CN218056921U - A bear mechanism and storage robot for storage robot - Google Patents
A bear mechanism and storage robot for storage robot Download PDFInfo
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- CN218056921U CN218056921U CN202222656811.XU CN202222656811U CN218056921U CN 218056921 U CN218056921 U CN 218056921U CN 202222656811 U CN202222656811 U CN 202222656811U CN 218056921 U CN218056921 U CN 218056921U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 58
- 239000002184 metal Substances 0.000 description 5
- 230000009194 climbing Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000005622 photoelectricity Effects 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
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Abstract
The utility model discloses a bear mechanism and storage robot for storage robot relates to storage equipment technical field, including chassis subassembly and bearing component, bearing component includes two piece at least joists, is used for storage robot bears the goods when carrying goods. The utility model discloses both guaranteed the firm of goods and born, made again and born the weight of the mechanism and obtain the lightweight.
Description
Technical Field
The utility model relates to a storage equipment technical field, concretely relates to a bear mechanism and storage robot for storage robot.
Background
In the existing warehousing system, in order to realize storage and transportation of article bins on high-altitude shelves on two sides of a roadway, an amphibious robot capable of simultaneously completing ground operation and shelf climbing is generally adopted, for example, in a warehouse article transportation system disclosed in patents CN110869294B and US2001/0047116A1, a cargo transportation robot can walk on the ground of a warehouse and can climb a shelf, so that a complex ground walking driving mechanism and a climbing power mechanism are simultaneously integrated in the cargo transportation robot, and a clutch structure engaged with and disengaged from a vertical rail is included, the internal structure of the cargo transportation robot is very complex and the weight of a single machine is large, when the system transports articles, a single robot needs to sequentially complete ground transportation and shelf climbing, and then can enter next article transportation, when one of the ground walking driving mechanism or the climbing power mechanism in the robot operates, the other mechanism is in an idle state, and the utilization efficiency of the whole system is low.
Prior art CN114180250A discloses an article handling system with a direct docking positioning device, comprising a vertical motion robot. However, the mechanism for carrying the article bin of the vertical motion robot disclosed in the patent is a one-piece sheet metal part, which has the disadvantage of heavy weight, and increases the burden of the vertical motion robot in moving in the vertical direction. However, CN207142182U of my prior application discloses an intelligent carrier with a sorting function, which directly carries goods by a conveyor belt, and because the goods slide and rub with the conveyor belt at high frequency, the stability of the goods cannot be guaranteed, and the wear of goods packages is increased.
Disclosure of Invention
In order to solve the problem, the utility model provides a bear mechanism for storage robot has both guaranteed that the firm of goods bears, makes again to bear the weight of the mechanism and obtains the lightweight.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a bearing mechanism for a warehousing robot comprises an underframe assembly and a bearing assembly arranged on the underframe assembly, wherein the shape of the underframe assembly is provided with at least one group of parallel opposite edges, and the underframe assembly is formed by connecting a plurality of profiles or is integrally formed; the bearing component comprises a guide beam and at least two joists, the length direction of the guide beam is consistent with the length direction of the joists, one end or two ends of the guide beam are provided with guide pieces, each guide piece is in the shape of a minor arc, a central angle corresponding to the minor arc and goods supported by the storage robot are respectively located on two sides of the guide beam, the guide beam is used for guiding the goods when the goods enter the bearing mechanism, and the joists are used for bearing the goods when the storage robot carries the goods.
The utility model discloses to bearing of goods, be changed into a plurality of joists by prior art's sheet metal component or conveyer belt to the joists is accomplished and is compared prior art's sheet metal component to bearing of goods, and its steadiness of bearing does not descend, and is lighter simultaneously, has alleviateed the burden of storage robot in the motion of vertical side. Simultaneously, because the joist is to the bearing of goods, the goods need not to contact with the conveyer belt, consequently can not produce static friction between the two, has avoided the wearing and tearing of goods packing. Through setting up the guide beam, the goods when the mechanism that bears that gets into, even the direction takes place the biasing, also can return just through the guide beam to, the guide beam can also be followed the goods side and separated shelves goods, avoids the goods to turn over the robot down. Set up curved guide, goods borrow when getting into to bear the weight of the mechanism by the guide more gently get into, avoid goods and the tip of guide beam to bump and damage goods and even can't get into and bear the weight of the mechanism.
