CN214987906U

CN214987906U - Robot warehousing system

Info

Publication number: CN214987906U
Application number: CN202120142524.XU
Authority: CN
Inventors: 王金涛; 朱维金; 马英凯
Original assignee: Tianjin Xinsong Robot Automation Co ltd
Current assignee: Tianjin Xinsong Robot Automation Co ltd
Priority date: 2021-01-19
Filing date: 2021-01-19
Publication date: 2021-12-03
Anticipated expiration: 2031-01-19

Abstract

The utility model relates to a robotechnology field, in particular to storage system of robot. The warehouse comprises a warehouse chamber, and goods shelves, a cart conveying mechanism, a trolley conveying mechanism and a warehouse robot which are arranged in the warehouse chamber, wherein the cart conveying mechanism and the trolley conveying mechanism are arranged between two adjacent goods shelves, the cart conveying mechanism stretches across the upper part of the trolley conveying mechanism, and the trolley conveying mechanism is used for conveying goods; the storage robot is arranged on the cart conveying mechanism; the warehousing robot is used for goods transmission between the trolley conveying mechanism and the goods shelf. The utility model discloses the cost is lower, and the goods shelves size is unrestricted, improves the efficiency that the staff selected the goods, can make goods shelves density improve greatly in the warehouse.

Description

Robot warehousing system

Technical Field

The utility model relates to a robotechnology field, in particular to storage system of 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 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 robot can only carry the whole goods shelf, has high requirements on the 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. For the self-energy storage and transportation of the goods which require the highest and lowest goods positions to be taken and placed freely and have the precision devices and the storage logistics ground always requires the parallel with the ground, an effective solution is not provided at present aiming at the problems.

SUMMERY OF THE UTILITY MODEL

To the problem, an object of the utility model is to provide a robot warehouse system, the cost is lower, and goods shelves size is unrestricted, improves the efficiency that the staff selected the goods, can make goods shelves density improve greatly in the warehouse.

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

a robot storage system comprises a storage chamber, and goods shelves, a cart conveying mechanism, a trolley conveying mechanism and a storage robot which are arranged in the storage chamber, wherein the cart conveying mechanism and the trolley conveying mechanism are arranged between two adjacent goods shelves, the cart conveying mechanism stretches across the upper part of the trolley conveying mechanism, and the trolley conveying mechanism is used for conveying goods; the warehousing robot is arranged on the cart conveying mechanism; the warehousing robot is used for goods transmission between the trolley conveying mechanism and the goods shelf.

The trolley conveying mechanism comprises an annular conveying line and a trolley, wherein the annular conveying line is arranged on a passageway between every two adjacent goods shelves, and the trolley is arranged on the annular conveying line and can move along the annular conveying line to convey goods.

The cart conveying mechanism comprises guide rails and a cart, and the guide rails are arranged on two sides of the trolley conveying mechanism; the cart is of a gantry structure, stretches across the outer side of the trolley conveying mechanism, and two ends of the cart are connected with the guide rails in a sliding mode; the storage robot is arranged on the cart.

The execution tail end of the warehousing robot is provided with a hand clamping mechanism, the hand clamping mechanism comprises a hand clamping straight rod, a hand clamping cross rod and a clamping part, and the hand clamping straight rod and the hand clamping cross rod are vertically connected and can rotate relatively; the tail end of the straight clamping rod is rotatably connected with the execution tail end of the warehousing robot, and the clamping part is connected with the cross clamping rod.

A transfer window is arranged on the wall of the storage chamber corresponding to the trolley conveying mechanism, a window picking and placing robot is arranged on the side portion of the transfer window, and the window picking and placing robot is used for conveying goods between the transfer window and the trolley conveying mechanism.

The window picking and placing robot comprises a window picking and placing robot body, a window picking and placing robot body and a control system, wherein the execution tail end of the window picking and placing robot body is provided with a picking mechanism, the picking mechanism comprises a vertical clamping pipe, a transverse clamping pipe and a double-clamping part, the vertical clamping pipe is vertically connected with the transverse clamping pipe, and the tail end of the vertical clamping pipe is rotatably connected with the execution tail end of the window picking and placing robot body; the double clamping parts are connected with the horizontal clamping pipe; the dual gripping portion has two sets of jaws.

The utility model has the advantages and beneficial effects that: 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, and its work occupation space is little, can make goods shelves density improve greatly in the warehouse, get to require the highest and minimum goods position to put freely, and the goods is accurate device, and storage logistics ground requires all the time and the goods intelligent storage transport of ground parallel, can make goods shelves density improve greatly in the warehouse.

