CN216266071U - Intelligent numerical control fork arm type storehouse robot - Google Patents
Intelligent numerical control fork arm type storehouse robot Download PDFInfo
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- CN216266071U CN216266071U CN202122922390.6U CN202122922390U CN216266071U CN 216266071 U CN216266071 U CN 216266071U CN 202122922390 U CN202122922390 U CN 202122922390U CN 216266071 U CN216266071 U CN 216266071U
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Abstract
The utility model discloses an intelligent numerical control fork arm type storehouse robot.A support is fixed on a moving mechanism, the moving mechanism is used for driving the support to move, a sliding rail is arranged on the support, a horizontal translation mechanism is slidably arranged on the sliding rail and is connected with a lifting mechanism, and the lifting mechanism is used for driving the horizontal translation mechanism to reciprocate along the sliding rail; the warehouse is arranged on the horizontal translation mechanism, the horizontal translation mechanism drives the warehouse to move towards a first horizontal direction or a second horizontal direction, the first horizontal direction is opposite to the second horizontal direction, and the warehouse is used for taking and placing the turnover box. Above-mentioned technical scheme passes through moving mechanism, elevating system, storehouse, support and horizontal translation mechanism set up for the turnover case can be followed and stretched out in the relative both sides face of support, with this convenience that improves fork arm formula storehouse robot and transport the turnover case, further improves fork arm formula storehouse robot's transportation efficiency.
Description
Technical Field
The utility model discloses a storehouse robot, and particularly relates to an intelligent numerical control fork arm type storehouse robot.
Background
With the acceleration of the modern industrialization process and the increase of the demands of people on material culture in life, the robot gradually enters the life of people. In the existing storage industry, most of the warehouse is manually operated and delivered, the flow of people is large, the working intensity is high, and the warehouse is a severe test for the spirit and physical strength of workers; the warehouse entry and exit robot in the market generally transports goods to a specified position, and then needs to adjust the posture of the robot, so that the outlet end of the robot corresponds to the goods shelf.
SUMMERY OF THE UTILITY MODEL
Therefore, an intelligent numerical control fork arm type storehouse robot needs to be provided, and the transfer efficiency of the fork arm type storehouse robot is improved
In order to achieve the purpose, the application provides an intelligent numerical control fork arm type storehouse robot, which comprises a moving mechanism, a support, a warehouse, a lifting mechanism and a horizontal translation mechanism, wherein the moving mechanism is arranged on the support;
the support is fixed on the moving mechanism, the moving mechanism is used for driving the support to move, a slide rail is arranged on the support, the horizontal translation mechanism is slidably arranged on the slide rail, the horizontal translation mechanism is connected with the lifting mechanism, and the lifting mechanism is used for driving the horizontal translation mechanism to reciprocate along the slide rail;
the warehouse is arranged on the horizontal translation mechanism, the horizontal translation mechanism drives the warehouse to move towards a first horizontal direction or a second horizontal direction, the first horizontal direction is opposite to the second horizontal direction, and the warehouse is used for taking and placing the turnover box.
Further, the lifting mechanism comprises a first gear, a second gear, a transmission belt, a lifting platform and a first power source,
the lifting platform is connected with the horizontal translation mechanism,
the first gear is rotatably arranged at the top of the bracket, the second gear is rotatably arranged at the bottom of the bracket, the transmission belt is meshed with the first gear and the second gear, and the lifting platform is fixedly connected with one section of the transmission belt;
the output end of the first power source is connected with the first gear or the second gear, and the first power source is used for driving the transmission belt to rotate.
Furthermore, the rack comprises a first code scanning unit, the first code scanning unit is fixed on the horizontal translation mechanism, the horizontal translation mechanism is used for driving the first code scanning unit to reciprocate along the slide rail, and the first code scanning unit is used for scanning the identification codes on the rack.
The mobile mechanism further comprises a second code scanning unit, wherein the second code scanning unit is arranged at the bottom of the mobile mechanism and is used for scanning the identification code on the ground.