Optionally, the joist is hollow and rectangular in cross section, and lightening holes are uniformly distributed in the joist.
The joist adopts hollow section bar to the equipartition lightening hole for bearing mechanism obtains further lightweight.
Optionally, one guide beam is arranged on one side of the warehousing robot.
The guide beam is arranged on a single side, so that the size range of the carried goods is larger.
Optionally, a plurality of proximity switches are arranged along the length direction of the guide beam.
Judge the condition that goods got into the bearing mechanism through proximity switch, if goods did not get into the bearing mechanism completely, then can be reachd by proximity switch monitoring, further pull into the bearing mechanism with goods through other mechanisms of storage robot.
Optionally, the number of the guide beams is two, and the two guide beams are arranged on two opposite sides of the warehousing robot.
The guide beam is arranged on two sides, so that the stability of bearing goods is improved.
Optionally, a plurality of photoelectric correlation sensors are arranged along the length direction of the guide beams, and receiving ends and sending ends of the photoelectric correlation sensors are respectively arranged on the two guide beams.
Judge the condition that goods got into the mechanism of bearing through the photoelectricity correlation sensor, if goods did not get into completely and bear the mechanism, then can be reachd by the monitoring of photoelectricity correlation sensor, further pull into goods through other mechanisms of storage robot and bear the mechanism.
Optionally, the underframe assembly further comprises a short beam, and the short beam is arranged on a group of opposite sides of the underframe assembly.
The short cross beams are arranged on the underframe assembly, so that the flexibility of the underframe assembly is improved, and the underframe assembly can be used for adapting to more other mechanisms of the warehousing robot.
Optionally, the load bearing assembly is mounted to the base frame assembly through mounting brackets, and each joist is provided with at least two mounting brackets.
The bearing component and the underframe component are separated through the mounting frame, and even if mechanisms necessary for other storage robots are installed on the underframe component, a space can be provided by the mounting frame, so that the bearing component, supported goods and the mechanisms necessary for other storage robots are prevented from interfering.
Furthermore, the utility model also provides a storage robot, storage robot includes aforementioned arbitrary one bear the weight of the mechanism. The utility model provides a storage robot is similar with the aforesaid beneficial effect inference process that bears the weight of the mechanism, no longer gives unnecessary details here.
These features and advantages of the present invention will be disclosed in more detail in the following detailed description and the accompanying drawings. The best mode or means of the present invention will be described in detail with reference to the accompanying drawings, but not limited thereto. In addition, the features, elements and components appearing in each of the following and in the drawings are plural and different symbols or numerals are labeled for convenience of representation, but all represent components of the same or similar construction or function.
Drawings
The present invention will be further explained with reference to the accompanying drawings:
fig. 1 is a top view of a first embodiment of the present invention;
fig. 2 is a schematic perspective view of a first embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention are explained and explained below with reference to the drawings of the embodiments of the present invention, but the embodiments described below are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the embodiment, other embodiments obtained by those skilled in the art without any creative work belong to the protection scope of the present invention.
Reference in the specification to "one embodiment" or "an example" means that a particular feature, structure or characteristic described in connection with the embodiment itself may be included in at least one embodiment of the patent disclosure. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.
The first embodiment is as follows:
as shown in fig. 1 and 2, the present embodiment provides a carrying mechanism for a storage robot, which includes an underframe assembly 1 and a load bearing assembly mounted on the underframe assembly 1.
The underframe assembly 1 is shaped to have at least one set of parallel opposite sides, and is formed by connecting a plurality of profiles or integrally formed. Specifically, in the present embodiment, the bottom frame assembly 1 is rectangular and is formed by connecting four sectional materials, and the connection between the sectional materials is the prior art and is not described herein again. In this embodiment, the underframe assembly 1 further comprises a short beam, which is arranged on a group of opposite sides of the underframe assembly 1 and is perpendicular to the connected sectional material of the underframe assembly 1, so as to increase the flexibility of the underframe assembly 1, and the underframe assembly 1 can be a mechanism for adapting to the storage robot.