Drawings

Fig. 1 is a schematic structural diagram of a robot warehousing system of the present invention;

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

FIG. 3 is a top view of FIG. 1;

fig. 4 is an isometric view of the interior of a robotic warehousing system of the present invention;

FIG. 5 is an enlarged view taken at point II in FIG. 4;

fig. 6 is an external view of a robot warehousing system of the present invention;

fig. 7 is a sectional view a-a of fig. 6.

In the figure: the device comprises a base, a storage room 1, a transfer window 3, a goods shelf 4, a guide rail 5, a cart 6, an annular conveying line 7, a trolley 8, a goods 9, a storage robot 11, a gripper straight rod 12, a gripper cross rod 13, a clamping part 14, a window picking and placing robot 15, a gripper vertical pipe 16, a gripper horizontal pipe 17, a double-clamping part 18 and a clamping jaw 19.

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. 1-2, the utility model provides a robot storage system, which comprises a storage chamber 2, and goods shelves 4, a cart conveying mechanism, a trolley conveying mechanism and a storage robot 11 which are arranged in the storage chamber 2, wherein the cart conveying mechanism and the trolley conveying mechanism are both arranged between two adjacent goods shelves 4, the cart conveying mechanism stretches over the trolley conveying mechanism, and the trolley conveying mechanism is used for conveying goods; the warehousing robot 11 is arranged on the cart conveying mechanism, the cart conveying mechanism is used for driving the warehousing robot 11 to move between the two adjacent goods shelves 4, and the warehousing robot 11 is used for conveying goods between the trolley conveying mechanism and the goods shelves 4.

As shown in fig. 2-3, in the embodiment of the present invention, the trolley conveying mechanism includes an annular conveying line 7 and a trolley 8, wherein the annular conveying line 7 is disposed on the passageway between two adjacent shelves 4, and the trolley 8 is disposed on the annular conveying line 7 and can move along the annular conveying line 7 to transmit goods. The cart conveying mechanism comprises a guide rail 5 and a cart 6, and the guide rail 5 is arranged on two sides of the trolley conveying mechanism; the cart 6 is of a gantry structure, the cart 6 stretches across the outer side of the trolley conveying mechanism, and two ends of the cart 6 are connected with the guide rail 5 in a sliding manner; the warehousing robot 11 is provided on the cart 6.

As shown in fig. 4-5, in the embodiment of the present invention, the execution end of the warehousing robot 11 is provided with a hand clamping mechanism, the hand clamping mechanism includes a hand clamping straight rod 12, a hand clamping cross rod 13 and a clamping portion 14, wherein the hand clamping straight rod 12 and the hand clamping cross rod 13 are vertically connected and can rotate relatively; the tail end of the straight gripper rod 12 is rotatably connected with the execution tail end of the warehousing robot 11, and the clamping part 14 is connected with the cross gripper rod 13.

As shown in fig. 6-7, on the basis of the above-mentioned embodiments, the wall of the storage chamber 2 corresponding to the trolley conveying mechanism is provided with the delivery window 3, the side of the delivery window 3 is provided with the window pick-and-place robot 15, and the window pick-and-place robot 15 is used for transferring goods between the delivery window 3 and the trolley conveying mechanism.

As shown in fig. 7, in the embodiment of the present invention, a picking mechanism is disposed at the executing end of the window picking and placing robot 15, the picking mechanism includes a vertical gripper pipe 16, a horizontal gripper pipe 17 and a double-clamping portion 18, wherein the vertical gripper pipe 16 is vertically connected to the horizontal gripper pipe 17, and the end of the vertical gripper pipe 16 is rotatably connected to the executing end of the window picking and placing robot 15; the double-clamping part 18 is connected with the horizontal tong pipe 17; the double clamping part 18 has two sets of clamping jaws 19.

The embodiment of the utility model provides an in, multiunit goods shelves 4 are equidistant interval setting, and every group contains goods shelves 4 more than two or two, and guide rail 5 and annular transfer chain 7 are installed between adjacent two sets of goods shelves 4. The cart 6 has a gantry-type structure and performs linear reciprocating motion through the guide rail 5. The trolley 8 shuttles back and forth in the gantry structure of the cart 6 through the annular conveying line 7 to convey goods 9. The window picking and placing robot 15 can pick two cargos 9 and place the two cargos in the trolley 8, and the vertical gripper pipes 16 drive the horizontal gripper pipes 17 through the rotating pairs so that the cargos 9 can be kept horizontal all the time in the carrying process. The warehousing robot 11 picks or places one cargo 9 at a time, and the straight gripper rod 12 drives the cross gripper rod 13 through the rotating pair to enable the cargo 9 to be always kept horizontal in the carrying process.

