CN216402659U - Storage robot - Google Patents
Storage robot Download PDFInfo
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- CN216402659U CN216402659U CN202122945604.1U CN202122945604U CN216402659U CN 216402659 U CN216402659 U CN 216402659U CN 202122945604 U CN202122945604 U CN 202122945604U CN 216402659 U CN216402659 U CN 216402659U
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- electromagnet
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Abstract
The utility model discloses a warehousing robot, which relates to the technical field of logistics warehousing, wherein a manipulator adopts an electric push rod which can be directly bought in the market, the structure is simple, the cost is low, and the requirements of the scheme can be just met; the flexible end of manipulator is provided with the electro-magnet, after the robot removes to the target location, can be with the goods turnover case of robot goods layer board of target height through the manipulator, push away to the goods shelves goods layer board of target height, perhaps with the goods turnover case of goods shelves goods layer board of target height, draw to the robot goods layer board of target height, whole operation process is very simple, need not to extend manipulator to goods turnover case below, the operation orbit of the manipulator of simplifying greatly, goods shelves need not to reserve the space that supplies manipulator male in the below of every goods storage location, the space utilization of goods shelves has been improved greatly.
Description
Technical Field
The utility model relates to the technical field of logistics storage, in particular to a storage robot.
Background
With the development of science and technology, the devices used in the logistics storage process are more and more advanced, and the smart storage robot is a very representative one. Present storage robot includes the automatically move chassis, installs the grudging post at removing the chassis, and the grudging post is provided with manipulator, elevating gear and multilayer goods layer board, and it relies on the camera to acquire goods information, relies on walking of a plurality of sensors definite manipulator to be put.
The process of taking goods from the goods shelf by the warehousing robot is as follows: the robot moves to the target area of the goods shelf, the lifting device moves the manipulator to the target height, the manipulator extends to the lower part of the target goods turnover box and then upwards lifts, and then the lifting device drives the manipulator to move to the vacancy robot goods supporting plate and place the target goods turnover box on the vacancy robot goods supporting plate. And when the warehousing robot places the goods turnover box on the robot goods supporting plate on the goods shelf goods supporting plate of the goods shelf, the reverse operation is performed.
The storage robot has the following defects: the goods shelf is required to reserve a space which is large enough for the insertion of the manipulator below each goods storage position, so that the space utilization rate of the goods shelf is reduced.
SUMMERY OF THE UTILITY MODEL
The present invention aims to provide a warehousing robot that can alleviate the above-mentioned problems.
In order to alleviate the above problems, the technical scheme adopted by the utility model is as follows:
the utility model provides a warehouse robot, which comprises a mobile chassis, a vertical frame fixed on the mobile chassis, a lifting device arranged on the vertical frame and a manipulator, wherein the manipulator can move up and down along the vertical frame under the driving of the lifting device, a plurality of layers of robot cargo supporting plates are arranged on the cargo buffer side of the vertical frame, and the warehouse robot is characterized in that,
the manipulator is arranged in the region of the vertical frame back to the goods cache side, is an electric push rod which is horizontally arranged and faces the goods cache side, and is provided with an electromagnet at the telescopic end for magnetically attracting a magnetic metal part designed on the front surface of the goods turnover box;
when the manipulator contracts to the shortest, the electromagnet is positioned behind the robot cargo supporting plate; when the manipulator extends to the longest, the electromagnet is positioned in front of the robot cargo supporting plate.
The storage robot of this scheme correspond and use the scene and have the requirement, need being in with high position of each layer goods shelves goods layer board of goods shelves in the warehouse and robot goods layer board one-to-one promptly, the robot can be through moving the contact with goods shelves goods layer board and robot goods layer board edge that correspond the height to and openly be provided with the magnetism that can inhale together with the electro-magnet magnetism and inhale the metal portion at the goods turnover case.
In the scheme, the manipulator adopts the electric push rod which can be directly bought in the market, so that the structure is simple, the cost is low, and the requirements of the scheme can be just met; the flexible end of manipulator is provided with the electro-magnet, after the robot removes to the target location, can be with the goods turnover case of robot goods layer board of target height through the manipulator, push away to the goods shelves goods layer board of target height, perhaps with the goods turnover case of goods shelves goods layer board of target height, draw to the robot goods layer board of target height, whole operation process is very simple, need not to extend manipulator to goods turnover case below, the operation orbit of the manipulator of simplifying greatly, goods shelves need not to reserve the space that supplies manipulator male in the below of every goods storage location, the space utilization of goods shelves has been improved greatly.
In a preferred embodiment of the present invention, the telescopic end of the manipulator is connected to the electromagnet through a hinge, and the hinge has and can only change the bending angle in the vertical direction; the bottom of the cargo turnover box is provided with a rolling piece; the robot goods layer board is in an inclined state with a high front part and a low rear part, and the front part is provided with an arc-shaped transition surface.
