CN219170923U - Wheel leg type storage palletizing robot - Google Patents

Abstract

The utility model discloses a wheel leg type storage palletizing robot, which comprises the following components: the bottom of the frame is provided with a first driving wheel; the lifting assembly includes: the front lifting assembly is fixedly arranged on the frame, and the rear lifting assembly is fixedly arranged on the frame and is positioned behind the front lifting assembly; the support leg assembly includes: the front supporting leg assembly is fixedly connected with the front lifting assembly and comprises a first front supporting rod and a first rear supporting rod, and a first height adjusting mechanism is arranged above the first front supporting rod; the rear supporting leg assembly is fixedly connected with the rear lifting assembly and comprises a second front supporting rod and a second rear supporting rod, and a second height adjusting mechanism is arranged above the second rear supporting rod; the stacking assembly comprises a clamping arm arranged at the outer side of the frame and a cabin arranged in the frame; can climb the action of obstacle such as stair after getting the goods clamp through the setting of this robot, make it steadily carry large-scale goods, and adapt to the stair of different specifications, promote storage pile up neatly efficiency.

Description

Wheel leg type storage palletizing robot

Technical Field

The utility model relates to the field of palletizing robots, in particular to a wheel leg type storage palletizing robot.

Background

The logistics storage robot is one of industrial robots, and the application environment is a storage environment; which may be manually operated or preprogrammed to allow the robot to perform the relevant tasks. Is a device capable of automatically transferring and carrying goods. The existing stair climbing robot mainly has the structures of wheel sets, crawler wheels, foot-type structures and the like, has low efficiency and complex structure, and has different defects, and the fluctuation of the center of gravity of the wheel sets is larger; when the crawler type climbs stairs, the crawler is seriously worn, the weight of wheels is large, and the stair is easily damaged; the large-scale heavy objects can not be carried when the foot type stair climbs, and the mechanical mechanism is complex and the flat ground movement is slow. The existing storage palletizing robot cannot cross obstacles, has low intelligent degree, cannot transport goods in a milder mode, can only transport some objects without considering transport states, and is particularly important for other valuable or non-heavy goods in the process state in the storage palletizing process, so that the storage palletizing robot with high intelligent degree and moderate transportation mode capable of crossing obstacles is urgently needed to be developed in the storage palletizing aspect.

Disclosure of Invention

The purpose is as follows: in order to overcome the defects in the prior art, the utility model provides a wheel leg type storage palletizing robot. Overcomes the defects that the prior storage stacking can not cross the obstacle, the stacking object mode is violent, and the like.

The technical scheme is as follows: in order to achieve the above purpose, the utility model adopts the following technical scheme:

a wheel leg storage palletizing robot, comprising:

the bottom of the frame is provided with a first driving wheel;

the lifting assembly comprises

The front lifting component, the upper end of which is fixedly arranged on the frame,

the upper end of the rear lifting assembly is fixedly arranged on the frame and is positioned behind the front lifting assembly;

the support leg assembly includes:

the front supporting leg assembly is fixedly connected with the front lifting assembly and comprises a first front supporting rod, a first rear supporting rod and a cross beam connected between the first front supporting rod and the first rear supporting rod, a first height adjusting mechanism is arranged above the first front supporting rod, a second driving wheel is arranged at the bottom of the first front supporting rod, and a first driven wheel is arranged at the bottom of the first rear supporting rod;

the rear supporting leg assembly is fixedly connected with the rear lifting assembly and comprises a second front supporting rod, a second rear supporting rod and a cross beam connected between the second front supporting rod and the second rear supporting rod, a second height adjusting mechanism is arranged above the second rear supporting rod, a third driving wheel is arranged at the bottom of the second rear supporting rod, and a second driven wheel is arranged at the bottom of the second front supporting rod;

the stacking assembly comprises a clamping arm arranged on the outer side of the frame and a cabin arranged in the frame.

