CN219770808U - Storage robot - Google Patents
Storage robot Download PDFInfo
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- CN219770808U CN219770808U CN202320439042.XU CN202320439042U CN219770808U CN 219770808 U CN219770808 U CN 219770808U CN 202320439042 U CN202320439042 U CN 202320439042U CN 219770808 U CN219770808 U CN 219770808U
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- rotating shaft
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- blocking structure
- bracket
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- 230000000903 blocking effect Effects 0.000 claims abstract description 94
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- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model relates to a storage robot, comprising: a vertical frame; the tray is arranged on the vertical frame and used for supporting the feed box; the carrying device is arranged on the vertical frame and can slide up and down relative to the vertical frame; the anti-drop device comprises a bracket, a blocking structure and an elastic resetting piece, wherein the bracket is connected with the stand or the tray, the blocking structure is arranged on the bracket and can rotate relative to the bracket, the elastic resetting piece is respectively connected with the bracket and the blocking structure, and the blocking structure can rotate between a blocking position and an avoiding position; the elastic reset piece can drive the blocking structure to rotate to the blocking position after the carrying device is separated from the anti-falling device. According to the scheme provided by the utility model, the bin can be prevented from falling off from the tray when the storage robot is braked emergently.
Description
Technical Field
The utility model relates to the technical field of warehouse logistics, in particular to a warehouse robot.
Background
The storage robot is used for carrying, sorting, selecting and other operations of goods in and out of the warehouse in indoor environments such as logistics storage and production warehouse, and is one of core equipment of intelligent logistics.
In the related art, a tray for placing a bin is arranged on a stand of the storage robot, and the storage robot can move on a set path to transfer the bin after the bin is placed on the tray. However, when the warehouse robot makes emergency braking in the moving process, the bin is easily separated from the tray and falls off.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the utility model provides a storage robot which can prevent a bin from falling off a tray when the storage robot is braked emergently.
The utility model provides a storage robot, comprising: a vertical frame; the tray is arranged on the vertical frame and used for supporting the feed box; the conveying device is arranged on the vertical frame and can slide up and down relative to the vertical frame; the anti-drop device comprises a bracket, a blocking structure and an elastic reset piece, wherein the bracket is connected with the vertical frame or the tray, the blocking structure is arranged on the bracket and can rotate relative to the bracket, the elastic reset piece is respectively connected with the bracket and the blocking structure, and the blocking structure can rotate between a blocking position and a avoiding position; the blocking structure can block the bin from being separated from the tray when being positioned at the blocking position; the elastic reset piece can drive the blocking structure to rotate to the blocking position after the carrying device is separated from the anti-falling device.
Further, the blocking structure comprises a rotating shaft, a deflector rod and a blocking arm, wherein the deflector rod and the blocking arm are respectively arranged on the rotating shaft, the rotating shaft is rotationally connected to the support, the elastic resetting piece is respectively connected with the support and the rotating shaft, the carrying device drives the rotating shaft to rotate through the deflector rod, and the blocking arm is driven to rotate when the rotating shaft rotates.
Further, the elastic reset piece is a torsion spring, the torsion spring is sleeved on the rotating shaft, one end of the torsion spring is connected with the bracket, and the other end of the torsion spring is connected with the rotating shaft.
Further, the anti-falling device further comprises a bearing seat and a bearing, wherein the bearing seat is arranged on the support, the bearing is arranged on the bearing seat, and the bearing sleeve is arranged on the rotating shaft.
Further, the deflector rod and the blocking arm are perpendicular to the rotating shaft respectively, the blocking arm is located at one end of the rotating shaft, and the elastic reset piece is located at the other end of the rotating shaft.
Further, an opening for the feed box to enter and exit the tray is formed in the front end of the tray, and the blocking structure is located on one side of the opening.
Further, the tray comprises a supporting plate, edges of the left side, the right side and the rear side of the supporting plate are respectively provided with upward flanging, and the front side of the supporting plate is provided with a guide part.
Further, the stand includes two relative stands that set up and locates two the crossbeam between the stand, the quantity of crossbeam is a plurality of, and is a plurality of the crossbeam distributes from top to bottom, the tray is located on the crossbeam.
