Carrying robot for storage

Abstract

The invention provides a carrying robot for warehousing. Relates to the technical field of transportation or storage devices. A truss is fixedly arranged at the top of the base, the lifting mechanism comprises a top plate fixedly arranged at the top of the truss, a horizontally-arranged rotating rod is rotationally connected to the interior of the top plate, and a lifting motor is installed on the portion, located on one side of the rotating rod, of the upper surface of the top plate. The movable plates on the two sides are driven to clamp and position cargoes on the conveying belt, it can be guaranteed that the cargoes of different sizes are clamped and positioned, meanwhile, if the cargoes on the conveying belt incline, the movable plates can conduct automatic correction, and then for light cargoes, the tray can be freely lifted and suspended to place the cargoes; the movable plates can be adjusted to the maximum state, light cargoes can be placed in a suspended mode, efficient carrying and stacking are guaranteed, and the movable plates on the two sides of the conveying belt can play a good protection role.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation or storage devices, and particularly to a handling robot for warehousing. Background Art

[0002] In contemporary logistics practices that pursue maximizing warehousing space, the stereoscopic shelf system has become increasingly important due to its ability to expand storage space in the vertical dimension. This system significantly improves the storage density and capacity of the warehouse. Consequently, the internal logistics and cargo handling processes face more severe challenges. In particular, handling robots, as key components of automated warehousing systems, their efficiency and flexibility directly affect the entire warehousing operation process.

[0003] CN119460495A specifically discloses a handling robot for stacking warehousing, including a machine body and a lifting mechanism disposed on the machine body and used for lifting goods to a predetermined height. The lifting mechanism has two support parts, each support part includes a support shaft group and a belt sleeved outside the support shaft group. The support shaft group has a support end and a compensation end arranged perpendicular to the support end. The support ends of the two support shaft groups are arranged in the same support plane and are telescopically arranged in the first direction in this support plane. The compensation end is configured to be able to synchronously extend and retract in the second direction when the support end extends and retracts, so as to keep the overall length of the support shaft group unchanged. By setting the support shaft group structure with a telescopic support end and a compensation end, the stable lifting and placing functions of goods without a pallet are realized, the problem of dependence on pallets of traditional handling robots is solved, and the storage cost is reduced.

[0004] However, in the prior art, the pallets of handling robots are not convenient for lifting and stacking goods of different sizes and weights. Secondly, when the goods are carried on the pallet, they will form an inclination, which easily affects the transportation and stacking of goods. Especially for the roadway shelf system with high density, the flexibility of the handling robot is poor.

[0005] Therefore, it is necessary to provide a handling robot for warehousing to solve the above technical problems. Summary of the Invention

[0006] The present invention provides a handling robot for warehousing, which solves the technical problems in the related art that traditional handling robots are not convenient to work in a roadway space with high density, secondly, it is not convenient to lift and stack goods of different sizes and weights, and the goods will form an inclination when carried on the pallet.

[0007] To solve the above technical problems, a handling robot for warehousing provided by the present invention includes a base, a lifting mechanism, a clamping mechanism and a shelf;

[0008] A truss is fixedly installed on the top of the base. The lifting mechanism includes a top plate fixedly installed on the top of the truss. A horizontally arranged rotating rod is rotatably connected inside the top plate. A lifting motor is installed on the upper surface of the top plate and on one side of the rotating rod. The output shaft of the lifting motor is keyed to a driving gear. Two sprockets and a driven gear are keyed to the outer wall of the rotating rod, and the driven gear is located on the opposite side of the two sprockets. Chains are sleeved on the outer walls of the two sprockets. One end of the chain and inside the truss is installed with a counterweight plate;

[0009] A lifting frame is slidably installed on the outer wall of the truss. A tray is fixedly installed on the outer wall of the lifting frame. A conveying mechanism is installed above the tray, and a driven mechanism is installed below the tray;

[0010] The conveying mechanism includes a mounting frame and a conveyor belt;

[0011] The driven mechanism includes a lifting plate. Guide wheels are rotatably connected around the lifting plate. Positioning plates are fixedly installed around the mounting frame. A rotating rod is rotatably connected to the center of the positioning plate. Grooved plates are keyed to the front and rear ends of the rotating rod. A trigger gear is keyed to the middle position of the rotating rod;

[0012] The clamping mechanism includes a rack meshed above the trigger gear. A moving plate is installed at the top of the rack through bolts. Four sliding rods are slidably connected inside the moving plate. Clamping plates are fixedly installed at the front ends of the four sliding rods.