Preferably: the last altitude mixture control mechanism and the width adjustment mechanism of still being provided with of preceding supporting leg subassembly, width adjustment mechanism sets up between branch and the crossbeam behind the first, include:

the screw rod sliding table is fixedly arranged at the top of the first rear supporting rod and is in driving connection with the motor;

the third sleeve is arranged above the screw rod sliding table and is connected with the screw rod sliding table through a linear guide rail pair;

the width adjusting mechanism drives the third sleeve and the cross beam to move relatively through the screw rod sliding table;

the height adjustment mechanism is provided on the first front strut and the second rear strut, comprising:

the screw rod is connected with the driving motor;

a sliding table in threaded connection with the screw rod, a sleeve with the same moving direction as the screw rod is fixedly arranged on one side of the sliding table,

the linear slide rail is arranged on one side of the slide table and matched with the slide table for enabling the slide table to move along the linear slide rail,

the sleeve is moved relative to the first front support rod or the second rear support rod by the relative movement of the screw rod and the sliding table.

Preferably: the lifting assembly includes: the motor is lifted up and the motor is driven,

the upper end belt pulley is fixedly arranged at the top of the frame through a belt pulley bracket, and the lower end belt pulley is in driving connection with the lifting motor;

the belt is wound on the belt pulley, a lifting bracket is arranged on the belt, and the lifting bracket is fixedly connected with a cross beam in the supporting component;

and the polished rod connecting piece is fixedly arranged on the cross beam, is in sliding connection with the frame and is used for enabling the supporting leg assembly to move relative to the frame.

Preferably: the frame comprises:

the upper main board is provided with a first through hole for the belt to pass through,

the chassis main board is fixedly connected with the upper main board through a polished rod, a second through hole with the same position as the first through hole is formed in the chassis main board, a third through hole is further formed in the chassis main board, and the first rear supporting rod of the front supporting leg assembly penetrates through the third through hole, so that the front supporting leg assembly can move up and down relative to the chassis main board;

and the polished rod is in sliding connection with the polished rod connecting piece.

Preferably: the clamping arm in the stacking assembly is arranged on one side of the cabin body and is rotationally connected with the cabin body through a turnover mechanism, and a first driving friction wheel is arranged on the inner side of the clamping arm;

the second driving friction wheel is arranged in the cabin body in the stacking assembly and is consistent with the driving friction wheel arranged on the clamping arm in movement direction, and goods are moved relative to the cabin body through the first driving friction wheel and the second driving friction wheel.

Preferably: the first driving wheel, the second driving wheel and the third driving wheel are Mecanum wheels.

Compared with the prior art, the utility model has the following beneficial effects:

the utility model provides a wheel leg type storage palletizing robot, which is characterized in that a machine body and a supporting component lift the supporting leg component to the height of a stair under the action of a height adjusting mechanism and a lifting component, the whole machine frame is lifted to the height above the stair after the lifting is completed, then the whole robot is driven to move forwards by a driving wheel, the machine frame and the front supporting leg component are stably moved to the step, and then a rear supporting wheel component is lifted to the step to complete the step climbing movement. The first driving wheel and the second driving wheel can do horizontal movement on the flat ground only through the driving of the motor. The stair climbing movement through this setting is stable and convenient and fast, and can not cause the damage to the stair, can cross the obstacle strong ability, adapts to the stair specification of multiple equidimension through height and width adjustment mechanism simultaneously.

The wheel leg type storage palletizing robot provided by the utility model comprises the clamping arm, the cabin body and the rolling wheels in the cabin body, wherein the rolling wheels on the clamping jaw and the rolling wheels in the cabin body complete goods taking and delivering movement, and the goods are lifted by the part of climbing stairs, so that the whole process is smooth and stable, and the safety of the goods during transportation can be ensured.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a wheel leg type storage palletizing robot;

FIG. 2 is a top view of the robot;

FIG. 3 is a schematic diagram of a frame structure;

FIG. 4 is a schematic view of a front support leg assembly;

FIG. 5 is a schematic view of a rear support leg assembly;

FIG. 6 is a schematic view of a lift assembly;

FIG. 7 is a schematic view of a height adjustment mechanism;

