CN219905602U - Robot for disassembling and stacking whole objects in vertical warehouse - Google Patents

Abstract

The utility model belongs to the technical field of logistics stacking, and discloses a whole stacking and disassembling robot in a vertical warehouse, which is arranged in a goods shelf with a guide rail and comprises a robot body, a jacking device, a driving wheel device, a clamping mechanism assembly and a control device. The jacking device is used for lifting the tray to store and take the tray; the driving wheel device is used for driving the robot to move in the guide rail; the clamping mechanism assembly comprises a mechanical arm device and a clamping device; the clamping device is arranged at the end part of the mechanical arm device and can move along the X direction, the Y direction and the Z direction along with the mechanical arm device, and the clamping device is integrally positioned above the jacking device and is used for clamping the feed box. The whole palletizing robot in the vertical warehouse can directly sort the single feed boxes on the pallet of the goods shelf in the vertical warehouse on the premise of not influencing the warehouse-in and warehouse-out flow of the whole pallet, and can also directly store the single feed boxes on the pallet of the goods shelf.

Description

Robot for disassembling and stacking whole objects in vertical warehouse

Technical Field

The utility model relates to the technical field of logistics stacking, in particular to a whole stacking and disassembling robot in a vertical warehouse.

Background

Along with the demands of dense storage and intellectualization, the application of the automatic pallet stereoscopic warehouse is more and more widespread, and the automatic pallet stereoscopic warehouse usually uses a stacker to carry out the warehouse-out, warehouse-in and warehouse-out of pallet bins. In order to realize the single-piece bin sorting in the tray bins, the traditional operation method of the automatic tray vertical warehouse is to firstly adopt a stacker or a tray shuttle system to finish the whole tray warehouse-out, and then use unstacking equipment outside a vertical warehouse shelf to obtain the single-piece bin on the whole tray. The specific implementation form is as follows: taking out the whole pallet by adopting a stacker or pallet shuttle system, putting the whole pallet into specified unstacking equipment, and after the unstacking equipment is unstacked and taken to a specified number of single-piece bins, putting the whole pallet which is picked by the unstacking equipment into storage again by adopting the stacker or pallet shuttle system. The unstacking equipment of the method is arranged outside the vertical warehouse goods shelf, the occupied area is large, and the selected pallet material boxes need to be warehoused again, so that the pallet warehouse-in and warehouse-out frequency is high, the power consumption is high, and the picking efficiency is affected.

If the storage of the material box is to be realized, the traditional operation method of the automatic pallet vertical warehouse is to firstly use stacking equipment outside a vertical warehouse goods shelf to stack the material box on the pallet, and then use a stacker or a pallet shuttle system to finish the whole pallet storage. The specific implementation form is as follows: after stacking equipment outside the vertical warehouse goods shelves stacks the appointed number of single material boxes to the tray, a stacker or a tray shuttle system is adopted to warehouse the whole tray again. The stacking equipment of the method is arranged outside the vertical warehouse goods shelf, the occupied area is large, and the whole pallet needs to be discharged from the warehouse to finish unstacking and sorting and then is put into the warehouse when the single-piece material box needs to be selected later, so that the pallet has high warehouse-in and warehouse-out frequency and high power consumption, and the warehouse-in efficiency is influenced.

In addition, the unstacking equipment and the stacking equipment are generally required to be provided with a buffer channel, so that the warehouse-building cost is increased, the equipment is more, the system is complex, and the later maintenance is not facilitated.

Disclosure of Invention

The utility model aims to solve the problems that the traditional single-piece bin picking method and the conventional single-piece bin picking method of the automatic pallet stereoscopic warehouse are high in warehouse entry cost, the vertical warehouse system is complex in structure, large in occupied area, difficult to maintain in the later period and low in picking warehouse entry efficiency, and provides a robot for disassembling and stacking whole pieces in the vertical warehouse.

The technical idea for solving the technical problems of the utility model is as follows:

the traditional automatic pallet vertical warehouse stacker or pallet shuttle system cooperates with the picking and warehousing modes of the unstacking equipment and the stacking equipment, and the unstacking equipment is needed to conduct secondary picking after the vertical warehouse stacker or pallet shuttle system unloads the whole pallet. The whole pallet after being picked needs to be put in storage again, the picking efficiency is low, the whole pallet can be put in storage only once, and the storage of a single material box cannot be realized. The original picking mode must be modified to fundamentally improve the traditional picking method, and the secondary picking of the material changing box is changed into the primary picking; the original warehousing mode is changed to a direct warehousing single-piece material box to fundamentally improve the traditional warehousing method.