The load bearing assembly comprises a guide beam 22 and at least two joists 21, the specific number of joists 21 being set by a person skilled in the art according to the actual need and not being limited thereto. In the present embodiment, two joists 21 are provided to carry the goods when the warehousing robot carries the goods. The joist 21 is hollow and is a section with a rectangular cross section, and lightening holes 211 are uniformly distributed on the section, so that the bearing mechanism is further lightened. The length direction of guide beam 22 is unanimous with the length direction of joist 21, and in this embodiment, guide beam 22 is equipped with two, locates storage robot's relative both sides respectively for guide goods when goods get into and bear the weight of the mechanism, even the direction takes place the biasing, also can return just through guide beam 22, and, guide beam 22 can also separate the fender goods from the goods side, has promoted the stability that bears the weight of the goods, avoids the goods to turn down the robot.
One or both ends of the guide beam 22 are provided with guides 23, and in this embodiment, both ends of the guide beam 22 are provided with guides 23. The guide 23 is minor arc shape, and the central angle that minor arc corresponds and the goods of storage robot bearing are located the both sides of guide beam 22 respectively, that is to say, the guide 23 that the one end of two guide beam 22 homonymies set up, and the opening that it formed is greater than the distance of two guide beam 22, and the goods can borrow when getting into bearing mechanism by the guide 23 and get into more gently, avoids goods and guide beam 22's tip to bump and damages the goods and even can't get into bearing mechanism. The connection of the guide beam 22 and the guide 23 is prior art and will not be described in detail here.
A plurality of photoelectric correlation sensors 24 are arranged along the length direction of the guide beams 22, in this embodiment, two pairs of photoelectric sensors are arranged, receiving ends and sending ends of the photoelectric sensors are respectively arranged on the two guide beams 22, one side of each photoelectric sensor is used for emitting photoelectric signals, and the other side of each photoelectric sensor is used for receiving photoelectric signals. Goods have sheltered from the photoelectric signal that the sending end sent, then the receiving terminal produces corresponding signal, if goods did not get into completely and bear the weight of the mechanism, then can be reachd by the monitoring of photoelectricity correlation sensor 24, further pull into the goods through other mechanisms of storage robot and bear the weight of the mechanism.
The bearing component is arranged on the underframe component 1 through a mounting rack 25, and each joist 21 is at least provided with two mounting racks 25. In the present embodiment, the mounting frame 25 includes a C-shaped frame 251 and an L-shaped frame 252, two ends of the C-shaped frame 251 are mounted on the section bars of the base frame assembly 1, and form a rectangle with the section bars of the base frame assembly 1 after mounting, the L-shaped frame 252 and the joists 21 are mounted on the C-shaped frame 251 located at the opposite sides of the section bars of the base frame assembly 1, and the guide beams 22 are mounted on the L-shaped frame 252, so as to separate the load bearing assembly from the base frame assembly 1, so that the position of the load bearing assembly in the vertical direction is higher than that of the base frame assembly 1, even if the necessary mechanisms of other storage robots are mounted on the base frame assembly 1, a space can be provided by the mounting frame 25, and the load bearing assembly and the supported goods are prevented from interfering with the necessary mechanisms of other storage robots. In this embodiment, the bottom frame assembly 1 is rectangular, and two guide beams 22 and two joists 21 are provided, so that four mounting frames 25 are provided, and are respectively located at four corners of the rectangle formed by the bottom frame assembly 1.
This embodiment is to bearing of goods, is replaced by a plurality of joists 21 by prior art's sheet metal component or conveyer belt to joists 21 accomplish bearing to goods, compare prior art's sheet metal component, and its steadiness of bearing does not descend, and is lighter simultaneously, has alleviateed the burden that the storage robot moved in vertical direction. Meanwhile, due to the supporting of the joist 21 to goods, the goods do not need to be contacted with a conveying belt, so that static friction cannot be generated between the joist and the conveying belt, and the wear of goods packaging is avoided.