Further, the handling device comprises a fork body and a sliding block connected with the fork body, the sliding block is arranged on the upright post and can slide up and down relative to the upright post, and the sliding block can be abutted with the blocking structure when the handling device slides to the anti-falling device.
Further, the storage robot further comprises a driving device, and the driving device is used for driving the carrying device to slide up and down relative to the vertical frame.
The technical scheme provided by the utility model can comprise the following beneficial effects: by arranging the anti-falling device, the blocking structure is positioned at a blocking position when the storage robot moves, and can block the feed box from falling off the tray when the storage robot needs emergency stop and emergency braking; when the material box is taken out from the tray or put into the tray, the carrying device can be abutted with the blocking structure when sliding to the corresponding tray position, and the blocking structure is driven to rotate to avoid the position, the blocking structure is in the position of avoiding the position, the carrying device is not prevented from taking the material box to the tray, the carrying device is separated from the anti-falling device when being far away from the tray, and the blocking structure is reset to the blocking position under the action of the elastic reset piece.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the utility model as claimed.
Drawings
The foregoing and other objects, features and advantages of the utility model will be apparent from the following more particular descriptions of exemplary embodiments of the utility model as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the utility model.
Fig. 1 is a schematic structural view of a warehousing robot according to an embodiment of the present utility model;
FIG. 2 is an enlarged view of a portion of FIG. 1 at a tray and an anti-drop device;
FIG. 3 is a schematic view of the structure of the anti-drop device according to the embodiment of the present utility model;
FIG. 4 is a schematic view showing the cooperation of the spindle, the elastic restoring member and the bracket according to the embodiment of the present utility model;
fig. 5 is a schematic structural view of the anti-drop device according to the embodiment of the present utility model when the anti-drop device abuts against the carrying device;
fig. 6 is a schematic structural view of a tray shown in an embodiment of the present utility model.
Reference numerals:
1-a movable chassis, which is provided with a plurality of movable chassis,
2-vertical frames, 21-vertical columns, 22-cross beams,
3-tray, 31-opening, 32-supporting plate, 33-flanging, 34-guiding part,
4-a material box, wherein the material box is provided with a plurality of material holes,
5-carrying device, 51-fork body, 52-slide block,
6-anti-drop device, 61-support, 62-blocking structure, 621-pivot, 622-driving lever, 623-blocking arm, 63-elastic reset piece, 64-bearing frame, 65-bearing, 66-bolt.
Detailed Description
Embodiments of the present utility model will be described in more detail below with reference to the accompanying drawings. While embodiments of the present utility model are illustrated in the drawings, it should be understood that the present utility model may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the utility model to those skilled in the art.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the utility model. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the description of the present utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.
Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and may be, for example, fixedly connected or detachably connected or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
In the related art, a tray for placing a bin is arranged on a stand of the storage robot, and the storage robot can move on a set path to transfer the bin after the bin is placed on the tray. However, when the warehouse robot makes emergency braking in the moving process, the bin is easily separated from the tray and falls off.
Aiming at the problems, the embodiment of the utility model provides a storage robot which can prevent a bin from falling off a tray when the storage robot is braked emergently.
The following describes the technical scheme of the embodiment of the present utility model in detail with reference to the accompanying drawings.
As shown in fig. 1 to 6, an embodiment of the present utility model provides a storage robot including a movable chassis 1, a stand 2, a tray 3, a carrying device 5, and a drop prevention device 6.
The movable chassis 1 is used for driving the storage robot to move, and driving wheels can be arranged on the movable chassis 1. It should be noted that the warehouse robot of the present utility model may also be driven to move by other means instead of the movable chassis 1, for example, the warehouse robot is set to move on a track, or driven to move by suspending the warehouse robot, where the warehouse robot does not need to set the movable chassis 1. In the following, the embodiment of the present utility model will be described by driving the stocker robot in a manner of the movable chassis 1.
The stand 2 is arranged on the movable chassis 1, and the stand 2 is arranged along the vertical direction. The tray 3 is arranged on the vertical frame 2, and the tray 3 is used for supporting the feed box 4. The number of the trays 3 is plural, and the trays are vertically spaced apart from each other on the stand 2.