On the premise of not influencing the processes of the whole pallet warehouse-in and warehouse-out, a robot for disassembling and stacking the whole pallet in the vertical warehouse is used, and the robot can directly select single-piece bins on the pallet in the vertical warehouse and can also directly store the single-piece bins on the pallet, the picked single-piece bins can be directly warehouse-out without destacking equipment for secondary selection, and the warehouse-in single-piece bins can be directly warehouse-in without stacking equipment on the pallet in advance.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

the utility model provides a whole unstacking robot in standing storehouse, sets up in the goods shelves that have the guide rail, including robot body, fixture subassembly, controlling means, and set up jacking device and drive wheel device in the aforesaid robot body respectively:

the jacking device is used for lifting the tray to store and take the tray;

the driving wheel device is used for driving the robot to move in the guide rail;

the clamping mechanism assembly comprises a mechanical arm device and a clamping device;

the mechanical arm device is arranged on the robot body;

the clamping device is arranged at the end part of the mechanical arm device and can move along with the mechanical arm device in the X direction, the Y direction and the Z direction, and the clamping device is integrally positioned above the jacking device and is used for clamping the feed box;

the control device is respectively connected with the jacking device, the clamping device, the mechanical arm device and the driving wheel device and is used for controlling at least one device of the devices to finish the storage, the taking and the transportation of the tray or the material box on the tray.

In a further embodiment, the clamping device comprises a first claw, a second claw and a swing arm;

the swing arm is horizontally arranged, and the center of the swing arm is rotatably connected to the end part of the mechanical arm device;

the first hook claw and the second hook claw are respectively arranged at two ends of the swing arm.

In a further embodiment, a rotation connection point of the swing arm and the mechanical arm device is defined as a rotation center;

the absolute value of the distance between the first hook claw and the rotation center is equal to the absolute value of the distance between the second hook claw and the rotation center.

In a further embodiment of the present utility model,

the clamping device further comprises a first driving part and a first executing part which are arranged in the swing arm;

the first hook claw, the second hook claw and the swing arm are respectively connected with the first executing part,

the first executing part is connected with the first driving part and is arranged to be driven by the first driving part to drive the first hook claw, the second hook claw and the swing arm to rotate so as to adjust angles between the first hook claw and the second hook claw and the swing arm respectively in the horizontal direction and between the swing arm and the mechanical arm device in the horizontal direction.

In a further embodiment, the first executing part comprises a synchronous belt transmission mechanism, a shaft, a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a fifth bevel gear and a sixth bevel gear,

the synchronous belt transmission mechanism comprises a driving wheel, a driven wheel and a synchronous belt; the driving wheel is connected with the first driving part and is arranged to be driven by the first driving part to drive the driven wheel to rotate;

the driven wheel, the first bevel gear, the third bevel gear and the fifth bevel gear are respectively sleeved on the shaft;

the second bevel gear is meshed with the first bevel gear at 90 degrees;

the fourth bevel gear is meshed with the third bevel gear at 90 degrees;

the sixth bevel gear is meshed with the fifth bevel gear at 90 degrees;

the first hook claw is fixedly connected with the end face of the second bevel gear;

the second hook claw is fixedly connected with the end face of the fourth bevel gear;

the center of the swing arm is fixedly connected with the end face of the sixth bevel gear.

In a further embodiment, the clamping device further comprises a second driving part and a second executing part which are arranged in the swing arm;

the first hook claw and the second hook claw are respectively connected with the second executing part;

the second executing part is connected with the second driving part and is arranged to be driven by the second driving part to drive the first hook claw and the second hook claw to move along the longitudinal direction of the swing arm.

In a further embodiment, the clamping device further comprises a first knuckle seat with a first swivel support hole and a second knuckle seat with a second swivel support hole;

the first bevel gear is limited in a first rotary supporting hole of the first hook seat to rotate;

the third bevel gear is limited in a second rotary supporting hole of the second hook seat to rotate;

the second executing part comprises a driving wheel, a driven wheel and a belt sleeved on the driving wheel and the driven wheel;

the driving wheel is connected with the second driving part, is arranged to be driven by the second driving part to rotate and drives the belt to drive;

the belt includes a first belt segment and a second belt segment,

the first hook claw seat is fixedly connected to the first belt section, the second hook claw seat is fixedly connected to the second belt section, and the first hook claw seat and the second hook claw seat are arranged on the following belt and move towards the center or move towards the opposite direction.