Further, the slide rail is vertically arranged on the moving mechanism.
Further, the horizontal translation mechanism comprises an outer rail, a middle rail and an inner rail; the outer rail is arranged below the warehouse and is fixed with the warehouse, the outer rail is in sliding connection with the middle rail, and the middle rail is in sliding connection with the inner rail; the inner rail is fixed on the lifting mechanism.
The device further comprises a control unit, wherein the control unit is electrically connected with the moving mechanism, the lifting mechanism and the horizontal translation mechanism, and is used for driving the moving mechanism, the lifting mechanism and the horizontal translation mechanism.
Furthermore, the in-place sensor is arranged at two ends of the sliding rail and used for sensing the horizontal translation mechanism.
Be different from prior art, above-mentioned technical scheme passes through moving mechanism, elevating system, storehouse, support and horizontal translation mechanism set up for the turnover case can stretch out from the relative both sides face of support in order to this improves the convenience that fork arm formula storehouse robot transported the turnover case, further improves fork arm formula storehouse robot's transportation efficiency.
Drawings
FIG. 1 is a front view of the intelligent numerical control fork arm type storehouse robot;
FIG. 2 is a side view of the intelligent numerical control fork arm type storehouse robot;
FIG. 3 is an enlarged view taken at A in FIG. 2;
FIG. 4 is a top view of the intelligent numerical control fork arm type storehouse robot;
fig. 5 is an enlarged view of fig. 3 at B.
Description of reference numerals:
1. a moving mechanism; 2. a support; 3. a warehouse; 4. a lifting mechanism; 5. a horizontal translation mechanism; 6. a first code scanning unit;
41. a first gear; 42. a transmission belt; 43. a lifting platform.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are merely used to more clearly illustrate the technical solutions of the present application, and therefore are only examples, and the protection scope of the present application is not limited thereby.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions.
In the description of the embodiments of the present application, the technical terms "first", "second", and the like are used only for distinguishing different objects, and are not to be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary-secondary relationship of the technical features indicated. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In the description of the embodiments of the present application, the term "and/or" is only one kind of association relationship describing an associated object, and means that three relationships may exist, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two), and similarly, "plural sets" refers to two or more (including two), and "plural pieces" refers to two or more (including two).
In the description of the embodiments of the present application, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the directions or positional relationships indicated in the drawings, and are only for convenience of description of the embodiments of the present application and for simplicity of description, but do not indicate or imply that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the embodiments of the present application.
In the description of the embodiments of the present application, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, may be fixedly connected, detachably connected, or integrated; mechanical connection or electrical connection is also possible; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.
Referring to fig. 1 to 5, an intelligent numerical control fork arm type storehouse robot of the present embodiment includes a moving mechanism 1, a support 2, a warehouse 3, a lifting mechanism 4 and a horizontal translation mechanism 5; the support 2 is fixed on the moving mechanism 1, the moving mechanism 1 is used for driving the support 2 to move, a slide rail is arranged on the support 2, the lifting mechanism 4 is slidably arranged on the slide rail, the horizontal translation mechanism 5 is connected with the lifting mechanism 4, and the lifting mechanism 4 is used for driving the horizontal translation mechanism 5 to reciprocate along the slide rail; the goods storehouse 3 is arranged in on the horizontal translation mechanism 5, just horizontal translation mechanism 5 drive the goods storehouse 3 removes to first horizontal direction or second horizontal direction, first horizontal direction is relative with the second horizontal direction, the goods storehouse 3 is used for getting and puts the turnover case.
The turnover box is of a frame structure with an opening at the top, the turnover box is made of plastic, a plurality of areas for containing the electric meter equipment are arranged at the bottom in the turnover box, and a protrusion is arranged between the areas for containing the electric meter equipment. When the ammeter equipment is arranged in the area for accommodating the ammeter, the protrusions play a limiting role, and the ammeter equipment and the turnover box are prevented from sliding. Naturally, the height of the turnover box is matched with the height of the electric meter equipment; that is, when another circulation box is stacked on the circulation box, the other circulation box does not press the electric meter device in the circulation box.