The working process of the utility model is as follows;

step 1: the window picking and placing robot 15 moves to drive the vertical gripper pipe 16 to move through the end flange, the vertical gripper pipe 16 drives the horizontal gripper pipe 17 to move through the rotating pair, and the horizontal gripper pipe 17 drives the clamping jaws 19 of the double-clamping part 18 to grab the goods 9 from the delivery window 3. Otherwise, the grabbing and placing processes are similar, and are not described in detail herein, so that the goods 9 are carried to the trolley 8.

Step 2: the trolley 8 moves on the annular conveying line 7, and after the goods 9 are conveyed to the designated position, the cart 6 moves linearly to the designated position on the guide rail 5.

And 3, step 3: the warehousing robot 11 on the cart 6 drives the straight clamping bar 12 to move through the end flange, the straight clamping bar 12 drives the cross clamping bar 13 and the clamping part 14 to move through the rotating pair to grab the goods 9, and the goods 9 are conveyed to the designated position on the shelf 4. Otherwise, the process of grabbing and placing goods is similar, and is not described herein.

And 4, step 4: after the transfer is completed, the cart 6 is linearly moved on the guide rail 5 to the home position, and the cart 8 is circularly moved on the endless conveyor line 7 to the home position.

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, and its work occupation space is little, can make goods shelves density improve greatly in the warehouse, get to require the highest and minimum goods position and put freely, and the goods is accurate device, and storage logistics ground requires the goods intelligent storage transport parallel with ground all the time.

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 warehousing system is characterized by comprising a warehousing chamber (2), and goods shelves (4), a cart conveying mechanism, a trolley conveying mechanism and a warehousing robot (11) which are arranged in the warehousing chamber (2), wherein the cart conveying mechanism and the trolley conveying mechanism are arranged between two adjacent goods shelves (4), the cart conveying mechanism stretches across the trolley conveying mechanism, and the trolley conveying mechanism is used for conveying goods; the warehousing robot (11) is arranged on the cart conveying mechanism; the warehousing robot (11) is used for goods transmission between the trolley conveying mechanism and the goods shelf (4).

2. The robotic warehousing system according to claim 1, characterized in that the trolley conveyor comprises an annular conveyor line (7) and a trolley (8), wherein the annular conveyor line (7) is arranged on an aisle between two adjacent racks (4), and the trolley (8) is arranged on the annular conveyor line (7) and can move along the annular conveyor line (7) for transporting goods.

3. The robotic warehousing system of claim 1, characterized in that the cart conveying mechanism comprises guide rails (5) and carts (6), the guide rails (5) being disposed on both sides of the cart conveying mechanism; the cart (6) is of a gantry structure, the cart (6) stretches across the outer side of the trolley conveying mechanism, and two ends of the cart are connected with the guide rail (5) in a sliding mode; the warehousing robot (11) is arranged on the cart (6).

4. The robot warehousing system of claim 1, characterized in that the execution end of the warehousing robot (11) is provided with a hand clamping mechanism, the hand clamping mechanism comprises a hand clamping straight rod (12), a hand clamping cross rod (13) and a clamping part (14), wherein the hand clamping straight rod (12) and the hand clamping cross rod (13) are vertically connected and can relatively rotate; the tail end of the straight clamping hand rod (12) is rotatably connected with the tail end of the warehouse robot (11), and the clamping part (14) is connected with the cross clamping hand rod (13).

5. Robot warehousing system according to any of claims 1-4, characterized in that the walls of the warehouse (2) corresponding to the trolley transport mechanism are provided with transfer windows (3), the sides of the transfer windows (3) are provided with window pick-and-place robots (15), the window pick-and-place robots (15) being used for the transfer of goods between the transfer windows (3) and the trolley transport mechanism.

6. The robot warehousing system according to claim 5, characterized in that the execution end of the window pick-and-place robot (15) is provided with a pick-up mechanism, the pick-up mechanism comprises a vertical gripper pipe (16), a horizontal gripper pipe (17) and a double-clamping part (18), wherein the vertical gripper pipe (16) and the horizontal gripper pipe (17) are vertically connected, and the end of the vertical gripper pipe (16) is rotatably connected with the execution end of the window pick-and-place robot (15); the double clamping parts (18) are connected with the horizontal gripper tube (17); the double clamping portion (18) has two sets of clamping jaws (19).