In a further embodiment, the shaft is a square shaft.

In a further embodiment, the hooking openings of the first and second hooks are in opposite directions.

In a further embodiment, the robotic arm assembly includes a first robotic arm, a second robotic arm and a third robotic arm,

the first mechanical arm is vertically arranged and fixedly connected with the robot body, and can move up and down along the Z direction;

the second mechanical arm is horizontally arranged and fixedly connected with the first mechanical arm and can horizontally move along the Y direction;

the third mechanical arm is horizontally arranged and fixedly connected with the second mechanical arm, and can horizontally move along the X direction.

Compared with the prior art, the robot for disassembling and stacking the whole parts in the vertical warehouse has the remarkable beneficial effects that,

1) The robot adopts an optimized structural design, so that the original functions of delivering and delivering the whole pallet into and out of the warehouse are reserved, single-piece feed boxes on the pallet can be directly picked in the vertical warehouse, the single-piece feed boxes can be directly stored on the pallet, the picked single-piece feed boxes can be delivered directly without secondary picking by unstacking equipment, the single-piece feed boxes in the warehouse can be delivered directly without pre-stacking by stacking equipment on the pallet, and the picking efficiency and the warehouse efficiency are greatly improved.

2) The clamping mechanism with the optimal design is adopted, so that single feed boxes at any first position on the tray can be directly selected, and the single feed boxes can be put into any first position on the tray, and the adaptability is wider.

3) Any unstacking equipment, stacking equipment and stacking machine arranged outside the vertical warehouse goods shelf are not needed at all; all unstacking flows and stacking flows are realized in the vertical warehouse goods shelf, so that the space is greatly saved, and the cost is reduced.

4) The robot adopts an optimized structural design, and can realize the picking, warehousing and unstacking of the feed boxes with different sizes.

5) The workbin on the tray can realize gapless stacking and unstacking, and the storage density on the tray is improved.

6) The rotation of the first hook claw, the second hook claw and the swing arm is driven by the same first driving part, so that the space is saved, the cost is reduced, and the weight of the whole clamping device is reduced to prevent the robot from tilting forward when transporting the tray or the tray feed box.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the utility model will now be described, by way of example, with reference to the accompanying drawings, in which:

fig. 1 is a schematic diagram of the overall structure of a whole palletizing robot in a vertical warehouse according to a preferred embodiment of the present utility model.

Fig. 2 is a schematic structural view of a clamping device of a whole palletizing robot in a vertical warehouse according to a preferred embodiment of the present utility model.

Fig. 3 is a schematic view of the positions of the fingers of the whole palletizing robot in the vertical warehouse according to the preferred embodiment of the present utility model.

Fig. 4 is a schematic view of another position of the fingers of the whole palletizing robot in the vertical warehouse according to the preferred embodiment of the present utility model.

Fig. 5 is a schematic view of a storage bin of the whole unstacking robot in a vertical warehouse in accordance with a preferred embodiment of the present utility model.

Fig. 6 is a schematic view of an access distance adjustment of a whole palletizing robot in a vertical warehouse according to a preferred embodiment of the present utility model.

Fig. 7 is a schematic view of another adjustment access distance of the whole palletizing robot in the vertical warehouse according to the preferred embodiment of the present utility model.

Fig. 8 is a schematic working diagram of a first execution unit of the whole palletizing robot in the vertical warehouse according to the preferred embodiment of the present utility model.

Detailed Description

For a better understanding of the technical content of the present utility model, specific examples are set forth below, together with the following drawings.

As shown in fig. 1 to 8, according to a preferred embodiment of the present utility model, a whole-in-a-warehouse unstacking robot is provided, which is provided in a pallet-standing warehouse rack having guide rails, for unstacking a bin 8 on a pallet 10 and/or stacking the bin 8 on the pallet 10, and for transporting the pallet 10 and/or the bin 8. As shown in fig. 6 and 7, the aforesaid bin 8 is of rectangular parallelepiped configuration, provided with at least 2 access holes 9.