The moving mechanism 1 is an AGV (Automated Guided Vehicle, abbreviated as AGV) trolley. The present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The industrial application does not need the carrying equipment of a driver, and a rechargeable storage battery is used as a power source of the industrial application. The traveling path and behavior can be controlled by a computer, or the traveling path can be established by an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to the floor, and the moving mechanism 1 moves and operates according to the information brought by the electromagnetic track. In the present application, the moving mechanism 1 is used for driving the equipment on the moving mechanism 1 to move.
The support 2 is made of a metal material which is not easy to deform, and the support 2 is fixedly connected to the upper surface of the moving mechanism 1. The support 2 is vertically arranged on the moving mechanism 1, the length and the width of the support 2 are not more than those of the moving mechanism 1, and the height of the support 2 is matched with the height of a shelf for storing electric meter equipment. Further, the support 2 is a rectangular frame structure vertically placed on the moving mechanism 1, and a plurality of reinforcing rods are arranged on two opposite side surfaces of the support 2 and used for preventing the support 2 from inclining; the other two opposite side surfaces of the bracket 2 are used for the turnover box to pass through, namely the first horizontal direction and the second horizontal direction.
The slide rail is the difficult metal material that takes place to warp, the slide rail vertical set up in moving mechanism 1 is last, the slide rail with vertical edge is parallel to each other in support 2, and with support 2 fixed connection. The height of the slide rail is matched with the height of the bracket 2.
The warehouse 3 is made of hard materials such as metal and plastic, the warehouse 3 is made of rectangular plates, and the warehouse 3 is matched with the bottom of the turnover box.
Horizontal translation mechanism 5 is arranged in support 2, and slides and set up equipment on the slide rail, be provided with spout or lug on the horizontal translation mechanism 5, spout or lug and slide rail looks adaptation, and spout or lug can follow the slide rail slides. Wherein, fixed storehouse 3 that is provided with on the horizontal translation mechanism 5, storehouse 3 can be in the drive of horizontal translation mechanism 5 is down to first horizontal direction or second horizontal direction removal, promptly storehouse 3 can follow do not have the relative both sides of dead lever on the support 2 and stretch out in the face, make storehouse 3 can be used for accepting or placing the turnover case that is located the outer fork arm formula storehouse robot. The horizontal translation mechanism 5 drives the cargo compartment 3 to reciprocate in the horizontal direction, and the motion direction of the cargo compartment 3 is perpendicular to the motion direction of the horizontal translation mechanism 5.
The lifting mechanism 4 is a device for driving the horizontal translation mechanism 5 to move up and down, and the lifting mechanism 4 can be integrated with the horizontal translation mechanism 5; the lifting mechanism 4 can also be arranged at one side of the horizontal translation mechanism 5.
In actual operation, the intelligent numerical control fork arm moves to a specified position under the driving of the moving mechanism 1; the lifting mechanism 4 drives the horizontal translation mechanism 5 to move upwards, and after the lifting mechanism reaches a preset height, the horizontal translation mechanism 5 drives the cargo compartment 3 to extend out of the fork arm type warehouse robot, so that the cargo compartment 3 is arranged below the turnover box; and then the elevator drives the horizontal translation mechanism 5 to move upwards for a certain distance again, so that the freight warehouse 3 lifts the turnover box, and the horizontal translation mechanism 5 drives the freight warehouse 3 to take the turnover box to be retracted into the fork arm type warehouse robot.
The moving mechanism 1 moves the turnover box to one side of the corresponding shelf, and in the moving process, the moving mechanism 1 performs translation operation without rotation. After the horizontal translation mechanism 5 moves to one side of the shelf, the lifting mechanism 4 drives the horizontal translation mechanism 5 to ascend or descend, so that the horizontal translation mechanism 5 moves to the height of the empty shelf; the horizontal translation mechanism 5 drives the goods bin 3 to extend towards the direction of the goods shelf, so that the turnover box positioned on the goods bin 3 enters the goods shelf, and then the lifting mechanism 4 drives the horizontal translation mechanism 5 to move downwards, so that the turnover box is arranged on the goods shelf, and the warehousing operation is completed.