FIG. 8 is a schematic view of a width adjustment mechanism;

FIG. 9 is a schematic view of a palletizing assembly;

FIG. 10 is a simplified schematic diagram of a wheel-leg type storage palletizing robot;

FIG. 11 is a graph showing analysis of stair climbing actions;

reference numerals:

1, a frame, a 101 upper main board, a 102 polished rod, a 103 chassis main board and a 104 first driving wheel;

2 supporting leg assembly,

21 front support leg assembly, 211 first front support rod, 212 first rear support rod, 213 second driving wheel, 214 first driven wheel,

22 rear support leg assemblies, 221 second front struts, 222 second rear struts, 223 third driving wheels, 224 second driven wheels,

3 lifting assembly, 31 front lifting assembly, 32 rear lifting assembly, 301 belt pulley bracket, 302 belt pulley, 303 belt, 304 lifting motor, 305 lifting bracket and 306 polished rod connecting piece

4 a height adjusting mechanism,

41 a first height adjusting mechanism, 411 a first screw rod, 412 a first sliding table, 413 a first linear sliding rail, 414 a first sleeve,

A second height adjusting mechanism 42, a second lead screw 421, a second sliding table 422, a second linear sliding rail 423, a second sleeve 424,

5 width adjustment mechanism, 501 lead screw slipway, 502 third sleeve, 503 motor;

6 clamping arms and 61, namely a first driving friction wheel;

7, cabin body, 71 second drive friction wheel;

8 a turnover mechanism.

Detailed Description

The present utility model is further illustrated in the accompanying drawings and detailed description which are to be understood as being merely illustrative of the utility model and not limiting of its scope, and various equivalent modifications to the utility model will fall within the scope of the appended claims to the skilled person after reading the utility model.

A wheeled legged storage palletizing robot as shown in fig. 1, comprising:

the bottom of the frame 1 is provided with a first driving wheel 104;

the lifting assembly 3 comprises

A front lifting assembly 31 fixedly arranged on the frame 1,

a rear lifting assembly 32 fixedly arranged on the frame 1 and positioned behind the front lifting assembly;

the support leg assembly 2 includes:

the front supporting leg assembly 21 is fixedly connected with the front lifting assembly and comprises a first front supporting rod 211, a first rear supporting rod 212 and a cross beam connected between the first front supporting rod 211 and the first rear supporting rod 212, a first height adjusting mechanism 41 is arranged above the first front supporting rod 211, a second driving wheel 213 is arranged at the bottom of the first front supporting rod 211, and a first driven wheel 214 is arranged at the bottom of the first rear supporting rod 212;

the rear supporting leg assembly 22 is fixedly connected with the rear lifting assembly and comprises a second front supporting rod 221, a second rear supporting rod 222 and a cross beam connected between the second front supporting rod 221 and the second rear supporting rod 222, a second height adjusting mechanism 42 is arranged above the second rear supporting rod 222, a third driving wheel 223 is arranged at the bottom of the second rear supporting rod 222, and a second driven wheel 224 is arranged at the bottom of the second front supporting rod 221;

as shown in fig. 2, the stacking assembly comprises a clamping arm 6 arranged on the outer side of the frame 1 and a cabin 7 arranged in the frame 1; the clamping arm 6 in the stacking assembly is arranged on one side of the cabin 7 and is rotatably connected with the cabin 7 through the turnover mechanism 8, and a first driving friction wheel 61 is arranged on the inner side of the clamping arm 6. The second driving friction wheel 71 is arranged in the cabin 7 in the stacking assembly, the movement direction of the second driving friction wheel is consistent with that of the driving friction wheel arranged on the clamping arm, and goods are moved relative to the cabin 7 through the first driving friction wheel 71 and the second driving friction wheel 71.