As shown in fig. 1 to 8, the in-store whole-piece palletizing robot includes a robot body 1 having a rectangular parallelepiped structure, a clamping mechanism assembly, a control device (not shown), and a jacking device 14 and a driving wheel device 15 respectively provided in the robot body 1.

The lifting device 14 is capable of lifting or lowering in the lifting direction 11 (Z direction) for lifting the tray 10 or lowering the tray 10 to access the tray 10.

The driving wheel means 15 are used to drive the robot to move in the guide rail. In the present embodiment, the driving wheel device 15 includes X-directional road wheels provided on the front and rear sides of the robot body 1, Y-directional road wheels provided on the left and right sides of the robot body 1, and a driving mechanism for driving the X-directional road wheels and the Y-directional road wheels to rotate, so that the robot is a four-directional robot, and is movable along rails in the X-direction (the movement direction 12 shown in fig. 1) and the Y-direction (the movement direction 13 shown in fig. 1).

The clamping mechanism assembly comprises a robotic arm device 2 and a clamping device.

The robot arm device 2 is provided on the robot body 1. The device comprises a first robot arm 22, a second robot arm 23 and a third robot arm 2.5. The first arm 22 is vertically provided and fixedly connected to the robot body 1, and is movable up and down in the Z direction (the movement direction 21 shown in fig. 1). The second arm 23 is horizontally disposed and fixedly connected to the first arm 22, and is horizontally movable in the Y direction (the movement direction 24 shown in fig. 1). The third arm 25 is horizontally disposed and fixedly connected to the second arm 23, and is horizontally movable in the X direction (the movement direction 26 shown in fig. 1).

The clamping device is arranged at the end part of the third mechanical arm 25 of the mechanical arm device 2 and can move along the mechanical arm device 2 along the X direction, the Y direction and the Z direction (the moving directions 26, 24 and 21 shown in fig. 1), and the whole clamping device is positioned above the jacking device 14 and is used for clamping the material box 8.

And a control device connected with the jacking device 14, the clamping device, the mechanical arm device 2 and the driving wheel device 15 respectively, and configured to control at least one device of the jacking device 14, the clamping device, the mechanical arm device 2 and the driving wheel device 15 to operate so as to store and transport the tray 10 or the material box 8 on the tray 10.

It should be appreciated that the control means, jacking means 14, robotic arm means 2, drive wheel means 15 are all well known in the art and any suitable construction and model, either existing or developed in the future, may be used in accordance with the present disclosure.

In some preferred embodiments, as shown in fig. 1 to 8, the clamping device comprises a first finger 6, a second finger 7 and a swing arm 3. The swing arm 3 is horizontally arranged, and the center of the swing arm 3 is rotatably connected to the end part of the third mechanical arm 25, namely, the center of the swing arm 3 can rotate in the horizontal direction relative to the end part of the third mechanical arm 25. The first hook claw 6 and the second hook claw 7 are respectively arranged at two ends of the swing arm 3. The first claw 6 and the second claw 7 are matched with each other to hook the material box 8. The hooking openings of the first hook claw 6 and the second hook claw 7 are opposite in direction. Defining the rotation connection point of the swing arm 3 and the third mechanical arm 25 as a rotation center (as in position 314 of fig. 8); the absolute value of the distance between the first finger 6 and the rotation center 314 is equal to the absolute value of the distance between the second finger 7 and the rotation center 314.

