CN215591679U

CN215591679U - Transfer robot for warehouse logistics

Info

Publication number: CN215591679U
Application number: CN202121330939.6U
Authority: CN
Inventors: 喻祥祥; 黄金刚
Original assignee: Hangzhou Huiying Intelligent Technology Co ltd
Current assignee: Hangzhou Huiying Intelligent Technology Co ltd
Priority date: 2021-06-15
Filing date: 2021-06-15
Publication date: 2022-01-21
Anticipated expiration: 2031-06-15

Abstract

The utility model discloses a transfer robot for warehouse logistics. It is including removing the chassis, it is used for snatching the mechanism of snatching of turnover case and can drive the elevating system who snatchs the mechanism lift to remove to be equipped with on the chassis, snatch the mechanism including the bracket that is used for placing the turnover case, the bracket front side is equipped with first camera, be equipped with the manipulator on the bracket and can drive the moving mechanism of manipulator back-and-forth movement, the manipulator includes the base, be equipped with two relative grabs that set up about and can drive the synchronous antiport rotary mechanism of two grabs on the base, the grabs include the horizontal pole that moves towards the setting around the bracket and set up the coupler body at the horizontal pole front end. The utility model does not need to carry the whole goods shelf, has lower cost and unlimited size of the goods shelf, improves the efficiency of the workers for picking the goods, occupies small working space and can greatly improve the density of the goods shelf in the warehouse.

Description

Transfer robot for warehouse logistics

Technical Field

The utility model relates to the technical field of warehousing, in particular to a transfer robot for warehouse logistics.

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

In order to solve the technical problems, the utility model provides a transfer robot for warehouse logistics, which does not need to transfer the whole goods shelf, has low cost and no limit on the size of the goods shelf, improves the efficiency of workers for selecting goods, occupies small work space and can greatly improve the density of the goods shelf in a warehouse.

In order to solve the problems, the utility model adopts the following technical scheme:

the utility model discloses a transfer robot for warehouse logistics, which comprises a moving chassis, wherein a grabbing mechanism for grabbing a turnover box and a lifting mechanism capable of driving the grabbing mechanism to lift are arranged on the moving chassis, the grabbing mechanism comprises a bracket for placing the turnover box, a first camera is arranged on the front side of the bracket, a manipulator and a moving mechanism capable of driving the manipulator to move back and forth are arranged on the bracket, the manipulator comprises a base, two grabs which are oppositely arranged on the left and right and a rotating mechanism capable of driving the two grabs to synchronously rotate in opposite directions are arranged on the base, and each grabs comprises a cross rod arranged along the front and back direction of the bracket and a hook body arranged at the front end of the cross rod.

In this scheme, the turnover case of unified specification has been placed on the regional goods shelves of storage, and the turnover case is used for placing the goods, places a kind of goods in general every turnover case.

The carrying robot moves to the position corresponding to the goods shelf through the movable base, the grabbing mechanism is driven to ascend and descend through the lifting mechanism, and the grabbing mechanism is used for taking the turnover box on the goods shelf to the bracket or pushing the turnover box on the bracket to the goods shelf.

When the turnover box is taken, the lifting mechanism drives the grabbing mechanism to move to the height position where the turnover box needs to be taken, the rotating mechanism drives the hook bodies of the two grabbing claws to rotate to the vertical state, the moving mechanism drives the mechanical arm to move forwards until the hook bodies move to the rear side of the turnover box, the rotating mechanism drives the two grabbing claws to rotate inwards relatively to the water level state, then the moving mechanism drives the mechanical arm to move backwards, the hook bodies move backwards to hook the turnover box, and the turnover box is dragged to the bracket.

When the turnover box is placed, the lifting mechanism drives the grabbing mechanism to move to a goods storage position of a goods shelf where the turnover box needs to be placed, the hook bodies of the two grabbing claws driven by the rotating mechanism rotate to a vertical state, the moving mechanism drives the mechanical arm to move forwards, the base moves forwards to push the turnover box to the corresponding goods storage position on the goods shelf, then the moving mechanism drives the mechanical arm to move backwards, and the mechanical arm retracts into the bracket.