[0013] Preferably, the driving gear and the driven gear are meshed with each other. The other end of the chain and on the side away from the counterweight plate is fixedly installed with the upper surface of the lifting frame.

[0014] Preferably, the outer wall of the guide wheel is in contact with the inner wall of the groove of the grooved plate, and the guide wheel penetrates through the grooved plate.

[0015] Preferably, a driving roller and a driven roller are respectively rotatably connected inside the mounting frame. A plurality of receiving rollers are rotatably connected on the opposite side of the driving roller and the driven roller inside the mounting frame. A conveying motor is installed on the outer wall of the mounting frame through bolts. An inclined plate is fixedly installed on the side wall of the mounting frame;

[0016] The output end of the conveying motor is keyed to the center of the driving roller. The conveyor belt is sleeved on the outer walls of the driving roller, the driven roller and the receiving rollers.

[0017] Preferably, an adjusting screw is threadedly connected to the middle position of the moving plate. A mounting bracket is installed on the upper surface of the positioning plate through bolts. Limiting plates are slidably connected on both sides of the rack inside the mounting bracket;

[0018] The front end of the adjusting screw is rotatably connected to the outer wall of the clamping plate through a bearing. Both sides of the moving plate are fixedly installed with limit plates through bolts. The bottom of the mounting frame is fixedly installed with the outer wall of the mounting frame through bolts.

[0019] Preferably, it further includes a counterweight mechanism and a mounting mechanism;

[0020] On the upper surface of the base and on one side of the truss, a bottom plate is fixedly provided. On the upper surface of the bottom plate, a positioning rod is fixedly provided. The counterweight mechanism includes a counterweight block placed outside the positioning rod and on the upper surface of the bottom plate. A fixing ring is fixedly provided on the inner wall of the counterweight block. A plug rod is slidably connected inside the fixing ring. A return spring is sleeved on the outer wall of the plug rod;

[0021] The mounting mechanism includes a mounting screw threadedly connected inside the lifting plate. Two trigger plates are placed at the middle position inside the lifting plate. A connecting rod is fixedly provided at the top of the two trigger plates. Mounting rods are slidably connected inside the lifting plate and on both sides of the trigger plates. One end of the mounting rod is rotatably connected with a roller. A mounting spring is sleeved on the outer wall of the mounting rod.

[0022] Preferably, both sides of the trigger plate are constructed with a forty-five-degree inclined surface. The outer wall of the roller is in contact with the outer wall of the trigger plate. The mounting screw is rotatably connected to the trigger plate.

[0023] Preferably, on both sides of the base and on one side of the truss, limit plates are fixedly provided. A lifting rod is slidably connected inside the limit plate. A stabilizing plate is fixedly provided at the bottom end of the lifting rod. A stabilizing spring is sleeved on the outer wall of the lifting rod;

[0024] The upper and lower ends of the stabilizing spring are in contact with the top end of the lifting rod and the upper surface of the limit plate respectively.

[0025] Compared with the related art, the warehousing handling robot provided by the present invention has the following beneficial effects:

[0026] Compared with the traditional design, in this case, a self-weight suspended lifting plate is adopted. When handling heavy goods, the lifting plate must be placed on a carrier to open the moving plates on both sides to handle the goods. Such a design can avoid transporting heavy goods in a suspended state of the tray. It is necessary to carry the heavy goods only when carrying, which ensures absolute safety. Even when the lifting mechanism fails or is damaged, the heavy goods can be stably placed on the carrier;

[0027] When handling and placing heavy goods, the lifting plate descends by its own weight, driving the moving plates on both sides to clamp and position the goods on the conveyor belt. On the one hand, it can ensure the clamping and positioning of goods of different sizes. At the same time, if the goods on the conveyor belt are tilted, the moving plates can also be automatically corrected, and the clamping force of the moving plates comes from the self-weight of the lifting plate, which can avoid damaging the goods due to excessive force;

[0028] Secondly, when dealing with light goods, the tray can be freely lifted and suspended to place the goods. The moving plates can be adjusted to the maximum state, and the light goods can be placed in suspension to ensure efficient handling and stacking. Secondly, the moving plates on both sides of the conveyor belt can play a good protective role;

[0029] The bottom of the shelf is designed to be overhead, which can ensure that the base smoothly enters the inside of the shelf, providing stable bearing capacity while also allowing for flexible movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[0031] Figure 1 It is the best structural schematic diagram provided by the present invention;