The clamping device further comprises a first driving part 316 and a first executing part arranged in the swing arm 3. The first executing part is used for swinging the arm 3, the first hook claw 6 and the second hook claw 7 to rotateAnd (5) turning. The first hook claw 6, the second hook claw 7 and the swing arm 3 are respectively connected with the first executing part. The first executing part is arranged in the inner cavity of the swing arm 3. The first executing part is connected with the first driving part 316 and is arranged to drive the first hook 6, the second hook 7 and the swing arm 3 to rotate under the drive of the first driving part 316 so as to adjust the angles between the first hook 6 and the second hook 7 and the swing arm 3 respectively in the horizontal direction and the angles between the swing arm 3 and the mechanical arm device 2 in the horizontal direction. The first actuator includes a timing belt mechanism 317, a shaft, a first bevel gear 39, a second bevel gear 36, a third bevel gear 34, a fourth bevel gear 313, a fifth bevel gear 315, and a sixth bevel gear 314. The timing belt transmission mechanism 317 includes a driving pulley, a driven pulley, and a timing belt. The driving wheel is connected to the first driving part 316 and is configured to be driven by the first driving part 316 to rotate the driven wheel. The driven wheel, the first bevel gear 39, the third bevel gear 34 and the fifth bevel gear 315 are respectively sleeved on the shaft. The second bevel gear 36 is in 90 degree engagement with the first bevel gear 39. The fourth bevel gear 313 is engaged with the third bevel gear 34 at 90 degrees. The sixth bevel gear 314 is in 90 degree mesh with the fifth bevel gear 315. The first claw 6 is fixedly connected with the end face of the second bevel gear 36. The second claw 7 is fixedly connected with the end face of the fourth bevel gear 313. The center of the swing arm 3 is fixedly connected with the end face of the sixth bevel gear 314. Preferably, the shaft is a square shaft. As shown in fig. 2, 3, 4, 6, 7, and 8, the first driving part 316 drives the driving wheel of the timing belt mechanism 317 to rotate; the synchronous belt moves to drive the driven wheel to rotate; rotation of the driven wheel rotates the shaft (as in the direction of rotation 35 of fig. 2); the shaft rotates to drive a first bevel gear 39, a third bevel gear 34 and a fifth bevel gear 315 sleeved on the shaft to rotate; the first bevel gear 39, the third bevel gear 34 and the fifth bevel gear 315 rotate to drive the second bevel gear 36, the fourth bevel gear 313 and the sixth bevel gear 314 to rotate; the second bevel gear 36 rotates to drive the first hook 6 fixedly connected with the end surface of the second bevel gear to rotate in the horizontal direction (such as the rotating direction 38 in fig. 2); the rotation of the fourth bevel gear 313 drives the second claw 7 fixedly connected with the end surface thereof to rotate in the horizontal direction (as in the rotation direction 32 of fig. 2); the sixth bevel gear 314 rotates to drive the swing arm 3 fixedly connected thereto to rotate around the rotation center in the horizontal direction. The first will now be described by way of a simplified exampleIn the adjustment process of the hook 6, the second hook 7 and the swing arm 3, as shown in fig. 5, 6 and 7 in combination with fig. 8, in the initial position, the swing arm 3, the first hook 6 and the second hook 7 are parallel to the longitudinal direction (X direction) of the third mechanical arm 25, in order to accommodate the different size bins (the absolute value of the distance between the two access holes 9 of the different size bins in the Y direction is different, as shown in fig. 8, D1 and D2 are different), as shown in fig. 8, when the angle of the swing arm 3 relative to the third mechanical arm 25 is _α When the first hook claw 6 and the second hook claw 7 are respectively opposite to the swing arm, the first hook claw and the second hook claw are also reversely retracted _β Degree of% _β＝α) To ensure that the first and second hooks 6, 7 are still parallel to the longitudinal direction (X direction) of the third arm 25, only the angle between the swing arm 3 and the third arm 25 is changed absolutely _α The degree is such that the absolute value of the distance between the first claw 6 and the second claw 7 in the Y direction changes (at this time, the absolute value of the distance between the first claw 6 and the second claw 7 in the Y direction is D1), and two access holes 9 of different size bins can be accommodated. In this way, the angle between the swing arm 3 and the mechanical arm device 2 in the horizontal direction and the angle between the first hook claw 6 and the second hook claw 7 and the swing arm 3 in the horizontal direction are adjusted synchronously, namely, the angle between the swing arm 3 and the mechanical arm device 2 in the horizontal direction and the angle between the first hook claw 6 and the second hook claw 7 and the swing arm 3 in the horizontal direction are adjusted only by driving the first driving part 316, the structure is simple and compact, the space is saved, the cost is reduced, and the weight of the whole clamping device is reduced so as to prevent the robot from tilting forward when transporting a tray or a tray box. It should be noted that, the angle between the first hook claw 6 and the second hook claw 7 and the swing arm 3 in the horizontal direction is adjusted to ensure that the first hook claw 6 and the second hook claw 7 are always parallel to the longitudinal direction (X direction) of the third mechanical arm 25, so that the first hook claw 6 and the second hook claw 7 can extend into the access opening 9, the angle between the swing arm 3 and the mechanical arm device 2 is adjusted to adapt to the bins 8 with different sizes and different positions of the access opening 9, because the bins 8 are different in size, the distance between the 2 bin access openings 9 in the Y direction is different, and the positions are not necessarily the same, so that the clamping device can adapt to access different sizesThe feed boxes 8 with different positions of the access holes 9.

