CN218705962U

CN218705962U - Storage space transfer robot

Info

Publication number: CN218705962U
Application number: CN202223086223.3U
Authority: CN
Inventors: 车忠伟; 秦之旭
Original assignee: Weihai Lianke Intelligent Equipment Co ltd
Current assignee: Weihai Lianke Intelligent Equipment Co ltd
Priority date: 2022-11-17
Filing date: 2022-11-17
Publication date: 2023-03-24
Anticipated expiration: 2032-11-17

Abstract

The utility model provides a storage space transfer robot, which comprises a bed body in the horizontal direction, wherein the bed body is provided with a stand column, and the stand column is connected with the bed body through a horizontal walking device and walks on the bed body; the vertical column is provided with a robot, and the robot is connected with the vertical column through a vertical walking device and is lifted on the vertical column; and the robot is provided with a gripper or a sucker. The utility model discloses the robot can remove wantonly at level and vertical direction, and the flexible operation replaces workman's driving fork truck in constrictive tunnel, makes warehouse access process unmanned from this, reduces the cost of labor, avoids personnel's potential safety hazard and the damaged risk of goods. The height of the upright columns is set according to the height of the warehouse, so that the upright columns are not limited by the extending height of a forklift, high-position dense storage can be realized, and the space utilization rate of the warehouse is improved. The operation speed of robot is high, effectively promotes storage efficiency, and then can improve the logistics management level.

Description

Storage space transfer robot

Technical Field

The utility model relates to a storage transport field specifically is a storage space transfer robot.

Background

The storage shelves of the warehouse are generally of steel structure or reinforced concrete structure, and the space of the goods space between the shelves is a standardized roadway. At present, a common tool for taking and storing goods in a warehouse is a forklift, and after a worker drives the forklift to reach a specified position in the warehouse, a fork frame of the forklift is lifted and then inserted into a goods chassis, so that the goods are taken down. The manner of storing the goods is the same as the above-described process. The manual driving forklift is inconvenient to turn around in a narrow roadway and can only exit the roadway in a backing mode, great potential safety hazards exist in the process, and goods are easy to damage. Secondly, due to the limitation of a forklift, the stacking height of goods in the warehouse is limited, so that the upper space in the warehouse cannot be fully utilized; in order to ensure safety of people and goods, care needs to be taken when workers drive and operate forklifts, and operation and driving speed are slow, so that efficiency of goods storage and taking is reduced.

Disclosure of Invention

An object of the application is to provide a storage space transfer robot, aims at solving the problem among the above-mentioned prior art.

The embodiment of the application provides a storage space transfer robot, which comprises a bed body which is long in the horizontal direction, wherein a stand column is arranged on the bed body, is connected with the bed body through a horizontal walking device and walks on the bed body; the vertical column is provided with a robot, and the robot is connected with the vertical column through a vertical walking device and is lifted on the vertical column; the robot is provided with a gripper or a sucker;

the horizontal walking device comprises a horizontal sliding plate, a horizontal guide rail and a horizontal rack which are arranged on the bed body, a horizontal driving motor and a horizontal driving gear; the upright post is arranged on the horizontal sliding plate; the other end surface of the horizontal sliding plate is embedded with the horizontal guide rail; the horizontal rack and the horizontal guide rail are laid in the same direction; the horizontal driving motor is fixed on the horizontal sliding plate, the output end of the horizontal driving motor is downwards connected with the horizontal driving gear, and the horizontal driving gear is meshed on the horizontal rack;

the vertical walking device comprises a vertical sliding plate, a vertical guide rail and a vertical rack which are arranged on the upright post, a vertical driving motor and a vertical driving gear; the robot is arranged on the vertical sliding plate, and the other end surface of the vertical sliding plate is embedded with the vertical guide rail; the vertical rack and the vertical guide rail are laid in the same direction; the vertical driving motor is fixed on the vertical sliding plate, the output end of the vertical driving motor faces to the horizontal direction and is connected with the vertical driving gear, and the vertical driving gear is meshed with the vertical rack.

Furthermore, a horizontal drag chain box extending in the same direction as the bed body is installed on one side face of the bed body, horizontal drag chain boxes are also installed on the lower portion of the upright column, and horizontal drag chains are installed in the two horizontal drag chain boxes.

Further, the robot is installed on perpendicular slide through the robot fixing base, and the robot fixing base is right triangle, and a right angle limit and perpendicular slide fixed connection, another right angle limit of robot fixing base upwards support the robot.