[0032] Figure 2 It is the overall structural schematic diagram of the robot provided by the present invention;

[0033] Figure 3 It is Figure 2 the structural schematic diagram of the lifting mechanism shown;

[0034] Figure 4 It is Figure 2 the upward view structural schematic diagram of the truss and the tray shown;

[0035] Figure 5 It is Figure 2 the general structural schematic diagram of each component on the tray shown;

[0036] Figure 6 It is Figure 5 the split structural schematic diagram of the conveying mechanism shown;

[0037] Figure 7 It is Figure 5 the structural schematic diagram of the driven mechanism shown;

[0038] Figure 8Schematic diagram of the working principle of the driven mechanism, wherein (a) is a schematic diagram of the working state of the lifting plate driving the moving plate to unfold when the lifting plate contacts the carrier, and (b) is a schematic diagram of the working state of the lifting plate automatically clamping and positioning the cargo when the lifting plate transports the cargo;

[0039] Figure 9 A schematic diagram of the structure of the regulating mechanism provided by the present invention;

[0040] Figure 10 for Figure 2 The schematic diagram of the counterweight mechanism and the mounting mechanism shown;

[0041] Figure 11 for Figure 10 The schematic diagram of the counterweight mechanism and the mounting mechanism installation working state shown;

[0042] Figure 12 for Figure 2 The enlarged structural diagram of point A shown;

[0043] Figure 13 for Figure 11 The enlarged structural diagram of point B is shown.

[0044] Description of Figure Numbers:

[0045] 1. Base;

[0046] 2. Truss, 3. Lifting mechanism, 31. Top plate, 32. Turning rod, 33. Lifting motor, 34. Driving gear, 35. Sprocket, 36. Driven gear, 37. Chain, 38. Counterweight plate;

[0047] 4. conveying mechanism, 41. mounting frame, 42. driving roller, 43. driven roller, 44. receiving roller, 45. conveying belt, 46. conveying motor, 47. inclined plate;

[0048] 5. driven mechanism, 51. lifting plate, 52. positioning plate, 53. guide wheel, 54. rotating rod, 55. slot plate, 56. trigger gear;

[0049] 6. Clamping mechanism, 61. Rack, 62. Moving plate, 63. Mounting frame, 64. Limiting plate, 65. Sliding rod, 66. Adjusting screw, 67. Clamping plate;

[0050] 7. counterweight mechanism, 71. counterweight block, 72. fixing ring, 73. insertion rod, 74. return spring;

[0051] 8. Mounting mechanism, 81. Mounting screw, 82. Trigger plate, 83. Connecting rod, 84. Mounting rod, 85. Roller, 86. Mounting spring;

[0052] 9. Bottom plate, 10. Lifting frame, 11. Tray, 12. Positioning rod;

[0053] 13. Restricting plate, 14. Lifting rod, 15. Stabilizing plate, 16. Stabilizing spring;

[0054] 17. Shelf. Specific implementation manner

[0055] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0056] The present invention provides a handling robot for warehousing.

[0057] First embodiment:

[0058] Please refer to Figures 1 to 8 , a handling robot for warehousing, including a base 1, a lifting mechanism 3, a clamping mechanism 6 and a shelf 17;

[0059] A truss 2 is fixedly provided on the top of the base 1. The lifting mechanism 3 includes a top plate 31 fixedly provided on the top of the truss 2. A horizontally arranged rotating rod 32 is rotatably connected inside the top plate 31. A lifting motor 33 is installed on the upper surface of the top plate 31 and on one side of the rotating rod 32. The output shaft of the lifting motor 33 is key-connected with a driving gear 34. Two sprockets 35 and a driven gear 36 are key-connected to the outer wall of the rotating rod 32, and the driven gear 36 is located on the opposite side of the two sprockets 35. Chains 37 are sleeved on the outer walls of the two sprockets 35. One end of the chain 37 and inside the truss 2 is provided with a counterweight plate 38;

[0060] Preferably, the base 1 is usually made of high-strength aluminum alloy or steel. It is the basic support part of the robot, bearing various components and cargo loads of the robot. The bottom of the base 1 is designed with a combination of straight wheels and steering wheels to provide power for the robot, enabling it to move in a warehousing environment, and can perform actions such as forward, backward, and turning. Especially in a dense roadway environment, the walking movement is more flexible;

[0061] Secondly, referring to Figure 1 it can be known that the bottom of the shelf 17 is designed to be overhead, which can ensure that the base 1 can smoothly enter the inside of the shelf 17, providing stable bearing capacity while also being able to move flexibly.