In some preferred embodiments, as shown in fig. 2 and fig. 3 in combination with fig. 4, the clamping device further comprises a second driving part 312 and a second executing part arranged in the swing arm 3. The first and second claws 6 and 7 are connected to the second actuator, respectively. The second actuator is connected to the second driving unit 312, and is configured to be driven by the second driving unit 312 to move the first and second hooks 6 and 7 in the longitudinal direction of the swing arm 3 (e.g., the moving directions 33 and 37 in fig. 2). The clamping device further comprises a first knuckle mount 4 with a first swivel support hole and a second knuckle mount 5 with a second swivel support hole. The first bevel gear 39 is defined to rotate in the first rotation support hole of the first knuckle mount 4. The third bevel gear 34 is defined to rotate in the second rotation support hole of the second knuckle mount 5. The second executing part comprises a driving wheel 311, a driven wheel 318 and a belt 31 sleeved on the driving wheel 311 and the driven wheel 318. The driving wheel 311 is connected to the second driving part 312, and is configured to be driven to rotate by the second driving part 312 and drive the belt 31 to transmit. The belt 31 includes a first belt segment 321 and a second belt segment 322. The first hook seat 4 is fixedly connected to the first belt segment 321, and the second hook seat 5 is fixedly connected to the second belt segment 322, both of which are disposed on the following belt 31 to move toward the center or move toward the opposite direction. As shown in fig. 2 to 8, the first belt section 321 and the second belt section 322 are respectively located at both sides of the driving pulley 311 and the driven pulley 318 of the second executing part; the second driving part 312 drives the driving wheel 311 to rotate (e.g., in the rotation direction 310 of fig. 2); the driving wheel 311 drives the belt 31 to move; driven wheel 318 also rotates (e.g., in rotational direction 319 of fig. 2); the first belt segment 321 drives the first hook seat 4 to move so as to drive the first hook 6 to move (as in the moving direction 37 of fig. 2), and the second belt segment 322 drives the second hook seat 5 to move so as to drive the second hook 7 to move (as in the moving direction 33 of fig. 2), so that the absolute value of the distance between the first hook 6 and the rotating center of the swing arm 3 is ensured to be equal to the absolute value of the distance between the second hook 7 and the rotating center of the swing arm 3 in the moving process. In this way, the first hook claw 6 and the second hook claw 7 move along the longitudinal direction of the swing arm 3 to adjust the distance between the two, so that the clamping device can adapt to the feed boxes 8 with different sizes and different positions of the access holes 9, and the clamping device can adapt to the feed boxes 8 with different sizes and different positions of the access holes 9 because the feed boxes 8 are different in size and the distances between 2 feed box access holes 9 are different; further, in some embodiments, in combination with the aforementioned adjustment of the angle between the swing arm 3 and the third mechanical arm 25, the two adjustment modes cooperate, so that the storage and taking adaptability of the bin 8 is wider.

The utility model provides a working principle of a destacking workbin 8 of a whole destacking robot in a vertical warehouse, which comprises the following steps:

at the time of destacking, the robot moves along the rail to the position of the target destacking tray 10, at which time, as shown in fig. 5, the robot body 1 thereof is positioned below the tray 10, the holding device is positioned above the tray 10, the holding device is moved by the mechanical arm device 2 in the X direction, the Y direction and the Z direction to the position right above the bin 8 to be destacked (at which time, the position right above the bin 8 is defined as a first position in real time), then the position of the first hook 6 and the second hook 7 in the horizontal direction and/or the distance between the first hook 6 and the second hook 7 are adjusted by the driving of the first driving part 316 and/or the driving of the second driving part 312 so that the first hook 6 and the second hook 7 enter the two access holes 9 of the bin 8 to be destacked, and then the fine adjustment of the position of the first hook 6 and the second hook 7 in the horizontal direction and the distance between the first hook 6 and the second hook 7 in the right above the bin 8 by the driving of the first driving part 316 is continued, and the distance between the first hook 6 and the second hook 7 and the last hook 7 is moved from the bin 8 to be destacked by the mechanical arm device (at which the destacking tray 8 is also referred to as a lifting the destacking tray 8) is completed here). In this way, the single bin 8 at any first position on the tray 10 can be removed or picked directly, without having to take or pick only the bin 8 closest to the aisle as in the case of a telescopic arm shuttle access bin 8.