The handling device 5 is arranged on the vertical frame 2, the handling device 5 can slide up and down relative to the vertical frame 2, the handling device 5 is used for taking out the material box 4 on the tray 3 or putting the material box 4 into the tray 3, and the handling device 5 can slide up and down to take out and put the material box 4 for the trays 3 with different heights.
The anti-drop device 6 comprises a bracket 61, a blocking structure 62 and an elastic reset member 63, wherein the bracket 61 is connected with the stand 2 or the tray 3, and the bracket 61 is fixedly arranged on the stand 2 in the embodiment. The blocking structure 62 is provided on the bracket 61 and is rotatable relative to the bracket 61, the elastic restoring member 63 is connected to the bracket 61 and the blocking structure 62, respectively, and the blocking structure 62 is rotatable between a blocking position and a retracted position. The blocking structure 62 is able to block the bin 4 from being pulled out of the tray 3 when in the blocking position. The blocking structure 62 does not interfere with the handling device 5 taking the pallet 3 from the magazine 4 when it is in the clear position.
Wherein, the handling device 5 can be abutted with the blocking structure 62 when sliding to the anti-drop device 6, and the blocking structure 62 is driven to rotate to the avoiding position, and when the handling device 5 is separated from the anti-drop device 6, the elastic reset piece 63 can drive the blocking structure 62 to rotate to the blocking position.
Based on the above-mentioned scheme, when the storage robot moves, the blocking structure 62 is located at a blocking position, for example, in a state where the anti-falling device 6 is located in fig. 2, and when the storage robot needs to scram for emergency braking, the blocking structure 62 can block the bin 4 from falling out of the tray 3. When the bin 4 needs to be taken out from the tray 3 or the bin 4 needs to be placed into the tray 3, the carrying device 5 can be abutted with the blocking structure 62 when sliding to the position of the corresponding tray 3, and the blocking structure 62 is driven to rotate to the avoiding position, for example, in the state that the anti-falling device 6 is positioned in fig. 5, the blocking structure 62 is in the avoiding position, does not prevent the carrying device 5 from taking the bin 4 into the tray 3, and can be separated from the anti-falling device 6 when the carrying device 5 is far away from the tray 3, and the blocking structure 62 is reset to the blocking position under the action of the elastic reset piece 63.
Specifically, the carrying device 5 is located at the front side of the tray 3, and picks up the discharge box 4 from the front end of the tray 3 to the tray 3. The blocking structure 62 is located on the front side of the bin 4 on the pallet 3 when in the blocking position. When the storage robot moves forward to emergency brake, the blocking structure 62 blocks the bin 4, preventing the bin 4 from falling out from the front end of the tray 3.
As shown in fig. 3, in the present embodiment, the blocking structure 62 includes a rotating shaft 621, a driving lever 622 and a blocking arm 623 respectively disposed on the rotating shaft 621, the rotating shaft 621 is rotatably connected to the bracket 61, the elastic restoring member 63 is respectively connected to the bracket 61 and the rotating shaft 621, the rotating shaft 621 is driven to rotate by the carrying device 5 through the driving lever 622, and the blocking arm 623 is driven to rotate when the rotating shaft 621 rotates.
Specifically, the lever 622 and the blocking arm 623 are respectively fixedly disposed on the rotating shaft 621 and rotate synchronously with the rotating shaft 621, the lever 622 extends to one side of the rotating shaft 621, the blocking arm 623 extends to the other side of the rotating shaft 621, and when the blocking structure 62 is located at the blocking position, the blocking arm 623 is located at the front side of the feed box 4 on the tray 3, and the feed box 4 is blocked from being separated from the tray 3; when the blocking structure 62 is in the avoidance position, the blocking arm 623 is rotated up or down to avoid from the bin 4, and does not interfere with the picking and placing of the bin 4. The carrying device 5 is abutted with the deflector 622 when sliding to the anti-falling device 6, and drives the rotating shaft 621 and the blocking arm 623 to rotate through the deflector 622; when the carrying device 5 is separated from the shift lever 622, the elastic restoring member 63 drives the rotating shaft 621 to rotate, so that the blocking arm 623 is restored.
In this embodiment, the elastic restoring member 63 is a torsion spring, as shown in fig. 4, which is sleeved on the rotating shaft 621, one end of the torsion spring is connected with the bracket 61, and the other end is connected with the rotating shaft 621.
