentioned embodiment, the base 1 is provided with the traveling magnetic grid 6, the traveling sliding plate 5 is provided with the traveling magnetic grid reading head 7 corresponding to the traveling magnetic grid 6, and the traveling magnetic grid reading head 7 is used for reading the linear motion position data of the traveling sliding plate 5.

The utility model provides a pair of warehouse robot device adopts the buffer memory frame to let the system have the motion characteristic of dynamic buffer memory, and the motion beat of lift system can realize directly driving the motion, and is efficient, and the quality is light, and is fast, full play directly drives linear electric motor and directly drives the characteristic of rotating electrical machines.

The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. A robot cache device is characterized by comprising a linear walking mechanism, a rotary driving device (9), a supporting frame, a lifting driving mechanism, a cache frame (22), a mechanical arm (30) and a goods shelf (25), wherein the goods shelf (25) is arranged on two sides of the linear walking mechanism; the rotary driving device (9) and the supporting frame are arranged on the linear travelling mechanism, and the rotary driving device (9) can drive the supporting frame to rotate; the lifting driving mechanism and the buffer frame (22) are arranged on the supporting frame; the mechanical arm (30) is arranged on the lifting driving mechanism; the mechanical arm (30) is used for transferring the articles between the buffer storage rack (22) and the storage rack (25).

2. The robot caching device according to claim 1, wherein the support frame comprises a steel structure column (10), an aluminum profile column (21), an upper frame (23) and a lower frame (8), wherein the steel structure column (10) and the aluminum profile column (21) are arranged in parallel, and the upper end and the lower end of the steel structure column are respectively connected through the upper frame (23) and the lower frame (8); the lifting driving mechanism is arranged on the steel structure upright post (10);

the upper end of the buffer frame (22) is connected with the upper frame (23), and the lower end is connected with the lower frame (8).

3. The robot caching device according to claim 2, wherein the lifting driving mechanism comprises a lifting guide rail (11), a lifting linear motor and a lifting sliding plate (16), wherein the lifting guide rail (11) is vertically arranged on the steel structure upright post (10), and the lifting sliding plate (16) is slidably connected with the lifting guide rail (11);

the lifting linear motor comprises a lifting motor stator (14) and a lifting linear motor rotor (15), wherein the lifting motor stator (14) is arranged on the steel structure upright post (10), and the lifting linear motor rotor (15) is arranged on the inner side of the lifting sliding plate (16) and corresponds to the lifting motor stator (14); the mechanical arm (30) is arranged on the outer side of the lifting sliding plate (16).

4. The robot caching device according to claim 3, wherein the steel structure upright post (10) is provided with a lifting magnetic grid (13); the lifting sliding plate (16) is provided with a lifting magnetic grid reading head (12) corresponding to the lifting magnetic grid (13).

5. The robot caching device of claim 1, wherein the robotic arm (30) comprises a post (17), a large arm (18), a small arm (19), and a finger (20), wherein the post (17) is connected to the lift drive mechanism; one end of the large arm (18) is rotatably connected with the upright post (17), the other end of the large arm is rotatably connected with one end of the small arm (19), and the finger (20) is rotatably arranged at the other end of the small arm (19).

6. Robot buffer according to claim 5, characterized in that the rotation axes of the large arm (18), the small arm (19) and the finger (20) are all arranged in a vertical direction.

7. The robot caching device according to claim 1, wherein the linear traveling mechanism comprises a base (1), a traveling guide rail (2), a traveling sliding plate (5) and a traveling linear motor, wherein the traveling guide rail (2) is horizontally arranged on the base (1), and the traveling sliding plate (5) is slidably connected with the traveling guide rail (2);

the walking linear motor comprises a walking linear motor stator (3) and a walking linear motor rotor (4), wherein the walking linear motor stator (3) is arranged on the base (1); the traveling linear motor rotor (4) is arranged at the bottom of the traveling sliding plate (5) and corresponds to the traveling linear motor stator (3); the supporting frame is rotationally connected with the walking sliding plate (5).

8. The robot caching device according to claim 7, wherein the base (1) is provided with a walking magnetic grid (6), and the walking sliding plate (5) is provided with a walking magnetic grid reading head (7) corresponding to the walking magnetic grid (6).

9. The robot caching device according to claim 1, wherein a plurality of layers of caching stations are arranged on the caching frame (22) in the height direction, and a plurality of layers of goods interfaces (26) are arranged on the storage rack (25) in the height direction.

10. A robot caching device according to claim 1, wherein the top of the support frame is provided with service wheels (24).