[0062] Please refer to Figures 1 to 3:To enable the free lifting and handling of its goods, the user can start the lifting motor 33. The lifting motor 33 controls the rotation of the driving gear 34. When the driving gear 34 rotates, it can engage and control the rotation of the driven gear 36, driving the rotating rod 32 to rotate. When the rotating rod 32 rotates, it can drive the two sprockets 35 to rotate clockwise or counterclockwise;

[0063] Preferably, the lifting motor 33 can preferably be a three-phase asynchronous motor.

[0064] Please refer to Figure 2 and Figure 4 : When the sprocket 35 rotates clockwise, it affects the clockwise transmission of the chain 37, thereby lifting the counterweight plate 38 upward. As the counterweight plate 38 is lifted upward, the lifting frame 10 will follow the other end of the chain 37 and descend;

[0065] Conversely, when the sprocket 35 rotates counterclockwise, the counterweight plate 38 will follow the chain 37 and descend, and the lifting frame 10 will follow the other end of the chain 37 and rise. Therefore, the entire lifting frame 10 can be freely lifted and lowered.

[0066] A lifting frame 10 is slidably installed on the outer wall of the truss 2. A tray 11 is fixedly provided on the outer wall of the lifting frame 10. A conveying mechanism 4 is installed above the tray 11, and a driven mechanism 5 is installed below the tray 11;

[0067] The conveying mechanism 4 includes a mounting frame 41 and a conveyor belt 45;

[0068] The driven mechanism 5 includes a lifting plate 51. Guide wheels 53 are rotatably connected to the four sides of the lifting plate 51. Positioning plates 52 are fixedly provided around the mounting frame 41. A rotating rod 54 is rotatably connected to the center of the positioning plate 52. Grooved plates 55 are keyed to the front and rear ends of the rotating rod 54, and a trigger gear 56 is keyed to the middle position of the rotating rod 54;

[0069] The clamping mechanism 6 includes a rack 61 meshed above the trigger gear 56. A moving plate 62 is installed at the top of the rack 61 through bolts. Four sliding rods 65 are slidably connected inside the moving plate 62, and clamping plates 67 are fixedly provided at the front ends of the four sliding rods 65.

[0070] It can be understood that: according to the working process of the lifting mechanism 3, the lifting frame 10 can achieve lifting motion, and then the tray 11, the clamping mechanism 6, the driven mechanism 5, and the conveying mechanism 4 on the lifting frame 10 will also rise and fall following the lifting and lowering of the lifting frame 10;

[0071] Preferably, the truss 2 can adopt an I-shaped design. The lifting frame 10 is installed inside the truss 2 through a designed pulley that fits, which can prevent the lifting frame 10 from derailing and can also perform stable up and down lifting motion.

[0072] The driven mechanism 5 and the clamping mechanism 6 have two working modes in total. The first mode can carry heavier goods, and the second mode can carry lighter goods.

[0073] The first working mode:

[0074] Please refer to Figure 8 (a) in it: Since the entire lifting plate 51 is of a suspended design, before the heavy goods are placed on the tray 11, the lifting plate 51 must be placed on the carrier (the carrier can be the bottom plate 9, or the conveyor belt, the conveying table, and the feeding tabletop). When the lifting plate 51 is placed on the carrier, it needs to descend to ensure that the bottom surface of the lifting plate 51 contacts the upper surface of the carrier. As the lifting plate 51 continues to descend, the guide wheel 53 will drive the corresponding groove plate 55 to rotate clockwise adaptively following the ascent of the lifting plate 51. The clockwise rotating groove plate 55 will affect the clockwise rotation of the control trigger gear 56. The clockwise rotating trigger gear 56 will engage to control the corresponding rack 61 to drive the moving plate 62 to move away from the upper surfaces of the entire mounting frame 41 and the conveyor belt 45;

[0075] In this state, the entire conveyor belt 45 is in a fully unfolded state. Users can freely place heavier goods on the conveyor belt 45. Whether it is mechanical conveying, manual handling, or manipulator clamping and placement, the conveyor belt 45 can meet the requirements;

[0076] Please refer to Figure 8 (b) in it: After the goods are placed, the lifting plate 51 needs to be conveyed away from the carrier towards the shelf 17. When the conveyor belt 45 ascends, due to the influence of the self-weight of the lifting plate 51, the lifting plate 51 will move downward. Therefore, it will drive the corresponding groove plate 55 to rotate counterclockwise through the guide wheel 53. The counterclockwise rotating groove plate 55 will control the trigger gear 56 to drive the rack 61 to approach the goods on the conveyor belt 45;

[0077] In this state, the goods can be clamped adaptively, and at the same time, the inclined goods can be automatically corrected to ensure that the goods can be centered on the conveyor belt 45.