The first camera is used for determining the relative position between the manipulator and the turnover box on the goods shelf, so that the position of the manipulator can be finely adjusted, the turnover box can be grabbed more accurately, and whether the turnover box needs to be grabbed can be determined. The transfer robot can well complete the goods taking/placing operation in the storage, the whole goods shelf does not need to be carried, the cost is low, the size of the goods shelf is not limited, and the efficiency of the workers for selecting the goods is improved.

As preferred, rotary mechanism includes rotating electrical machines, driving gear, driven gear, hold-in range, first synchronous pulley, second synchronous pulley, the driving gear is connected with first synchronous pulley coaxial, rotating electrical machines is used for driving the driving gear and rotates, driven gear overlaps and establishes on the horizontal pole of left, second synchronous pulley overlaps and establishes on the horizontal pole on right side, driving gear and driven gear meshing, first synchronous pulley, second synchronous pulley are connected to the hold-in range, the horizontal pole rotates with the base and is connected.

Preferably, the moving mechanism comprises a driving motor, a gear, a rack and two guide rails, the two guide rails are symmetrically arranged on the left side and the right side of the bracket, the rack is arranged along the front and back direction of the bracket, the rack is parallel to the guide rails, a sliding block capable of sliding along the guide rails is arranged on the guide rails, the sliding block is fixedly connected with the base, the driving motor is arranged on the rear side of the base, the gear is meshed with the rack, and the driving motor is used for driving the gear to rotate.

The driving motor drives the gear to rotate forward and backward through the driving gear, so that the gear can move forward and backward along the rack, and the base is driven to move forward and backward.

Preferably, the lifting mechanism comprises upright columns symmetrically arranged on the left side and the right side of the movable chassis, connectors for connecting the brackets and a lifter for driving the connectors to lift are arranged on the inner sides of the upright columns, the grabbing mechanism is located between the two upright columns, and the two sides of each bracket are respectively connected with the connectors on the corresponding side.

Preferably, the movable chassis comprises a base, two walking modules arranged on the bottom surface of the base and a plurality of universal wheels arranged on the bottom surface of the base, the walking modules comprise driving wheels and servo motors used for driving the driving wheels to rotate, and a second camera is further arranged on the bottom surface of the base.

The second camera is used for identifying guide lines or navigation two-dimensional codes on the ground of the storage area, helps the transfer robot to position, and is matched with the mobile chassis to realize free movement in the storage area.

Preferably, a shell for covering the rotating mechanism is further arranged on the base, and the gripper extends out of the shell.

The utility model has the beneficial effects that: 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.

Drawings

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

FIG. 2 is a schematic structural view of the grasping mechanism;

FIG. 3 is a right side view of FIG. 2;

FIG. 4 is a top view of FIG. 3;

FIG. 5 is a schematic structural view of a mobile chassis;

fig. 6 is a schematic working diagram of the transfer robot for taking out the turnover box;

fig. 7 is an operation diagram of the transfer robot for placing the transfer container.

In the figure: 1. the mobile chassis, 2, the grabbing mechanism, 3, the lifting mechanism, 4, the bracket, 5, the first camera, 6, the base, 7, the grabhook, 8, the horizontal pole, 9, the coupler body, 10, the rotating electrical machines, 11, the driving gear, 12, the driven gear, 13, the synchronous belt, 14, the first synchronous pulley, 15, the driving electrical machines, 16, the gear, 17, the rack, 18, the guide rail, 19, the slider, 20, the base, 21, the universal wheel, 22, the driving wheel, 23, the servo motor, 24, the second camera, 25, the casing, 26, the goods shelf, 27, the turnover box, 28, the second synchronous pulley.

Detailed Description

The technical scheme of the utility model is further specifically described by the following embodiments and the accompanying drawings.