Further, the robot is a six-axis robot.

Furthermore, a vertical drag chain box which extends vertically and upwards is arranged on the vertical sliding plate; vertical drag chain boxes are also arranged at the upper parts of the upright columns, and vertical drag chains are arranged in the two vertical drag chain boxes.

The beneficial effects of the utility model are that: the utility model discloses the robot can remove wantonly at level and vertical direction, and flexible operation replaces workman's driving fork truck in constrictive tunnel, makes warehouse access process unmanned from this, reduces the cost of labor, avoids personnel's potential safety hazard and the damaged risk of goods. The height of the stand columns is set according to the height of the warehouse, the stand columns are not limited by the extending height of a forklift, high-position dense storage can be achieved, and the space utilization rate of the warehouse is improved. The operation speed of robot is high, effectively promotes storage efficiency, and then can improve the logistics management level.

Drawings

Fig. 1 is a schematic view of an overall structure of a storage space transfer robot according to the present application.

Fig. 2 is a schematic front view of the storage space transfer robot according to the present invention.

Fig. 3 is a schematic side view of the storage space transfer robot according to the present invention.

Fig. 4 is a schematic top view of the storage space transfer robot according to the present invention.

Fig. 5 is an enlarged view of a portion a in fig. 3.

Fig. 6 is an enlarged view of fig. 4 at B.

In the figure: 100. a bed body; 200. a column; 300. a horizontal traveling device; 301. a horizontal sliding plate; 302. a horizontal guide rail; 303. a horizontal rack; 304. a horizontal driving motor; 305. a horizontal drive gear; 306. a horizontal drive speed reducer; 400. a robot; 401. a robot holder; 500. a vertical traveling device; 501. a vertical slide plate; 502. a vertical guide rail; 503. a vertical rack; 504. a vertical drive motor; 505. a vertical drive gear; 506. a vertical drive reducer; 600. a drag chain; 601. a horizontal drag chain; 602. a vertical drag chain; 603. a horizontal drag chain box; 604. a vertical drag chain box.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

As shown in fig. 1 to 2, the storage space transfer robot includes a bed 100 elongated in a horizontal direction, the bed 100 is installed on a floor of a roadway between shelves, and the length of the bed is set according to a depth of the roadway. The bed body 100 is provided with a column 200, and the height of the column is set according to the storage height. The column 200 forms an L-shape with the bed 100 in an initial state. The column 200 is connected to the bed 100 by a horizontal running gear 300 and can run on the bed 100 along the length of the bed 100. The upright column 200 is provided with a robot 400, and the robot 400 is connected with the upright column 200 through a vertical walking device 500 and can ascend and descend on the upright column 200 along the height of the upright column 200. The robot 400 may select a six-axis robot 400, and a gripper or a suction cup may be mounted on a terminal arm of the six-axis robot 400. The six-axis robot 400 is delivered to any position in the warehouse through the horizontal traveling device 300 and the vertical traveling device 500, and after reaching a designated position, the goods are stored or taken through a gripper or a suction cup of a terminal arm of the six-axis robot 400.

As for the horizontal traveling device 300, as shown in fig. 3 and 5, the horizontal traveling device 300 includes a horizontal slide plate 301, a horizontal guide rail 302 and a horizontal rack gear 303 mounted on the bed 100, a horizontal driving motor 304, and a horizontal driving gear 305.

The horizontal guide rails 302 and the horizontal rack 303 both extend along the length direction of the bed 100, and the two horizontal guide rails 302 provide a moving track for the horizontal sliding plate 301. The column 200 is attached to a horizontal slide plate 301, the other end surface of the horizontal slide plate 301 is fitted to a horizontal guide rail 302, and the horizontal slide plate 301 is moved on the bed 100 together with the column 200. A horizontal driving motor 304 is installed at one corner of the horizontal sliding plate 301, the output end of the horizontal driving motor 304 faces downwards, a horizontal driving speed reducer 306 is connected to the output end of the horizontal driving motor 304, a horizontal driving gear 305 is connected through the horizontal driving speed reducer 306, and the horizontal surface of the horizontal driving gear 305 is meshed with the horizontal rack 303 in a rotating mode. The horizontal driving motor 304 drives the horizontal driving gear 305 to rotate, the horizontal driving gear 305 walks along the horizontal rack 303 through the meshing of the horizontal driving gear 305 and the horizontal rack 303, and the horizontal rack 303 extends along the bed 100, so that the horizontal sliding plate 301 and the upright column 200 are driven to walk along the bed 100.