During palletizing, the robot moves along the track to the position of the target palletizing tray 10, at this time, as shown in fig. 5, the robot body 1 is located below the tray 10, the clamping device is located above the tray 10 and clamps the to-be-palletized bin 8, the clamping device moves to the position right above the target palletizing position of the bin 8 in the X direction, the Y direction and the Z direction through the mechanical arm device 2 (the position right above the target palletizing position of the bin 8 is defined as a real-time first position at this time), then moves downwards in the Z direction through the mechanical arm device 2, and finally finely adjusts the positions of the first hook claw 6 and the second hook claw 7 in the horizontal direction and the distance between the first hook claw 6 and the second hook claw 7 through the driving of the first driving part 316, so that the bin 8 is placed at the target palletizing position of the bin 8, and palletizing of the bin 8 is completed. In this way, the single-piece magazine 8 can be palletized directly to any first position on the pallet 10, and the magazine 8 can only be stored in the position closest to the aisle without having to access the magazine 8 by means of a telescopic arm shuttle. In addition, by adopting a mode of placing the hooking material box 8, the material box 8 on the tray 10 can realize gapless stacking and unstacking, and the storage density on the tray 10 is improved.

The following is a simple explanation of the working principle of the whole palletizing robot in the vertical warehouse for accessing the whole tray 10, which is proposed by the utility model, as follows:

when the whole tray 10 is taken out (out of the warehouse), the robot moves to the target out-warehouse tray 10 along the track, and at this time, the robot body 1 is positioned below the tray 10, and the jacking device 14 jacks up the whole tray 10 and drives the whole tray 10 to go out of the warehouse.

When the whole tray 10 is stored (put in storage), the robot moves along the track to the storage position of the target tray 10, at this time, the lifting device 14 of the robot body 1 lifts the whole tray 10 to be stored, and the lifting device 14 moves downwards to place the whole tray 10 at the storage position of the target tray 10, so that the storage and put in storage of the whole tray 10 are completed.

The utility model provides a robot for disassembling and stacking whole objects in a vertical warehouse, which has the following advantages:

1) The robot adopts an optimized structural design, so that the original functions of delivering and delivering the whole pallet into and out of the warehouse are reserved, single-piece feed boxes on the pallet can be directly picked in the vertical warehouse, the single-piece feed boxes can be directly stored on the pallet, the picked single-piece feed boxes can be delivered directly without secondary picking by unstacking equipment, the single-piece feed boxes in the warehouse can be delivered directly without pre-stacking by stacking equipment on the pallet, and the picking efficiency and the warehouse efficiency are greatly improved.

2) The bin clamping device with the optimal design can be used for directly selecting a single bin at any first position on the tray, and can be used for warehousing the single bin to any first position on the tray, so that the adaptability is wider.

3) Any unstacking equipment, stacking equipment and stacking machine arranged outside the vertical warehouse goods shelf are not needed at all; all destacking processes and stacking processes are realized in the vertical warehouse goods shelf, so that the space is greatly saved.

4) The robot adopts an optimized structural design, and can realize the picking and warehousing of the feed boxes with different sizes.

5) The workbin on the tray can realize gapless stacking and unstacking, and the storage density on the tray is improved.

6) The rotation of the first hook claw, the second hook claw and the swing arm is driven by the same first driving part, so that the space is saved, the cost is reduced, and the weight of the whole clamping device is reduced to prevent the robot from tilting forward when transporting the tray or the tray feed box.

While the utility model has been described with reference to preferred embodiments, it is not intended to be limiting. Those skilled in the art will appreciate that various modifications and adaptations can be made without departing from the spirit and scope of the present utility model. Accordingly, the scope of the utility model is defined by the appended claims.

Claims (10)

1. The utility model provides a pile up neatly machine people is torn open to whole piece in standing storehouse, sets up in the goods shelves that have the guide rail, its characterized in that, including robot body, fixture subassembly, controlling means and set up jacking device and drive wheel device in the aforesaid robot body respectively:

the jacking device is used for lifting the tray to store and take the tray;

the driving wheel device is used for driving the robot to move in the guide rail;

the clamping mechanism assembly comprises a mechanical arm device and a clamping device;

the mechanical arm device is arranged on the robot body;

the clamping device is arranged at the end part of the mechanical arm device and can move along with the mechanical arm device in the X direction, the Y direction and the Z direction, and the clamping device is integrally positioned above the jacking device and is used for clamping the feed box;

the control device is respectively connected with the jacking device, the clamping device, the mechanical arm device and the driving wheel device and is used for controlling at least one device of the devices to finish the storage, the taking and the transportation of the tray or the material box on the tray.