The rolling piece is arranged at the bottom of the goods turnover box, so that the goods turnover box is easier to be dragged by the manipulator; the goods pallet of the robot is in an inclined state with a high front part and a low back part, so that the goods turnover box is not easy to fall off in the moving process of the robot; due to the design of the arc-shaped transition surface, the goods turnover box is not easy to clamp in the inclined state of the robot goods supporting plate; the hinge can design, can adapt to the slope gesture of robot goods layer board, makes the electro-magnet can firmly hold the goods turnover case, and the hinge only can change the angle of buckling in vertical direction, has restricted its activity degree of freedom, and under the action of gravity, the electro-magnet can not rock too much, also is convenient for promote the goods turnover case.
In a preferred embodiment of the present invention, the rolling members are rollers or balls.
The gyro wheel and the ball that mention in this scheme can both make the goods turnover case change and be dragged.
In a preferred embodiment of the present invention, the left, right and rear edge portions of the robot cargo pallet are provided with limit plates; when the manipulator moves to the height position of one robot cargo supporting plate, the limiting plate of the robot cargo supporting plate is lower than the electromagnet.
In this scheme, the design of limiting plate can further avoid the robot to remove the in-process, and the goods turnover case on it drops.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic diagram of a first application state of a warehousing robot according to the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a schematic diagram of a second application state of the warehousing robot of the present invention;
FIG. 4 is a schematic diagram of a third application state of the warehousing robot of the present invention;
FIG. 5 is a schematic diagram of a robotic cargo pallet according to the present invention;
in the figure: 1-moving chassis, 2-vertical frame, 3-mechanical arm, 4-lifting device, 5-robot cargo supporting plate, 6-limiting plate, 7-cargo turnover box, 8-shelf cargo supporting plate, 9-shelf, 10-magnetic metal part, 11-rolling piece, 12-electromagnet, 13-hinge and 14-arc transition surface.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element to which the description refers 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.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 5, the utility model discloses a storage robot, which comprises a mobile chassis 1, a vertical frame 2 fixed on the mobile chassis 1, a lifting device 4 installed on the vertical frame 2, and a manipulator 3, wherein the manipulator 3 can move up and down along the vertical frame 2 under the driving of the lifting device 4, and a plurality of layers of robot cargo supporting plates 5 are arranged on the cargo buffer side of the vertical frame 2.
The manipulator 3 is arranged in the region of the vertical frame 2 back to the goods buffer side, is an electric push rod which is horizontally arranged and faces the goods buffer side, and is provided with an electromagnet 12 at the telescopic end for magnetically attracting the magnetic metal part 10 designed on the front surface of the goods turnover box 7;
when the manipulator 3 is retracted to the shortest, the electromagnet 12 is located behind, i.e. to the left in the figure, the robot pallet 5; when the manipulator 3 is extended to its maximum, the electromagnet 12 is located in front of, i.e. to the right in the figure, the robot pallet 5.
In the utility model discloses in, the line is walked to cable that electro-magnet 12 and be located between the control hub between the removal chassis 1 adopts current line mode of walking, and current manipulator 3 and the control hub between the removal chassis 1 walk line mode between can directly use promptly.
In the utility model discloses in, if the bottom of goods turnover case 7 does not have running gear, then should be comparatively smooth with goods layer board surface and 7 bottom glide planes of goods turnover case, like this at the slip in-process of goods turnover case 7, just can not produce great power to goods shelves 9, also easily accomplish and get goods, put the goods action.
The application scenarios of the warehousing robot are as follows:
each layer of goods pallet 8 of goods shelves 9 in the warehouse is in the same height position with the robot goods pallet 5 in a one-to-one correspondence way;
the robot can contact the goods shelf supporting plate 8 with the corresponding height with the edge of the goods shelf supporting plate 5 of the robot through moving;
the front surface of the goods turnover box 7 is provided with a magnetic metal part 10 which can be magnetically attracted with an electromagnet 12.
The working process of the warehousing robot is as follows:
the warehousing robot moves to a target position, and the front edge of a robot cargo supporting plate 5 needing loading is in direct contact with the outer edge of a goods shelf cargo supporting plate 8 on which a target cargo turnover box 7 is placed;
the lifting device 4 controls the manipulator 3 to move to the height of a robot cargo supporting plate 5 needing to be loaded;
the manipulator 3 is extended, the electromagnet 12 is electrified and is adsorbed on the magnetic metal part 10 of the target cargo turnover box 7, as shown in fig. 1 and 2;
after the manipulator 3 is shortened and the target cargo turnover box 7 is pulled to the position of the robot cargo supporting plate 5 needing to be loaded, the electromagnet 12 is powered off, as shown in fig. 3;
the lifting device 4 controls the robot arm 3 to move to the level of the next robot cargo pallet 5 to be loaded, as shown in fig. 4.