Specifically, one end of the rotating shaft 621 passes through the bracket 61, a bolt 66 is arranged on the end of the rotating shaft 621, one end of the torsion spring is fixedly clamped on the bracket 61, and the other end is connected with the bolt 66. The torsion spring is driven to twist and deform by the bolt 66 when the rotating shaft 621 is driven to rotate by the carrying device 5; when the carrying device 5 is separated from the shift lever 622, the rotating shaft 621 rotates under the action of the torsion spring, so that the blocking structure 62 is reset to the blocking position, and is kept in the blocking position under the action of the torsion spring.
As shown in fig. 3, in the present embodiment, the anti-falling device 6 further includes a bearing seat 64 and a bearing 65, the bearing seat 64 is disposed on the bracket 61, the bearing 65 is disposed on the bearing seat 64, and the bearing 65 is sleeved on the rotating shaft 621. The shaft 621 is rotatably connected to the bracket 61 via the bearing 65 and the bearing housing 64, and friction force during rotation of the shaft 621 can be reduced by the bearing 65 and the bearing housing 64, so that the shaft 621 can rotate more smoothly.
As shown in fig. 3, in the present embodiment, the lever 622 and the blocking arm 623 are respectively perpendicular to the rotating shaft 621, the blocking arm 623 is located at one end of the rotating shaft 621, and the elastic restoring member 63 is located at the other end of the rotating shaft 621. The blocking arm 623 may be fixedly connected to the shaft 621 by a bolt, and the lever 622 is fixedly sleeved on the shaft 621, such that the blocking arm 623 and the lever 622 are both horizontal when the blocking structure 62 is in the blocking position.
As shown in fig. 6, in the present embodiment, the front end of the tray 3 is provided with an opening 31 through which the feed tank 4 enters and exits the tray 3, and the blocking structure 62 is located on the side of the opening 31. Specifically, through setting up opening 31, be convenient for handling device 5 directly move workbin 4 into or shift out tray 3 through opening 31, stop structure 62 is located opening 31 one side, makes workbin 4 deviate from opening 31 when preventing to be suddenly stopped in storage robot transportation.
The tray 3 includes a supporting plate 32, edges of left, right and rear sides of the supporting plate 32 are respectively provided with upward flanges 33, and a guide portion 34 is provided on a front side of the supporting plate 32. The flange 33 can limit the bin 4 on the pallet 32, and the guide 34 can facilitate the bin 4 moving into or out of the tray 3 from the opening 31.
As shown in fig. 1, in the present embodiment, the stand 2 includes two opposite upright posts 21 and a plurality of cross beams 22 disposed between the two upright posts 21, the plurality of cross beams 22 being vertically distributed, and the tray 3 being disposed on the cross beams 22. Specifically, the lower end of the upright 21 is fixedly mounted on the movable chassis 1, and the tray 3 and the bracket 61 of the anti-drop device 6 can be fixedly mounted on the cross beam 22 by bolts.
As shown in fig. 5, in the present embodiment, the carrying device 5 includes a fork body 51 and a slider 52 connected to the fork body 51, the slider 52 is provided on the upright 21 and can slide up and down with respect to the upright 21, and the slider 52 can be abutted against the blocking structure 62 when the carrying device 5 slides to the anti-drop device 6. Specifically, when the carrying device 5 slides to the anti-falling device 6, the sliding block 52 can abut against the shift lever 622, and the rotation shaft 621 is driven to rotate by the shift lever 622.
The warehousing robot of the embodiment further comprises a driving device, and the driving device is used for driving the carrying device 5 to slide up and down relative to the stand 2. The driving device may drive the carrying device 5 to lift by winding the wire rope, for example, the driving device includes a motor, the wire rope and a fixed pulley, the fixed pulley is disposed on the stand 2, one end of the wire rope is connected with the carrying device 5, the other end of the wire rope bypasses the fixed pulley and can be wound by the motor, and the motor controls the carrying device 5 to slide up and down on the stand 2 by winding the wire rope.
The aspects of the present utility model have been described in detail hereinabove with reference to the accompanying drawings. In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments. Those skilled in the art will also appreciate that the acts and modules referred to in the specification are not necessarily required for the present utility model. In addition, it can be understood that the steps in the method of the embodiment of the present utility model may be sequentially adjusted, combined and pruned according to actual needs, and the modules in the device of the embodiment of the present utility model may be combined, divided and pruned according to actual needs.