Example two:
in the present embodiment, different from the first embodiment, in the present embodiment, one guiding beam 22 is provided and disposed on a single side of the warehousing robot, and the arrangement is such that the warehousing robot can carry a larger range of goods sizes.
And, be equipped with a plurality of proximity switches along the length direction of guide beam 22, can judge the condition that the goods got into the mechanism of bearing through proximity switch, if the goods did not get into the mechanism of bearing completely, then can be followed by proximity switch monitoring, further pull into the mechanism of bearing with the goods through other mechanisms of storage robot.
Example three:
the present embodiment provides a warehousing robot, and the warehousing robot provided by the present embodiment includes the carrying mechanism described in the first embodiment or the second embodiment.
While the present invention has been described with reference to the particular illustrative embodiments, it will be understood by those skilled in the art that the present invention is not limited thereto, and may be embodied in many different forms without departing from the spirit and scope of the present invention as set forth in the following claims. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (9)
1. A bearing mechanism for a warehousing robot comprises an underframe assembly and is characterized by also comprising a bearing assembly arranged on the underframe assembly, wherein the shape of the underframe assembly is provided with at least one group of parallel opposite edges, and the underframe assembly is formed by connecting a plurality of profiles or is integrally formed; the bearing component comprises a guide beam and at least two joists, the length direction of the guide beam is consistent with the length direction of the joists, one end or two ends of the guide beam are provided with a guide part, the guide part is in a shape of a minor arc, a central angle corresponding to the minor arc and goods supported by the storage robot are respectively located on two sides of the guide beam, the guide beam is used for guiding the goods when the goods enter the bearing mechanism, and the joists are used for bearing the goods when the storage robot carries the goods.
2. The load bearing mechanism of claim 1, wherein: the joist is hollow and rectangular in cross section, and lightening holes are uniformly distributed in the joist.
3. The load bearing mechanism of claim 1, wherein: the guide beam is provided with one and is arranged on one side of the storage robot.
4. The load bearing mechanism of claim 3, wherein: and a plurality of proximity switches are arranged along the length direction of the guide beam.
5. The load bearing mechanism of claim 1, wherein: the guide beams are arranged on two opposite sides of the storage robot.
6. The load bearing mechanism of claim 5, wherein: and a plurality of photoelectric correlation sensors are arranged along the length direction of the guide beams, and receiving ends and sending ends of the photoelectric correlation sensors are respectively arranged on the two guide beams.
7. The load bearing mechanism of claim 1, wherein: the underframe assembly further comprises a short cross beam, and the short cross beam is arranged on a group of opposite sides of the underframe assembly.
8. The support mechanism of any of claims 1 to 7, wherein: the bearing assembly is installed on the underframe assembly through mounting frames, and each joist is provided with at least two mounting frames.
9. A warehousing robot characterized in that it comprises a carrying mechanism according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222656811.XU CN218056921U (en) | 2022-10-10 | 2022-10-10 | A bear mechanism and storage robot for storage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222656811.XU CN218056921U (en) | 2022-10-10 | 2022-10-10 | A bear mechanism and storage robot for storage robot |
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| Publication Number | Publication Date |
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| CN218056921U true CN218056921U (en) | 2022-12-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222656811.XU Active CN218056921U (en) | 2022-10-10 | 2022-10-10 | A bear mechanism and storage robot for storage robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117733887A (en) * | 2024-01-26 | 2024-03-22 | 江南大学 | Intelligent distribution robot |
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2022
- 2022-10-10 CN CN202222656811.XU patent/CN218056921U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117733887A (en) * | 2024-01-26 | 2024-03-22 | 江南大学 | Intelligent distribution robot |
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Address after: Building 2, South 1-3, High end Manufacturing Industrial Park, No. 1111 Xin'an Road, High tech Zone, Wuxing District, Huzhou City, Zhejiang Province, 313000, China Patentee after: Zhejiang Huicang Intelligent Technology Co.,Ltd. Country or region after: China Address before: 310000 room 318, building 7, No. 101, BINKANG Road, Xixing street, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU HUICANG INFORMATION TECHNOLOGY CO.,LTD. Country or region before: China |
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