Example 1

As shown in fig. 3, the frame 1 includes:

the upper main board 101 is provided with a first through hole for the belt 303 to pass through,

the chassis main board 103 is fixedly connected with the upper main board 101 through a polished rod 102, a second through hole with the same position as the first through hole is formed, a third through hole is further formed in the chassis main board 103, and the first rear support rod 212 of the front support leg assembly 21 passes through the third through hole, so that the front support leg assembly 21 can move up and down relative to the chassis main board 103.

The connection between the upper main board 101 and the chassis main board 103 is directly connected by adopting a tapping method of the polished rod 102, so that the assembly of a later lifting assembly is convenient, and the lifting assembly is fixedly used for installing an optical axis bearing at a smooth part of the polished rod 102, which is not tapped.

As shown in fig. 4 and 5, the support leg assembly 2 includes:

the front supporting leg assembly 21 is fixedly connected with the front lifting assembly and comprises a first front supporting rod 211, a first rear supporting rod 212 and a cross beam connected between the first front supporting rod 211 and the first rear supporting rod 212, a first height adjusting mechanism 41 is arranged above the first front supporting rod 211, a second driving wheel 213 is arranged at the bottom of the first front supporting rod 211, and a first driven wheel 214 is arranged at the bottom of the first rear supporting rod 212;

the rear supporting leg assembly 22 is fixedly connected with the rear lifting assembly and comprises a second front supporting rod 221, a second rear supporting rod 222 and a cross beam connected between the second front supporting rod 221 and the second rear supporting rod 222, a second height adjusting mechanism 42 is arranged above the second rear supporting rod 222, a third driving wheel 223 is arranged at the bottom of the second rear supporting rod 222, and a second driven wheel 224 is arranged at the bottom of the second front supporting rod 221;

as shown in fig. 7, the height adjusting mechanism 4 is disposed on the first front strut 211 and the second rear strut 222, and includes:

the screw rod is connected with the driving motor;

a sliding table in threaded connection with the screw rod, a sleeve with the same moving direction as the screw rod is fixedly arranged on one side of the sliding table,

the linear slide rail is arranged on one side of the slide table and matched with the slide table for enabling the slide table to move along the linear slide rail,

the sleeve is moved relative to the first front strut 211 or the second rear strut 222 by the relative movement of the screw and the slipway. The height adjusting mechanism 4 mainly comprises a screw rod sliding table and a passive sliding rail mechanism-linear bearing mechanism. The ball screw sliding table part is divided into three parts: the screw rod sliding table part uses a 10 mm screw rod, the ball sliding table part uses a metal U-shaped sliding block, and the vertical height is adjusted through a linear sliding rail. Through adding the linear slide rail at two opposite angles on aluminium side pipe, friction force that can be very big reduces, extension ball screw and motor life. And the bottom driving wheel or the driven wheel is fixed by adopting an external sleeve, and the sliding block on the linear sliding table and the sliding table on the ball screw are directly fixed on the same plane of the sleeve by utilizing screws through the through holes phi 4. Thereby completing the assembly of the entire mechanism. The sleeve is made of aluminum square tubes. The bottom driving and driven wheel system part is fixed by adopting a locking screw, so that the strength of the whole wheel system is ensured, and the whole wheel system is prevented from falling off in the driving process, thereby causing the failure of the robot.

The first height adjustment mechanism includes: first screw rod 411, first sliding table 412, first linear sliding rail 413 and first sleeve 414

The second height adjustment mechanism 42 includes: second screw rod 421, second sliding table 422, second linear sliding rail 423 and second sleeve 424

As shown in fig. 8, the width adjustment mechanism 5 is disposed between the first rear strut 212 and the cross member, and includes:

the screw rod sliding table 501 is fixedly arranged at the top of the first rear supporting rod 212 and is in driving connection with a motor;

the third sleeve 502 is arranged above the screw rod sliding table 501 and is connected with the screw rod sliding table 501 through a linear guide rail pair;

a motor 503, disposed at one side of the screw rod sliding table 501, for providing power for the screw rod sliding table 501;

the width adjusting mechanism 5 drives the third sleeve and the cross beam to move relatively through the screw rod sliding table;