Above-mentioned technical scheme passes through moving mechanism 1, elevating system 4, storehouse 3, support 2 and horizontal translation mechanism 5 set up for the turnover case can stretch out from 2 relative both sides faces of support, with this convenience that improves fork arm formula storehouse robot and transport the turnover case, further improves fork arm formula storehouse robot's transportation efficiency.
Referring to fig. 2 to 5, in an embodiment, the lifting mechanism 4 includes a first gear 41, a second gear, a transmission belt 42, a lifting platform 43, and a first power source, the lifting platform 43 is connected to the horizontal translation mechanism 5, the first gear 41 is rotatably disposed on the top of the bracket 2, the second gear is rotatably disposed on the bottom of the bracket 2, the transmission belt 42 is engaged with the first gear 41 and the second gear, and the lifting platform 43 is fixedly connected to one section of the transmission belt 42; the output end of the first power source is connected with the first gear 41 or the second gear, and the first power source is used for driving the transmission belt 42 to rotate.
The gear ratio of the first gear 41 and the second gear is the same, the transmission belt 42 is meshed with the first gear 41 and the second gear, and the transmission belt 42 is a chain; the lifting platform 43 is fixed on the horizontal translation mechanism 5, and one section of the transmission belt 42 is connected with the lifting platform 43.
In actual operation, when the horizontal translation mechanism 5 needs to be lifted, the first power source drives the first gear 41 or the second gear to rotate, and drives the transmission belt 42 to rotate; when the transmission belt 42 is transported upward, the transmission belt 42 drives the lifting platform 43 to move upward, and similarly, when the transmission belt 42 is transported downward, the transmission belt 42 drives the lifting platform 43 to move downward. Thereby changing the height of the horizontal translation mechanism 5.
Referring to fig. 2, in an embodiment, the apparatus further includes a first code scanning unit 6, the first code scanning unit 6 is fixed on the horizontal translation mechanism 5, the horizontal translation mechanism 5 is configured to drive the first code scanning unit 6 to reciprocate along a slide rail, and the first code scanning unit 6 is configured to scan an identification code on a shelf.
The first code scanning unit 6 can be a code scanning gun, in practical use, due to the multi-layer structure of the shelf positions, when the moving mechanism 1 moves to one side of the shelf, the horizontal translation mechanism 5 moves upwards or downwards under the driving of the lifting mechanism 4, and the horizontal translation mechanism 5 and the first code scanning unit 6 move synchronously; at this time, the first code scanning mechanism identifies the layer on the shelf at this time by scanning the two-dimensional code or the bar code on the shelf. The arrangement of the first code scanning unit 6 is convenient for the horizontal translation mechanism 5 to move the turnover box.
In the embodiment, the device further comprises a second code scanning unit, wherein the second code scanning unit is arranged at the bottom of the moving mechanism 1 and is used for scanning the identification code on the ground. The second code scanning unit is used for recognizing a two-dimensional code or a bar code on the ground, so that the robot travels in the correct direction, similarly to the first code scanning unit 6.
The in-place sensor is arranged at two ends of the sliding rail and used for sensing the horizontal translation mechanism 5. The sensor is arranged to prevent the horizontal translation mechanism 5 from falling off the slide rail, or to prevent the damage to the moving mechanism 1. When the horizontal translation mechanism 5 reaches the two ends of the sliding rail, the sensor is triggered, and the control unit drives the lifting mechanism 4 to stop lifting or descending.
Referring to fig. 4, in the embodiment, the horizontal translation mechanism 5 includes an outer rail, a middle rail and an inner rail; the outer rail is arranged below the warehouse 3, is fixed with the warehouse 3, is in sliding connection with the middle rail, and is in sliding connection with the inner rail; the inner rail is fixed on the lifting mechanism 4.
In this embodiment, the outer rail, the middle rail and the inner rail are arranged to move the cargo compartment 3 to both sides.