[0078] The second working mode:

[0079] Please refer to Figure 8 (b) in it: When handling light goods, the difference from heavy goods is that light goods do not require the lifting plate 51 to contact the carrier. The lifting plate 51 is directly in a suspended state. At this time, the conveyor belt 45 can freely move up and down. Light goods can be directly placed on the conveyor belt 45 for handling. In this state, the moving plates 62 on both sides play a protective role;

[0080] The driving gear 34 meshes with the driven gear 36, and the other end of the chain 37, on the side away from the counterweight plate 38, is fixedly installed on the upper surface of the lifting frame 10.

[0081] The outer wall of the guide wheel 53 is in contact with the inner wall of the groove of the groove plate 55, and the guide wheel 53 penetrates through the groove plate 55.

[0082] Please refer to Figure 7 : It can be understood that the trigger gear 56 is connected to the groove plate 55 through the rotating rod 54, so it can be ensured that the movement of the groove plate 55 can affect the movement of the trigger gear 56;

[0083] Secondly, each guide wheel 53 is installed in the groove plate 55 in a restricted way. Such a design can prevent the lifting plate 51 from derailing. Secondly, it can also ensure that the lifting plate 51 can continuously maintain the suspended state. At the same time, the rotating guide wheel 53 can also avoid excessive friction with the inner wall of the groove plate 55, which can effectively improve the service life of the guide wheel 53.

[0084] In this embodiment: Compared with the traditional design, this case adopts the lifting plate 51 suspended by its own weight. When handling heavy goods, the lifting plate 51 must be placed on the carrier to open the moving plates 62 on both sides to handle the goods. Such a design can prevent the pallet 11 from transporting heavy goods in a suspended state. It can only transport heavy goods when it is carrying, which ensures absolute safety. Even when the lifting mechanism 3 fails or is damaged, the heavy goods can still be stably placed on the carrier;

[0085] When handling and placing heavy goods, the lifting plate 51 descends by its own weight, driving the moving plates 62 on both sides to clamp and position the goods on the conveyor belt 45. On the one hand, it can ensure the clamping and positioning of goods of different sizes. At the same time, if the goods on the conveyor belt 45 are tilted, the moving plate 62 can also be automatically corrected, and the clamping force of the moving plate 62 comes from the self-weight of the lifting plate 51, which can avoid damaging the goods due to excessive force;

[0086] Secondly, when dealing with light goods, the pallet 11 can freely lift and suspend to place the goods. The moving plates 62 can be adjusted to the maximum state. The light goods can be placed in suspension to ensure efficient handling and stacking. Secondly, the moving plates 62 on both sides of the conveyor belt 45 can play a good protective role;

[0087] Adopting the method of automatically descending by self-weight to position and clamp the goods does not require an additional driving method for clamping, and also saves the manufacturing cost of the entire device.

[0088] Second Embodiment:

[0089] Please refer to Figures 1 to 9, a driving roller 42 and a driven roller 43 are respectively rotatably connected inside the mounting frame 41. A plurality of receiving rollers 44 are rotatably connected inside the mounting frame 41 and on the opposite side of the driving roller 42 and the driven roller 43. A conveying motor 46 is mounted on the outer wall of the mounting frame 41 by bolts, and an inclined plate 47 is fixedly provided on the side wall of the mounting frame 41;

[0090] The output end of the conveying motor 46 is keyway-connected to the axis of the driving roller 42, and the conveyor belt 45 is sleeved on the outer walls of the driving roller 42, the driven roller 43 and the receiving rollers 44.

[0091] Please refer to Figure 6 and Figure 7 : During the working process of the first embodiment, when placing goods, the conveying motor 46 can be started to rotate counterclockwise. At this time, the driving roller 42 can also rotate counterclockwise to drive the entire conveyor belt 45 to rotate counterclockwise. The counterclockwise conveyor belt 45 can assist in the feeding of goods;

[0092] When the goods are transported to the shelf 17, the user needs to start the conveying motor 46 to rotate clockwise. At this time, the conveyor belt 45 will move clockwise. The clockwise conveyor belt 45 can drive the goods above to assist in discharging on the shelf 17.