Example (b): the carrying robot for the warehouse logistics of the embodiment, as shown in fig. 1, fig. 2, fig. 3 and fig. 4, the carrying robot comprises a moving chassis 1, a grabbing mechanism 2 for grabbing a turnover box 27 and a lifting mechanism 3 capable of driving the grabbing mechanism 2 to lift are arranged on the moving chassis 1, the grabbing mechanism 2 comprises a bracket 4 for placing the turnover box 27, a first camera 5 is arranged on the front side of the bracket 4, a manipulator and a moving mechanism capable of driving the manipulator to move back and forth are arranged on the bracket 4, the manipulator comprises a base 6, two left and right oppositely arranged grabs 7 and a rotating mechanism capable of driving the two grabs 7 to synchronously and reversely rotate are arranged on the base 6, and the grabs 7 comprise a cross rod 8 arranged along the front and back direction of the bracket 4 and a hook body 9 arranged at the front end of the cross rod 8.

The rotating mechanism comprises a rotating motor 10, a driving gear 11, a driven gear 12, a synchronous belt 13, a first synchronous belt wheel 14 and a second synchronous belt wheel 28, the driving gear 11 is coaxially connected with the first synchronous belt wheel 14, the rotating motor 10 is used for driving the driving gear 11 to rotate, the driven gear 12 is sleeved on a left cross rod 8, the second synchronous belt wheel 28 is sleeved on a right cross rod 8, the driving gear 11 is meshed with the driven gear 12, the synchronous belt 13 is connected with the first synchronous belt wheel 14 and the second synchronous belt wheel 28, and the cross rod 8 is rotatably connected with the base 6. The base 6 is also provided with a housing 25 for housing the rotating mechanism, and the gripper 7 extends out of the housing 25.

The moving mechanism comprises a driving motor 15, a gear 16, a rack 17 and two guide rails 18, the two guide rails 18 are symmetrically arranged on the left side and the right side of the bracket 4, the rack 17 is arranged along the front-back direction of the bracket 4, the rack 17 and the guide rails 18 are parallel to each other, a sliding block 19 capable of sliding along the guide rails 18 is arranged on the guide rails 18, the sliding block 19 is fixedly connected with the base 6, the driving motor 15 is arranged on the rear side of the base 6, the gear 16 is meshed with the rack 17, and the driving motor 15 is used for driving the gear 16 to rotate.

Elevating system sets up the stand in the removal chassis left and right sides including the symmetry, and the stand inboard is equipped with the connector that is used for connecting bracket 4 and is used for driving the riser that the connector goes up and down, snatchs mechanism 2 and is located between two stands, and bracket 4 both sides are connected with the connector that corresponds one side respectively.

The carrying robot moves to the position corresponding to the goods shelf through the movable base, the grabbing mechanism is driven to ascend and descend through the lifting mechanism, and the grabbing mechanism is used for taking the turnover box on the goods shelf to the bracket or pushing the turnover box on the bracket to the goods shelf. The driving motor drives the gear to rotate forward and backward through the driving gear, so that the gear can move forward and backward along the rack, and the base is driven to move forward and backward.

When the turnover box is taken, the lifting mechanism drives the grabbing mechanism to move to the position of the height where the turnover box needs to be taken, the rotating mechanism drives the hook bodies of the two grabbing claws to rotate to the vertical state, the moving mechanism drives the mechanical arm to move forwards until the hook bodies move to the rear side of the turnover box, the rotating mechanism drives the two grabbing claws to rotate inwards relatively to the water level state, as shown in fig. 6, then the moving mechanism drives the mechanical arm to move backwards, the hook bodies move backwards to hook the turnover box, and the turnover box is dragged to the bracket.

When the turnover box is placed, the lifting mechanism drives the grabbing mechanism to move to a goods shelf goods storage position where the turnover box needs to be placed, the rotating mechanism drives the hook bodies of the two grabhook to rotate to a vertical state, the moving mechanism drives the mechanical arm to move forwards, the base moves forwards to push the turnover box to the corresponding goods storage position on the goods shelf, as shown in fig. 7, the moving mechanism drives the mechanical arm to move backwards, and the mechanical arm retracts into the bracket.