The foregoing description of embodiments of the utility model has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A warehousing robot, comprising:
a vertical frame;
the tray is arranged on the vertical frame and used for supporting the feed box;
the conveying device is arranged on the vertical frame and can slide up and down relative to the vertical frame;
the anti-drop device comprises a bracket, a blocking structure and an elastic reset piece, wherein the bracket is connected with the vertical frame or the tray, the blocking structure is arranged on the bracket and can rotate relative to the bracket, the elastic reset piece is respectively connected with the bracket and the blocking structure, and the blocking structure can rotate between a blocking position and a avoiding position; the blocking structure can block the bin from being separated from the tray when being positioned at the blocking position;
the elastic reset piece can drive the blocking structure to rotate to the blocking position after the carrying device is separated from the anti-falling device.
2. The warehousing robot of claim 1 wherein:
the blocking structure comprises a rotating shaft, a deflector rod and a blocking arm, wherein the deflector rod and the blocking arm are respectively arranged on the rotating shaft, the rotating shaft is rotationally connected to the support, the elastic resetting piece is respectively connected with the support and the rotating shaft, the carrying device drives the rotating shaft to rotate through the deflector rod, and the blocking arm is driven to rotate when the rotating shaft rotates.
3. The warehousing robot of claim 2 wherein:
the elastic reset piece is a torsion spring, the torsion spring is sleeved on the rotating shaft, one end of the torsion spring is connected with the support, and the other end of the torsion spring is connected with the rotating shaft.
4. The warehousing robot of claim 2 wherein:
the anti-drop device also comprises a bearing seat and a bearing, wherein the bearing seat is arranged on the bracket, the bearing is arranged on the bearing seat, and the bearing is sleeved on the rotating shaft.
5. The warehousing robot of claim 2 wherein:
the deflector rod and the blocking arm are perpendicular to the rotating shaft respectively, the blocking arm is located at one end of the rotating shaft, and the elastic reset piece is located at the other end of the rotating shaft.
6. The warehousing robot of claim 1 wherein:
the front end of the tray is provided with an opening for the feed box to enter and exit the tray, and the blocking structure is positioned on one side of the opening.
7. The warehousing robot of claim 6 wherein:
the tray comprises a supporting plate, upward flanging is respectively arranged at the edges of the left side, the right side and the rear side of the supporting plate, and a guide part is arranged at the front side of the supporting plate.
8. The warehousing robot of claim 1 wherein:
the stand includes two relative stands that set up and locates two the crossbeam between the stand, the quantity of crossbeam is a plurality of, and is a plurality of the crossbeam distributes from top to bottom, the tray is located on the crossbeam.
9. The warehousing robot of claim 8 wherein:
the carrying device comprises a fork body and a sliding block connected with the fork body, wherein the sliding block is arranged on the upright post and can slide up and down relative to the upright post, and the sliding block can be abutted with the blocking structure when the carrying device slides to the anti-falling device.
10. The warehousing robot of claim 1 wherein:
the device also comprises a driving device, wherein the driving device is used for driving the carrying device to slide up and down relative to the vertical frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320439042.XU CN219770808U (en) | 2023-02-28 | 2023-02-28 | Storage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320439042.XU CN219770808U (en) | 2023-02-28 | 2023-02-28 | Storage robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219770808U true CN219770808U (en) | 2023-09-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320439042.XU Active CN219770808U (en) | 2023-02-28 | 2023-02-28 | Storage robot |
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| CN (1) | CN219770808U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117550241A (en) * | 2024-01-11 | 2024-02-13 | 苏州思谋智能科技有限公司 | Stock bin, stock disc storage device and detection equipment |
-
2023
- 2023-02-28 CN CN202320439042.XU patent/CN219770808U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117550241A (en) * | 2024-01-11 | 2024-02-13 | 苏州思谋智能科技有限公司 | Stock bin, stock disc storage device and detection equipment |
| CN117550241B (en) * | 2024-01-11 | 2024-03-26 | 苏州思谋智能科技有限公司 | Stock disc storage device and detection equipment |
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