[0093] It can be understood that: combined with the working process of the first embodiment, when the goods are discharging, the lifting plate 51 will first contact the tabletop of the shelf 17, so as to automatically loosen the goods in the clamped state and ensure that the goods can be smoothly transported on the shelf 17. Secondly, when the goods are discharging, they will fall on the shelf 17 through the inclined plate 47, which can avoid hard contact between the goods and the shelf 17.

[0094] A regulating screw 66 is threadedly connected to the middle position of the moving plate 62. An installation frame 63 is mounted on the upper surface of the positioning plate 52 by bolts. Inside the installation frame 63 and on both sides of the rack 61, there are sliding connection limit plates 64;

[0095] The front end of the regulating screw 66 is rotatably connected to the outer wall of the clamping plate 67 through a bearing. Both sides of the moving plate 62 are fixedly installed with the limit plates 64 by bolts, and the bottom of the installation frame 63 is fixedly installed with the outer wall of the mounting frame 41 by bolts.

[0096] According to the first embodiment, it can be known that the lifting range of the lifting plate 51 is limited. When handling goods with large size differences, the user needs to adjust the distance between the clamping plate 67 and the moving plate 62.

[0097] Please refer to Figure 9When adjusting, the user needs to rotate the adjusting screw rod 66 to drive the clamping plate 67 to move forward or backward. When the clamping plate 67 is moving, it will synchronously drive the sliding rod 65 to slide inside the moving plate 62, which can ensure that the clamping plate 67 slides more stably.

[0098] Please refer to Figure 5 and Figure 9 : The mounting bracket 63 is further mounted on the mounting frame 41. Secondly, when the trigger gear 56 meshes to control the movement of the rack 61, it will synchronously drive the two side limit plates 64 to slide inside the mounting bracket 63. Both the rack 61 and the limit plates 64 are designed with an I-shaped structure, which further ensures the stability of the moving plate 62 during the movement process and can also prevent the rack 61 from derailing.

[0099] In this embodiment: Compared with the traditional tray 11 design, this case is designed with an independently driven conveyor belt 45, and the conveyor belt 45 can be driven clockwise or counterclockwise. During the process of loading and unloading goods, it can assist in the transmission of loading and unloading, saving effort and avoiding hard friction on the bottom surface of the goods at the same time;

[0100] At the same time, the clamping plate 67 and the moving plate 62 adopt a partitioned two-stage adjustment design. When the limited stroke of the moving plate 62 is not enough, the user can independently adjust the stroke of the clamping plate 67. Such a design can further increase the clamping stroke, can position and clamp goods with a larger span, and thus achieve a wider range of applications.

[0101] The third embodiment:

[0102] Please refer to Figure 2 , Figures 10 to 13 , and further includes a counterweight mechanism 7 and a mounting mechanism 8;

[0103] On the upper surface of the base 1 and on one side of the truss 2, a bottom plate 9 is fixedly provided. On the upper surface of the bottom plate 9, a positioning rod 12 is fixedly provided. The counterweight mechanism 7 includes a counterweight block 71 placed outside the positioning rod 12 and on the upper surface of the bottom plate 9. A fixing ring 72 is fixedly provided on the inner wall of the counterweight block 71. An insertion rod 73 is slidably connected inside the fixing ring 72. A return spring 74 is sleeved on the outer wall of the insertion rod 73;

[0104] The mounting mechanism 8 includes a mounting screw rod 81 threadedly connected inside the lifting plate 51. Two trigger plates 82 are placed at the middle position inside the lifting plate 51. A connecting rod 83 is fixedly provided at the top of the two trigger plates 82. Mounting rods 84 are slidably connected on both sides of the trigger plates 82 inside the lifting plate 51. One end of the mounting rod 84 is rotatably connected with a roller 85. A mounting spring 86 is sleeved on the outer wall of the mounting rod 84.

[0105] Please refer to Figure 2 andFigure 10 : According to the working process of the first embodiment, the clamping force of the moving plate 62 and the clamping plate 67 comes from the self-weight of the lifting plate 51. Therefore, when handling and placing heavy goods, if the clamping force of only relying on the lifting plate 51 is insufficient, the user needs to choose whether to add counterweights.