The intelligent numerical control fork arm type storehouse robot further comprises a control unit, the control unit is electrically connected with the moving mechanism 1, the lifting mechanism 4 and the horizontal translation mechanism 5, and the control unit is used for driving the moving mechanism 1, the lifting mechanism 4 and the horizontal translation mechanism 5.
It should be noted that, although the above embodiments have been described herein, the utility model is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present patent.
Claims (8)
1. An intelligent numerical control fork arm type storehouse robot is characterized by comprising a moving mechanism, a support, a warehouse, a lifting mechanism and a horizontal translation mechanism;
the support is fixed on the moving mechanism, the moving mechanism is used for driving the support to move, a slide rail is arranged on the support, the horizontal translation mechanism is slidably arranged on the slide rail, the horizontal translation mechanism is connected with the lifting mechanism, and the lifting mechanism is used for driving the horizontal translation mechanism to reciprocate along the slide rail;
the warehouse is arranged on the horizontal translation mechanism, the horizontal translation mechanism drives the warehouse to move towards a first horizontal direction or a second horizontal direction, the first horizontal direction is opposite to the second horizontal direction, and the warehouse is used for taking and placing the turnover box.
2. The intelligent numerically controlled fork-arm type storehouse robot of claim 1, wherein the lifting mechanism comprises a first gear, a second gear, a transmission belt, a lifting platform, and a first power source,
the lifting platform is connected with the horizontal translation mechanism,
the first gear is rotatably arranged at the top of the bracket, the second gear is rotatably arranged at the bottom of the bracket, the transmission belt is meshed with the first gear and the second gear, and the lifting platform is fixedly connected with one section of the transmission belt;
the output end of the first power source is connected with the first gear or the second gear, and the first power source is used for driving the transmission belt to rotate.
3. The intelligent numerical control fork-arm type storehouse robot of claim 1, further comprising a first code scanning unit, wherein the first code scanning unit is fixed on the horizontal translation mechanism, the horizontal translation mechanism is used for driving the first code scanning unit to reciprocate along a slide rail, and the first code scanning unit is used for scanning an identification code on a shelf.
4. The intelligent numerical control fork-arm type storehouse robot of claim 1, further comprising a second code scanning unit, wherein the second code scanning unit is arranged at the bottom of the moving mechanism and is used for scanning an identification code on the ground.
5. The intelligent digitally controlled fork-arm type storehouse robot of claim 1, wherein the slide rail is vertically disposed on the moving mechanism.
6. The intelligent, numerically controlled, wishbone-type storehouse robot of claim 1, wherein the horizontal translation mechanism comprises an outer rail, a middle rail, and an inner rail; the outer rail is arranged below the warehouse and is fixed with the warehouse, the outer rail is in sliding connection with the middle rail, and the middle rail is in sliding connection with the inner rail; the inner rail is fixed on the lifting mechanism.
7. The intelligent numerical control fork arm type storehouse robot of claim 1, further comprising a control unit, wherein the control unit is electrically connected with the moving mechanism, the lifting mechanism and the horizontal translation mechanism, and is used for driving the moving mechanism, the lifting mechanism and the horizontal translation mechanism.
8. The intelligent numerical control fork arm type storehouse robot of claim 1, further comprising in-place sensors, wherein the in-place sensors are disposed at two ends of the slide rail, and the in-place sensors are used for sensing the horizontal translation mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122922390.6U CN216266071U (en) | 2021-11-25 | 2021-11-25 | Intelligent numerical control fork arm type storehouse robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122922390.6U CN216266071U (en) | 2021-11-25 | 2021-11-25 | Intelligent numerical control fork arm type storehouse robot |
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| Publication Number | Publication Date |
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| CN216266071U true CN216266071U (en) | 2022-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122922390.6U Active CN216266071U (en) | 2021-11-25 | 2021-11-25 | Intelligent numerical control fork arm type storehouse robot |
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2021
- 2021-11-25 CN CN202122922390.6U patent/CN216266071U/en active Active
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