If need shift goods turnover case 7 from robot goods layer board 5 to goods layer board 8 on goods shelves, reverse operation can.
In an alternative embodiment of the utility model, the telescopic end of the manipulator 3 is connected with the electromagnet 12 through a hinge 13, and the hinge 13 has a bending angle which can be changed only in the vertical direction; the bottom of the goods turnover box 7 is provided with a rolling piece 11; the robot cargo pallet 5 is in an inclined state with a high front and a low rear, and the front edge is provided with an arc-shaped transition surface 14.
In this embodiment, the robot pallet 5 is inclined with respect to the horizontal plane, and since the shelves 9 are kept still, the shelf pallet 8 may be still horizontally disposed, or may be inclined as shown in the drawing, and e in fig. 2 indicates a horizontal line, which explains the inclined design of the pallet. The robot goods layer board 5 is the tilt state of high back in the front for the robot is at the removal in-process, and goods turnover case 7 is difficult for falling down.
In an alternative embodiment of the utility model, the rolling elements 11 are rollers or balls.
In an alternative embodiment of the utility model, the left, right and rear edge portions of the robot cargo pallet 5 are provided with limit plates 6, as shown in fig. 1; when the manipulator 3 moves to a height position of a certain robot cargo pallet 5, the limiting plate 6 of the robot cargo pallet 5 is lower than the electromagnet 12, so as to avoid interfering with the movement of the electromagnet 12, as shown in fig. 2.
In an alternative embodiment of the present invention, the hinge 13 comprises two horizontally arranged rotating shafts and an H-shaped profile, the two rotating shafts are respectively rotatably mounted on the telescopic end of the manipulator 3 and the electromagnet 12, and the two notches of the profile are respectively connected with the two rotating shafts.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A storage robot comprises a movable chassis, a vertical frame fixed on the movable chassis, a lifting device arranged on the vertical frame and a manipulator, wherein the manipulator can move up and down along the vertical frame under the driving of the lifting device, a plurality of layers of robot cargo supporting plates are arranged on the cargo buffer side of the vertical frame,
the manipulator is arranged in the region of the vertical frame back to the goods cache side, is an electric push rod which is horizontally arranged and faces the goods cache side, and is provided with an electromagnet at the telescopic end for magnetically attracting a magnetic metal part designed on the front surface of the goods turnover box;
when the manipulator contracts to the shortest, the electromagnet is positioned behind the robot cargo supporting plate; when the manipulator extends to the longest, the electromagnet is positioned in front of the robot cargo supporting plate.
2. The warehousing robot of claim 1, wherein the telescopic end of the manipulator is connected to the electromagnet through a hinge, and the hinge has a bending angle that can be changed only in a vertical direction; the bottom of the cargo turnover box is provided with a rolling piece; the robot goods layer board is in an inclined state with a high front part and a low rear part, and the front part is provided with an arc-shaped transition surface.
3. The warehousing robot of claim 2, wherein the rolling elements are rollers or balls.
4. The warehousing robot of claim 3, wherein the left, right and rear edges of the robot cargo pallet are provided with limit plates; when the manipulator moves to the height position of one robot cargo supporting plate, the limiting plate of the robot cargo supporting plate is lower than the electromagnet.
5. The warehousing robot as claimed in claim 2, wherein the hinge comprises two horizontally disposed rotating shafts and an H-shaped profile, the two rotating shafts are respectively rotatably mounted on the telescopic end of the manipulator and the electromagnet, and two notch portions of the profile are respectively connected to the two rotating shafts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122945604.1U CN216402659U (en) | 2021-11-29 | 2021-11-29 | Storage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122945604.1U CN216402659U (en) | 2021-11-29 | 2021-11-29 | Storage robot |
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| Publication Number | Publication Date |
|---|---|
| CN216402659U true CN216402659U (en) | 2022-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122945604.1U Active CN216402659U (en) | 2021-11-29 | 2021-11-29 | Storage robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115180399A (en) * | 2022-07-25 | 2022-10-14 | 上海快仓智能科技有限公司 | Conveying device, conveying robot and warehousing system |
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2021
- 2021-11-29 CN CN202122945604.1U patent/CN216402659U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115180399A (en) * | 2022-07-25 | 2022-10-14 | 上海快仓智能科技有限公司 | Conveying device, conveying robot and warehousing system |
| CN115180399B (en) * | 2022-07-25 | 2023-12-22 | 上海快仓智能科技有限公司 | Conveying device, conveying robot and warehousing system |
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