[0106] The specific method of adding counterweights is as follows:

[0107] Please refer to Figure 2 、 Figure 10 and Figure 11 : When adding counterweights, the user needs to control the tray 11 to move downward. As the tray 11 moves downward, the lifting plate 51 will follow and descend. Finally, when the lifting plate 51 completely descends to the bottom plate 9, the counterweight block 71 on the bottom plate 9 will immediately enter the notch inside the lifting plate 51 and form a cooperation with the lifting plate 51.

[0108] Please refer to Figure 11 and Figure 13 : After the counterweight block 71 and the lifting plate 51 are cooperated, the user needs to rotate the mounting screw 81 to drive the two trigger plates 82 to move forward. During the forward movement of the trigger plates 82, the two 45-degree inclined surfaces on both sides will be forced to contact the rollers 85. At this time, the rollers 85 will roll and drive the mounting rod 84 to expand towards the outside of the lifting plate 51. While expanding, the mounting spring 86 will be compressed. Finally, the mounting rod 84 will move into the inside of the counterweight block 71;

[0109] When the mounting rod 84 moves into the inside of the counterweight block 71, one end of the mounting rod 84 will simultaneously contact and control the insertion rod 73 to move inside the fixed ring 72, so as to control the insertion rod 73 to move and insert into one side inside the lifting plate 51. In this way, it can be realized that the mounting rod 84 and the insertion rod 73 limit and position the counterweight block 71 from both sides, and complete the installation of the counterweight block 71.

[0110] When removing the counterweight block 71, the user can rotate the mounting screw 81 to enter the initial state. The mounting spring 86 and the reset spring 74 will automatically reset, realizing that the insertion rod 73 automatically separates from the lifting plate 51, and the mounting rod 84 automatically separates from the counterweight block 71. During the process of removing the counterweight block 71, it can be automatically positioned on the positioning rod 12, which is convenient for subsequent reinstallation.

[0111] In this embodiment: After the counterweight block 71 is installed, during the process of handling goods, the self-weight of the lifting plate 51 will become larger, so the clamping force of the clamping plate 67 will become larger. Therefore, when handling large goods, the clamping force can be increased to ensure that the handling of heavy goods is safer and more stable;

[0112] Secondly, in combination with Figure 2 and Figure 12It can be known that: when the user installs the counterweight 71, the lifting frame 10 will descend synchronously. When the lifting plate 51 contacts the bottom plate 9, the lifting frame 10 will be downwardly stressed to control the lifting rod 14 to drive the stabilizing plate 15 to descend. Finally, the stabilizing plate 15 contacts and is stressed by the ground. Such a design realizes the secondary positioning and stabilization of the base 1 and the ground during the installation of the counterweight. Moreover, the installation position of the stabilizing plate 15 is at the steering end of the base 1, ensuring that the user's operating environment can be safer. At the same time, during the handling process, the stabilizing plate 15 can automatically separate from the ground without affecting the moving work of the base 1.

[0113] Both sides of the trigger plate 82 are constructed with 45-degree inclined surfaces. The outer wall of the roller 85 is in contact with the outer wall of the trigger plate 82. The mounting screw 81 is rotatably connected to the trigger plate 82.

[0114] On both sides of the base 1 and on one side of the truss 2, limit plates 13 are fixedly provided. A lifting rod 14 is slidably connected inside the limit plate 13. A stabilizing plate 15 is fixedly provided at the bottom end of the lifting rod 14. A stabilizing spring 16 is sleeved on the outer wall of the lifting rod 14;

[0115] The upper and lower ends of the stabilizing spring 16 are in contact with the top end of the lifting rod 14 and the upper surface of the limit plate 13 respectively.

[0116] It can be understood that: the diameter of the mounting rod 84 is larger at the position close to the roller 85 for restricting the mounting spring 86. Secondly, the diameter of the insertion rod 73 is larger on the side close to the mounting rod 84 for restricting the mounting spring 86. And the connecting rod 83 is located above the mounting rod 84 and fixes the two trigger plates 82, ensuring that the two trigger plates 82 will not affect the work of the mounting rod 84 during the moving process.