As shown in fig. 5, the mobile chassis 1 includes a base 20, two walking modules disposed on the bottom surface of the base 20, and four universal wheels 21 disposed on the bottom surface of the base 20, the walking modules include driving wheels 22 and servo motors 23 for driving the driving wheels 22 to rotate, and the bottom surface of the base 20 is further provided with a second camera 24.

Claims

1. A transfer robot for warehouse logistics, characterized by comprising a mobile chassis (1), the movable chassis (1) is provided with a grabbing mechanism (2) for grabbing the turnover box (27) and a lifting mechanism (3) capable of driving the grabbing mechanism (2) to lift, the grabbing mechanism (2) comprises a bracket (4) for placing a turnover box (27), a first camera (5) is arranged on the front side of the bracket (4), a manipulator and a moving mechanism capable of driving the manipulator to move back and forth are arranged on the bracket (4), the manipulator comprises a base (6), two grippers (7) which are oppositely arranged at the left and the right and a rotating mechanism which can drive the two grippers (7) to synchronously rotate in opposite directions are arranged on the base (6), the gripper (7) comprises a cross rod (8) arranged along the front and back directions of the bracket (4) and a hook body (9) arranged at the front end of the cross rod (8).

2. The transfer robot for the warehouse logistics according to claim 1, wherein the rotating mechanism comprises a rotating motor (10), a driving gear (11), a driven gear (12), a synchronous belt (13), a first synchronous pulley (14) and a second synchronous pulley (28), the driving gear (11) is coaxially connected with the first synchronous pulley (14), the rotating motor (10) is used for driving the driving gear (11) to rotate, the driven gear (12) is sleeved on the transverse rod (8) on the left side, the second synchronous pulley (28) is sleeved on the transverse rod (8) on the right side, the driving gear (11) is meshed with the driven gear (12), the synchronous belt (13) is connected with the first synchronous pulley (14) and the second synchronous pulley (28), and the transverse rod (8) is rotatably connected with the base (6).

3. The transfer robot for the warehouse logistics according to claim 1, wherein the moving mechanism comprises a driving motor (15), a gear (16), a rack (17) and two guide rails (18), the two guide rails (18) are symmetrically arranged on the left side and the right side of the bracket (4), the rack (17) is arranged along the front-back direction of the bracket (4), the rack (17) and the guide rails (18) are parallel to each other, a sliding block (19) capable of sliding along the guide rails (18) is arranged on the guide rails (18), the sliding block (19) is fixedly connected with the base (6), the driving motor (15) is arranged on the rear side of the base (6), the gear (16) is meshed with the rack (17), and the driving motor (15) is used for driving the gear (16) to rotate.

4. The transfer robot for the warehouse logistics according to claim 1, 2 or 3, wherein the lifting mechanism comprises upright columns symmetrically arranged at the left side and the right side of the moving chassis (1), connectors for connecting the brackets (4) and a lifter for driving the connectors to lift are arranged at the inner sides of the upright columns, the grabbing mechanism (2) is positioned between the two upright columns, and the two sides of each bracket (4) are respectively connected with the connectors at the corresponding side.

5. The transfer robot for the warehouse logistics according to claim 1, 2 or 3, wherein the moving chassis (1) comprises a base (20), two walking modules arranged on the bottom surface of the base (20) and a plurality of universal wheels (21) arranged on the bottom surface of the base (20), the walking modules comprise driving wheels (22) and servo motors (23) for driving the driving wheels (22) to rotate, and the bottom surface of the base (20) is further provided with a second camera (24).

6. A transfer robot for warehouse logistics according to claim 1 or 2 or 3, characterized in that a housing (25) for housing the rotation mechanism is further provided on the base (6), and the gripper (7) protrudes out of the housing (25).