As for the vertical traveling device 500, as shown in fig. 4 and 6, the vertical traveling device 500 includes a vertical slide plate 501, a vertical guide rail 502 and a vertical rack 503 mounted on the column 200, a vertical driving motor 504, and a vertical driving gear 505. The robot 400 is mounted on a vertical slide plate 501, the other end surface of the vertical slide plate 501 is fitted into a vertical guide rail 502, the vertical slide plate 501 is vertically slidable along the vertical guide rail 502, and the number of the vertical guide rails 502 is two. The vertical rack 503 is laid in the same direction as the vertical rail 502 and extends in the vertical direction of the column 200. The vertical driving motor 504 is fixed on the vertical sliding plate 501, the output end of the vertical driving motor 504 faces the horizontal connecting vertical driving gear 505, and a vertical driving speed reducer 506 is connected between the vertical driving motor 504 and the vertical driving gear 505. A vertical drive gear 505 is engaged on the vertical rack 503. The vertical driving motor 504 drives the vertical driving gear 505 to rotate, and since the vertical driving gear 505 is engaged with the vertical rack 503, the vertical driving gear 505 moves up and down along the vertical rack 503, and the vertical sliding plate 501 is driven to move up and down on the upright post 200 with the robot 400.

In order to ensure that the horizontal movement of the column 200 and the vertical movement of the robot 400 can be stably performed, drag chains 600 are provided between the bed 100 and the column 200 and between the column 200 and the vertical slide plate 501. Specifically, a horizontal drag chain box 603 extending in the same direction as the bed 100 is installed on one side surface of the bed 100, a horizontal drag chain box 603 is also installed on the lower portion of the column 200, and horizontal drag chains 601 are installed in the two horizontal drag chain boxes 603. A vertical drag chain box 604 extending vertically upwards is arranged on the vertical sliding plate 501; the upper portion of the column 200 is also fitted with vertical tow chain boxes 604, in which are mounted vertical tow chains 602.

For the fixing mode of the robot 400, the robot 400 is installed on the vertical sliding plate 501 through the robot fixing seat 401, and the robot fixing seat 401 is in a right triangle shape and includes a horizontal plate, a vertical plate and a right triangle-shaped connecting plate. A right-angle edge (vertical plate) of the robot fixing seat 401 is fixedly connected with the vertical sliding plate 501, and the other right-angle edge (horizontal plate) upwards supports the robot 400. On the vertical slide 501, a vertical drag chain box 604 is located above the robot mount 401.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A storage space transfer robot is characterized by comprising a horizontally long lathe bed, wherein a vertical column is arranged on the lathe bed, is connected with the lathe bed through a horizontal walking device and walks on the lathe bed; the vertical column is provided with a robot, and the robot is connected with the vertical column through a vertical walking device and is lifted on the vertical column; the robot is provided with a gripper or a sucker;

the vertical walking device comprises a vertical sliding plate, a vertical guide rail and a vertical rack which are arranged on the upright post, a vertical driving motor and a vertical driving gear; the robot is arranged on the vertical sliding plate, and the other end surface of the vertical sliding plate is embedded with the vertical guide rail; the vertical rack and the vertical guide rail are laid in the same direction; the vertical driving motor is fixed on the vertical sliding plate, the output end of the vertical driving motor faces to the horizontal connection vertical driving gear, and the vertical driving gear is meshed with the vertical rack.

2. The storage space transfer robot of claim 1, wherein a horizontal drag chain box extending in the same direction as the bed is installed at one side of the bed, a horizontal drag chain box is also installed at the lower part of the column, and horizontal drag chains are installed in the two horizontal drag chain boxes.

3. The warehouse space transfer robot of claim 1, wherein the robot is mounted on the vertical slide plate by a robot holder, the robot holder is in the shape of a right triangle, one right-angled side of the robot holder is fixedly connected with the vertical slide plate, and the other right-angled side supports the robot upward.

4. The storage space handling robot of claim 1 wherein the robot is a six axis robot.

5. The warehouse space handling robot of claim 1 wherein the vertical slide mounts a vertical drag chain box extending vertically upward; vertical drag chain boxes are also arranged at the upper parts of the upright columns, and vertical drag chains are arranged in the two vertical drag chain boxes.