[0117] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A handling robot for warehousing, characterized in that, It includes a base, a lifting mechanism, a clamping mechanism and a shelf; A truss is fixedly arranged on the top of the base. The lifting mechanism includes a top plate fixedly arranged on the top of the truss. A horizontally arranged rotating rod is rotatably connected inside the top plate. A lifting motor is installed on the upper surface of the top plate and on one side of the rotating rod. The output shaft of the lifting motor is keyed to a driving gear. Two sprockets and a driven gear are keyed to the outer wall of the rotating rod, and the driven gear is located on the opposite side of the two sprockets. Chains are sleeved on the outer walls of the two sprockets. One end of the chain and on the inner side of the truss is provided with a counterweight plate; A lifting frame is slidably installed on the outer wall of the truss. A tray is fixedly arranged on the outer wall of the lifting frame. A conveying mechanism is installed above the tray, and a driven mechanism is installed below the tray; The conveying mechanism includes a mounting frame and a conveyor belt; The driven mechanism includes a lifting plate. Guide wheels are rotatably connected around the lifting plate. Positioning plates are fixedly arranged around the mounting frame. A rotating rod is rotatably connected at the center of the positioning plate. Grooved plates are keyed to the front and rear ends of the rotating rod. A trigger gear is keyed to the middle position of the rotating rod; The clamping mechanism includes a rack meshed above the trigger gear. A moving plate is installed on the top of the rack through bolts. Four sliding rods are slidably connected inside the moving plate. Clamping plates are fixedly arranged at the front ends of the four sliding rods.

2. The handling robot for warehousing according to claim 1, wherein The driving gear and the driven gear are meshed with each other. The other end of the chain and on the side far from the counterweight plate is fixedly installed on the upper surface of the lifting frame.

3. The warehousing handling robot according to claim 1, characterized in that The outer wall of the guide wheel is in contact with the inner wall of the groove of the grooved plate, and the guide wheel penetrates through the grooved plate.

4. The warehousing handling robot according to claim 1, wherein A driving roller and a driven roller are respectively rotatably connected inside the mounting frame. A plurality of receiving rollers are rotatably connected on the opposite side of the driving roller and the driven roller inside the mounting frame. A conveying motor is installed on the outer wall of the mounting frame through bolts. An inclined plate is fixedly arranged on the side wall of the mounting frame; The output end of the conveying motor is keyed to the center of the driving roller. The conveyor belt is sleeved on the outer walls of the driving roller, the driven roller and the receiving rollers.

5. The warehousing handling robot according to claim 1, characterized in that, An adjusting screw is threadedly connected at the middle position of the moving plate. A mounting frame is installed on the upper surface of the positioning plate through bolts. Limiting plates are slidably connected on both sides of the rack inside the mounting frame; The front end of the adjusting screw is rotatably connected to the outer wall of the clamping plate through a bearing. Both sides of the moving plate are fixedly installed with the limiting plates through bolts. The bottom of the mounting frame is fixedly installed with the outer wall of the mounting frame through bolts.

6. The warehousing handling robot according to claim 1, characterized in that, It also includes a counterweight mechanism and a mounting mechanism; A bottom plate is fixedly arranged on the upper surface of the base and on one side of the truss. A positioning rod is fixedly arranged on the upper surface of the bottom plate. The counterweight mechanism includes a counterweight block placed outside the positioning rod and on the upper surface of the bottom plate. A fixing ring is fixedly arranged inside the counterweight block. A plug rod is slidably connected inside the fixing ring. A return spring is sleeved on the outer wall of the plug rod; The installation mechanism includes an installation screw rod threadedly connected to the inside of the lifting plate. Two trigger plates are placed at the middle position inside the lifting plate. A connecting rod is fixedly arranged at the top of the two trigger plates. Installation rods are slidably connected to both sides of the trigger plates inside the lifting plate. One end of the installation rod is rotatably connected to a roller, and an installation spring is sleeved on the outer wall of the installation rod.

7. The handling robot for warehousing according to claim 6, characterized in that, Both sides of the trigger plate are constructed with 45-degree inclined surfaces. The outer wall of the roller is in contact with the outer wall of the trigger plate. The installation screw rod is rotatably connected to the trigger plate.

8. The handling robot for warehousing according to claim 1, characterized in that, Restricting plates are fixedly arranged on both sides of the base and on one side of the truss. A lifting rod is slidably connected to the inside of the restricting plate. A stabilizing plate is fixedly arranged at the bottom end of the lifting rod. A stabilizing spring is sleeved on the outer wall of the lifting rod; The upper and lower ends of the stabilizing spring are in contact with the top end of the lifting rod and the upper surface of the restricting plate respectively.

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