the width adjusting mechanism 5 adapts to the width of the stairs by controlling the rolling of the screw rod. The ball slide block is put into the aluminum square tube. The driving screw rod sliding table translates to drive the translation of the first rear supporting rod 212, and the sliding table part is approximately the same as the height adjusting mechanism 4 in structure, and the structure is also divided into three parts: motor, lead screw, slip table. And the width adaptation action is completed through the width adaptation on the driving motor screw rod sliding table. The connecting part of the top and the third sleeve is a linear guide rail pair, the linear guide rail pair is fixed with a sliding rail through a sliding block, and the sliding rail is fixed with the third sleeve through a flat head screw. The sliding block is fixed by a flat head screw. The sliding rail and the sliding block cooperate to limit the rotation freedom degree between the first rear supporting rod 212 and the third sleeve, so that the robot is ensured to be stable. The length of the wheel leg is level with the height of the frame 1. The device does not need to actively provide power, and the bottom of the width adapting mechanism does not need to be provided with an active mechanism, so that the related functions can be realized only by adopting a rubber wheel. The 6200 bearing is used for reducing friction force between the rubber wheel and the shaft, so that the rubber wheel rolling action of the robot is smoother in the stair climbing process.

As shown in fig. 6, the lifting assembly 3 includes

A front lifting assembly 31 fixedly arranged on the frame 1,

a rear lifting assembly 32 fixedly arranged on the frame 1 and positioned behind the front lifting assembly;

the lifting assembly includes:

the motor 304 is lifted up and the motor is driven,

the two belt pulleys 302, the upper belt pulley 302 is fixedly arranged at the top of the frame through a belt pulley bracket 301301, and the lower belt pulley 302 is in driving connection with the lifting motor 304;

the belt 303 is wound on the belt pulley 302, a lifting support 305 is arranged on the belt 303, and the lifting support 305 is fixedly connected with a beam in the supporting assembly;

and the polished rod connecting piece 306 is fixedly arranged on the cross beam, is in sliding connection with the frame and is used for enabling the supporting leg assembly to move relative to the frame.

The front lifting assembly 31 is sleeved on the two polish rods 102 positioned inwards and connected with the frame 1, the rear lifting assembly 32 is sleeved on the two polish rods 102 positioned outwards and connected with the frame 1, and the polish rods 102 and the polish rod connecting piece 306 form a moving pair. In the stair climbing motion of the robot, a polished rod connecting piece 306 moves up and down on the polished rod 102, a lifting support 305 is mounted on the belt 303, the lifting support 305 is located on the lifting assembly 3, a lifting motor 304 of the belt 303 is located on the upper main board 101, the belt 303 penetrates through a hole formed in the frame 1 to connect the lifting support 305 with the frame 1, so that the lifting assembly 3 is driven to move, the front lifting assembly 32 and the rear lifting assembly 32 are driven by one belt 303 respectively, and the front lifting assembly 1, the front lifting assembly 31 and the rear lifting assembly 32 are matched with each other to move mutually, so that stair climbing motion is completed.

Example 2

The robot cargo hold part is shown in fig. 9 and comprises a hold body 7, a clamping arm 6 and a turnover mechanism 8, wherein the hold body 7 is connected with the clamping arm 6 through the turnover mechanism 8, a first driving friction wheel 61 is arranged on the inner side of the clamping arm 6, a second driving friction wheel 71 is arranged at the bottom of the hold body 7, and ten 2305 brushless motors are adopted to form the robot cargo hold part. The first driving friction wheel 61 and the second driving friction wheel 71 are rubber friction wheels.

The main function is to grab cargo into the cargo hold or to transfer cargo directly out of the cargo hold. The main mode of conveying the goods is to control the ten 2305 motors to rotate positively or reversely, drive the rubber friction wheels to rotate, and push the goods into the cargo hold or take the goods out of the cargo hold through the friction force of the rubber friction wheels. Thereby solving the problem of unmanned goods storage and taking. And the stacking part only needs to lower the height adjusting mechanism 4 of the front supporting mechanism to be parallel and level with the rear wheel legs, controls the lifting assembly to lift the robot to the height of two layers on the flat ground, and then controls the friction wheel to move the goods out of the container to finish the stacking work.