2. The in-store whole palletizing robot of claim 1, wherein the clamping device comprises a first finger, a second finger and a swing arm;

the swing arm is horizontally arranged, and the center of the swing arm is rotatably connected to the end part of the mechanical arm device;

the first hook claw and the second hook claw are respectively arranged at two ends of the swing arm.

3. The in-store whole palletizing robot of claim 2, wherein a rotational connection point of the swing arm and the mechanical arm device is defined as a rotational center;

the absolute value of the distance between the first hook claw and the rotation center is equal to the absolute value of the distance between the second hook claw and the rotation center.

4. A whole palletizing robot in a vertical warehouse according to claim 3, wherein,

the clamping device further comprises a first driving part and a first executing part which are arranged in the swing arm;

the first hook claw, the second hook claw and the swing arm are respectively connected with the first executing part,

the first executing part is connected with the first driving part and is arranged to be driven by the first driving part to drive the first hook claw, the second hook claw and the swing arm to rotate so as to adjust angles between the first hook claw and the second hook claw and the swing arm respectively in the horizontal direction and between the swing arm and the mechanical arm device in the horizontal direction.

5. The in-store whole palletizing robot as claimed in claim 4, wherein,

a first executing part comprising a synchronous belt transmission mechanism, a shaft, a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a fifth bevel gear and a sixth bevel gear,

the synchronous belt transmission mechanism comprises a driving wheel, a driven wheel and a synchronous belt; the driving wheel is connected with the first driving part and is arranged to be driven by the first driving part to drive the driven wheel to rotate;

the driven wheel, the first bevel gear, the third bevel gear and the fifth bevel gear are respectively sleeved on the shaft;

the second bevel gear is meshed with the first bevel gear at 90 degrees;

the fourth bevel gear is meshed with the third bevel gear at 90 degrees;

the sixth bevel gear is meshed with the fifth bevel gear at 90 degrees;

the first hook claw is fixedly connected with the end face of the second bevel gear;

the second hook claw is fixedly connected with the end face of the fourth bevel gear;

the center of the swing arm is fixedly connected with the end face of the sixth bevel gear.

6. The in-store whole palletizing robot of claim 5, wherein the clamping device further comprises a second driving part and a second executing part arranged in the swing arm;

the first hook claw and the second hook claw are respectively connected with the second executing part;

the second executing part is connected with the second driving part and is arranged to be driven by the second driving part to drive the first hook claw and the second hook claw to move along the longitudinal direction of the swing arm.

7. The in-store whole palletizing robot as claimed in claim 6, wherein,

the clamping device further comprises a first claw seat with a first rotary supporting hole and a second claw seat with a second rotary supporting hole;

the first bevel gear is limited in a first rotary supporting hole of the first hook seat to rotate;

the third bevel gear is limited in a second rotary supporting hole of the second hook seat to rotate;

the second executing part comprises a driving wheel, a driven wheel and a belt sleeved on the driving wheel and the driven wheel;

the driving wheel is connected with the second driving part, is arranged to be driven by the second driving part to rotate and drives the belt to drive;

the belt includes a first belt segment and a second belt segment,

the first hook claw seat is fixedly connected to the first belt section, the second hook claw seat is fixedly connected to the second belt section, and the first hook claw seat and the second hook claw seat are arranged to move towards the center or move towards the opposite direction simultaneously along with the belt.

8. A destacking robot as claimed in any of claims 5-7, wherein the shaft is a square shaft.

9. The unstacking robot according to any one of claims 1 to 7 wherein the hooking openings of the first and second fingers are in opposite directions.

10. The in-store whole palletizing robot according to any of claims 1-7, wherein the mechanical arm device comprises a first mechanical arm, a second mechanical arm and a third mechanical arm,

the first mechanical arm is vertically arranged and fixedly connected with the robot body, and can move up and down along the Z direction;

the second mechanical arm is horizontally arranged and fixedly connected with the first mechanical arm and can horizontally move along the Y direction;

the third mechanical arm is horizontally arranged and fixedly connected with the second mechanical arm, and can horizontally move along the X direction.