In order to ensure the integral strength, the cabin body 7 is mainly constructed by 3 stainless steel plates with 304 materials, and the 3 stainless steel plates are respectively two Z-shaped steel plates and one rectangular steel plate. The Z-shaped steel plate is carefully selected and processed in a sheet metal bending mode. The three plates are connected by adopting an angle code and using phi 5 aperture screws. The top and the metal plate bending connection part of the frame 1 are directly connected with the frame 1 by adopting phi 5 screws, and the screw holes of the frame 1 are tapped, so that the connection of the whole part is realized.

The cabin 7 is installed in the frame 1, and is fixed through bolts, and the inside of the cabin 7 is provided with rollers. The object can be pushed in as far as possible, and the clamping arm 6 at the outer side of the frame 1 is connected with the cabin 7 through the turnover mechanism 8. Three pairs of rollers are reserved on the clamping arm 6 to realize the object clamping function. The whole system is composed of ten 2305 brushless motors. Its main function is to grab cargo into the tank 7 or to transfer it directly out of the tank 7. The main mode of the transmission is to control the forward rotation or the reverse rotation of the ten 2305 motors, drive the rubber friction wheels to rotate, and push the goods to enter the cabin 7 or to be taken out from the cabin 7 through the friction force of the rubber friction wheels. Thereby solving the problem of unmanned goods storage and taking. And the stacking part only needs to lower the first height adjusting mechanism 41 of the front lifting assembly 31 to be level with the rear wheel leg, controls the lifting assembly to lift the robot to the two-layer height on the flat ground, and then controls the friction wheel to move the goods out of the cabin 7 to finish the stacking work.

The external grabbing mechanism and the internal storage mechanism of the robot adopt friction wheel mechanisms. The external gripping mechanism and the internal transfer mechanism are shown. The rotation of the friction wheel is regulated to control the speed of goods entering and exiting. During operation, the turnover mechanism 8 of the external conveying mechanism is controlled, the turnover mechanism 8 rotates to adjust the positions of friction wheels of the external conveying mechanism, the first friction wheel is aligned with the gravity center of the goods and is tightened, the friction wheels are started, friction force is provided by the friction wheels, and the goods are pulled into the robot cargo hold. D holes are reserved on the part of the turnover mechanism 8 to assemble the motor shaft. Three motor slots are reserved and can accommodate three motors.

Example 3

In order to enable the robot to achieve a more efficient full-automatic climbing function on stairs, the robot needs to be assembled with a corresponding sensor system in two parameters of detecting the width and the height of the stairs, the design mainly adopts a photoelectric sensor installed on the height adjusting mechanism 4, and an ultrasonic sensor located on the height adjusting mechanism 4 is matched in an auxiliary mode for detecting the conditions of the two parameters of the height and the width of the stairs. When the robot is in operation, whether the wheel legs of the robot approach stairs is detected, corresponding action subroutines are started in the program when the wheel legs of the robot approach stairs 10 and cm or approach stairs edge 15 and cm, and the robot is controlled to execute relevant actions. An accurate assessment of the object is carried out. Therefore, an ultrasonic sensor is selected as a ranging sensor of the robot. The robot can sense the information such as the current gesture and the real-time obstacle position.

The robot diagram is shown in fig. 10, and when the robot climbs the step, the analysis of the relevant actions is shown in fig. 11:

when the robot approaches to the edge of the step, the step 1 and the front step height adjusting mechanism 4 adjust the height difference to be level with the step height beta. And 2, supporting the whole frame 1 after the steps are carried out, and lifting the whole frame. Step 3, the first driving wheel 104 of the frame 1 is leveled with the second step. The robot translates further forward and the second height adjustment mechanism 42 translated to the rear support leg assembly 22 contacts the first stage step to form a fulcrum, and the height adjustment mechanisms 4 of the front and rear support leg assemblies 21 and 22 simultaneously support the robot on the step. And 4, at the moment, the main bearing mechanism of the robot is changed from the original front supporting leg assembly 21 to the rear supporting leg assembly 22, and the front supporting leg assembly 21 is continuously lifted by the lifting assembly, so that the bottom of the front supporting leg assembly 21 is lifted to the second-stage height. And 5, continuously translating the robot forwards to enable the bottom of the front supporting leg assembly 21 to be in contact with the second-stage step 6, converting the support of the robot into the front supporting leg assembly 21 from the rear supporting leg assembly 22 at the moment, continuously lifting the rear supporting mechanism by the lifting assembly until the bottom of the height adjusting mechanism 4 of the rear supporting leg assembly 22 is lifted to the height of the second-stage step. Step 7, the robot continues to translate forward, so that the front part of the rear support leg assembly 22 of the robot is contacted with the second-stage step. And 8, after the rear supporting leg assembly 22 is fully contacted with the step, the front supporting leg assembly 21 is continuously lifted, and the bottom is lifted to the height of the third step. Step 9, the robot continues to translate forward until the front support leg assembly 21 is fully contacted with the step. Step 10, the rear support leg assembly 22 continues to be raised flush with the third stage step. Step 11, the robot moves forward again to bring the rear support leg assembly 22 into full contact with the third stage step. Step 12, simultaneously, the front support leg assembly 21 is reset to the initial position. And 13, continuing to move forward, and lifting the rear lifting assembly to an initial position after the rear driving wheel of the front supporting leg assembly 21 and the driving wheel of the frame 1 are fully contacted with the steps. And 15, continuously finishing the whole step climbing process forward by the robot. Step 16, taking climbing three-stage steps as an example, only the foregoing process needs to be repeated when the multi-stage steps need to be climbed, and the principle is basically the same, and will not be repeated here.

The process of carrying goods by the stacking assembly is as follows: in a general warehouse environment, if an automatic warehouse robot device is used, the size and weight of an object to be carried need to be strictly adapted to the robot structure. However, it is unavoidable that some goods are overweight or ultra-wide. To avoid forced handling by the robot, the relevant components are damaged. After the robot detects that the object to be conveyed starts to execute the conveying command and the program is initialized, the photoelectric sensor in front of the external grabbing mechanism detects the size of the object. If the object exceeds the limit, the object is directly regarded as an obstacle, and the robot is controlled to bypass. If the object meets the carrying requirement, the external grabbing mechanism is controlled to turn over the motor to put down the external grabbing mechanism. After the external grabbing mechanism of the robot is controlled to aim at the goods to be transported, the internal and external friction wheel systems are started, and the goods are sucked into the goods cabin of the robot. After being sucked into the cargo hold, the sensor in the cargo hold detects whether the cargo is in place. When the goods are in place, the overturning motor controls the external grabbing mechanism to reset. And the robot runs to a position where stacking is needed, and the external grabbing mechanism is put down after running in place. And starting ten friction wheels to reversely rotate, delivering the goods, and detecting whether the goods are in place or not by a sensor after the goods are moved to a placement area. When the goods are in place, the external grabbing mechanism overturning motor controls the external grabbing mechanism to reset. And the robot resumes the normal running state, searches for the next goods to be carried, and repeats the flow. The height of the goods can be measured through a sensor for detecting the height of the stairs, if the goods are placed on the second layer or the third layer, the lifting assembly is started before the goods are grabbed and put down, and the cargo hold is lifted to the same height and then is subjected to the next action. The conveying mode can minimize damage and collision to cargoes, so that good conveying effect is achieved.

The foregoing is only a preferred embodiment of the utility model, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present utility model, and such modifications and adaptations are intended to be comprehended within the scope of the utility model.

Claims (6)

1. The utility model provides a wheel leg formula storage palletizing robot which characterized in that includes:

the bottom of the frame is provided with a first driving wheel;

the front supporting leg assembly is arranged at the front part of the frame and comprises a first front supporting rod, a first rear supporting rod and a cross beam connected between the first front supporting rod and the first rear supporting rod, a first height adjusting mechanism is arranged above the first front supporting rod, a second driving wheel is arranged at the bottom of the first front supporting rod, and a first driven wheel is arranged at the bottom of the first rear supporting rod;

the rear supporting leg assembly is arranged at the rear part of the frame and comprises a second front supporting rod, a second rear supporting rod and a cross beam connected between the second front supporting rod and the second rear supporting rod, a second height adjusting mechanism is arranged above the second rear supporting rod, a third driving wheel is arranged at the bottom of the second rear supporting rod, and a second driven wheel is arranged at the bottom of the second front supporting rod;

the front lifting assembly is fixedly arranged on the frame, is connected with the front supporting leg assembly and is used for enabling the front supporting leg assembly to move up and down relative to the frame,

the upper end of the rear lifting assembly is fixedly arranged on the frame, is connected with the rear supporting leg assembly, and is used for enabling the rear supporting leg assembly to move up and down relative to the frame and to be positioned behind the front lifting assembly;

the stacking assembly comprises a clamping arm arranged on the outer side of the frame and a cabin arranged in the frame.

2. The wheel leg storage palletizing robot of claim 1, wherein the front lifting assembly is identical in structure to the rear lifting assembly, comprising:

the motor is lifted up and the motor is driven,

the upper end belt pulley is fixedly arranged at the top of the frame through a belt pulley bracket, and the lower end belt pulley is in driving connection with the lifting motor;

the belt is wound on the belt pulley, a lifting bracket is arranged on the belt, and the lifting bracket is fixedly connected with a cross beam in the supporting leg assembly;

and the polished rod connecting piece is fixedly arranged on the cross beam, is in sliding connection with the frame and is used for enabling the supporting leg assembly to move relative to the frame.

3. The wheel leg storage palletizing robot of claim 2, wherein the front support leg assembly is further provided with a height adjusting mechanism and a width adjusting mechanism, the width adjusting mechanism is disposed between the first rear strut and the cross beam, and comprises:

the screw rod sliding table is fixedly arranged at the top of the first rear supporting rod and is in driving connection with the motor;

the third sleeve is arranged above the screw rod sliding table and is connected with the screw rod sliding table through a linear guide rail pair;

the width adjusting mechanism drives the third sleeve and the cross beam to move relatively through the screw rod sliding table;

the height adjustment mechanism is provided on the first front strut and the second rear strut, comprising:

the screw rod is connected with the driving motor;

a sliding table in threaded connection with the screw rod, a sleeve with the same moving direction as the screw rod is fixedly arranged on one side of the sliding table,

the linear slide rail is arranged on one side of the slide table and matched with the slide table for enabling the slide table to move along the linear slide rail,

the sleeve is moved relative to the first front support rod or the second rear support rod by the relative movement of the screw rod and the sliding table.

4. A wheel leg storage palletizing robot as in claim 3, wherein the frame comprises:

the upper main board is provided with a first through hole for the belt to pass through,

the chassis main board is fixedly connected with the upper main board through a polished rod, a second through hole with the same position as the first through hole is formed in the chassis main board, a third through hole is further formed in the chassis main board, and the first rear supporting rod of the front supporting leg assembly penetrates through the third through hole, so that the front supporting leg assembly can move up and down relative to the chassis main board;

and the polished rod is in sliding connection with the polished rod connecting piece.

5. The wheel leg type storage palletizing robot according to claim 4, wherein a clamping arm in the palletizing assembly is arranged on one side of the cabin and is rotationally connected with the cabin through a turnover mechanism, and a first driving friction wheel is arranged on the inner side of the clamping arm;

the second driving friction wheel is arranged in the cabin body in the stacking assembly and is consistent with the driving friction wheel arranged on the clamping arm in movement direction, and goods are moved relative to the cabin body through the first driving friction wheel and the second driving friction wheel.

6. The wheeled leg storage palletizing robot of claim 5, wherein the first driving wheel, the second driving wheel and the third driving wheel are all mecanum wheels.

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