A virtual rail gantry structure logistics robot for a shelving warehouse

Abstract

The utility model provides a kind of virtual track gantry structure logistics robot for shelf type warehouse, the design is realized longitudinal and transverse independent fast movement by innovative gantry mechanical structure design, combined with multi-degree-of-freedom boom and modularized grabbing device, significantly improve handling efficiency and operation accuracy;Adopt laser ranging, visual identification and infrared line patrol fusion virtual track navigation technology, get rid of the dependence on entity track, enhance environmental adaptability;And by partition power supply system and intelligent control algorithm.Case, it includes mobile mechanism, gear transmission turntable mechanism is slidably installed along Y direction, the top of gear transmission turntable mechanism is fixedly installed with lifting mechanism, telescopic mechanism is slidably installed on the lifting mechanism along Z direction, the front end of telescopic mechanism is installed with claw clamp mechanism.

Description

Technical Field

[0001] This utility model relates to the field of warehousing and logistics automation technology, and in particular to a virtual track gantry structure logistics robot for rack-type warehouses. Background Technology

[0002] Currently, the logistics robots widely used in rack warehouses mainly employ AGVs with Mecanum wheel structures, enabling cargo handling through omnidirectional mobility. These robots typically rely on magnetic strips, QR codes, or laser SLAM technology for navigation, allowing them to travel along fixed paths within the warehouse environment.

[0003] However, existing technologies have significant drawbacks: First, Mecanum wheel AGVs have slow movement speeds (typically ≤0.3m / s when fully loaded), and the need for frequent adjustments to the vehicle's direction to adapt to narrow passages leads to complex path planning and low overall transportation efficiency. Second, limited by the load-bearing capacity of the wheel structure, their single-load handling is relatively small (generally not exceeding 10kg), making it difficult to meet the demands of efficient logistics. Furthermore, traditional AGVs suffer from insufficient positioning accuracy; magnetic strip or QR code navigation typically has an accuracy of only ±20mm, while laser SLAM is easily affected by obstructions in dense shelving environments, impacting positioning stability. In terms of mechanical structure, Mecanum wheel AGVs have large turning radii (≥2000mm), resulting in insufficient flexibility in narrow spaces, and lack efficient multi-degree-of-freedom crane systems. Cargo handling still requires manual assistance or simple robotic arms, limiting the degree of automation. Regarding intelligence, existing AGVs mostly employ fixed path planning, have weak dynamic obstacle avoidance capabilities, and struggle to cope with temporary obstacles; cargo identification mainly relies on RFID or basic visual inspection, resulting in low recognition rates for unlabeled or reflective surfaces.

[0004] Existing Mecanum wheel AGVs have bottlenecks in terms of speed, load capacity, accuracy, and intelligence, and there is an urgent need for a new type of logistics robot solution with a high-speed independent drive chassis, a high-precision boom, and intelligent sensing capabilities. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model solves the key technical problems of low efficiency, insufficient operational precision, and poor adaptability in current rack-type warehousing and logistics, including traditional manual handling and existing logistics robots. To address these technical bottlenecks, such as slow movement speed, poor positioning accuracy, and low transportation efficiency, there is an urgent need for a new logistics robot solution with a high-speed independent drive chassis, a high-precision crane arm, and intelligent sensing capabilities. This invention provides a virtual track gantry structure logistics robot for rack-type warehouses.

[0006] To achieve the above objectives, this utility model provides:

[0007] A virtual track gantry structure logistics robot for a rack-type warehouse includes a moving mechanism, a gear-driven turntable mechanism slidably mounted on the moving mechanism along the Y direction, a lifting mechanism fixedly mounted on the top of the gear-driven turntable mechanism, a telescopic mechanism slidably mounted on the lifting mechanism along the Z direction, and a claw gripper mechanism mounted on the front end of the telescopic mechanism.

[0008] Preferably, the moving mechanism includes two Y-axis double rails, with side brackets fixedly installed at both ends of the two Y-axis double rails. Two drive wheel motors are installed on each of the two side brackets, and drive wheels are installed on each of the four drive wheel motors. The four drive wheel motors drive the four drive wheels to rotate, thereby realizing the movement of the moving mechanism.

[0009] Preferably, a Y-axis first pulley and a Y-axis second pulley are rotatably mounted on the two side supports respectively. A Y-axis belt is drivenly connected to the Y-axis first pulley and the Y-axis second pulley. A chassis is fixedly mounted on the top edge of the Y-axis belt. The top of the chassis is connected to the gear transmission turntable mechanism. A Y-axis drive motor is mounted on the Y-axis first pulley. The Y-axis drive motor drives the Y-axis first pulley to rotate, which in turn drives the Y-axis belt to perform transmission in conjunction with the Y-axis second pulley, thereby realizing the Y-axis position adjustment of the gear transmission turntable mechanism.

[0010] Preferably, four guide wheels are installed at the bottom of the chassis, which slide in cooperation with the Y-axis dual rails.

[0011] Preferably, the gear transmission turntable mechanism includes a gear disk and a rotary motor. The gear disk is rotatably mounted on the top of the chassis, and the rotary motor is mounted on the side of the chassis. A rotary gear is mounted on the output shaft of the rotary motor, and the rotary gear meshes with the gear disk.

[0012] Preferably, the lifting mechanism includes a Z-axis slide rail and a Z-axis drive motor. Both the Z-axis slide rail and the Z-axis drive motor are mounted on the top of the gear disk. A third Z-axis pulley is rotatably mounted on the top of the Z-axis slide rail, and a second Z-axis pulley is rotatably mounted on the top of the gear disk. A first Z-axis pulley is mounted on the output shaft of the Z-axis drive motor. The outer sides of the first, second, and third Z-axis pulleys are meshed with the same Z-axis belt. Two Z-axis sliders are vertically slidably mounted on the outer side of the Z-axis slide rail, and the Z-axis belt is fixedly connected to the two Z-axis sliders.

[0013] Preferably, the telescopic mechanism includes an X-axis monorail and an X-axis support plate. The X-axis support plate is fixedly installed with two Z-axis sliders. X-axis sliders are fixedly installed on the bottom sides of the two X-axis support plates. An X-axis monorail is slidably installed inside the X-axis sliders. An X-axis drive motor is fixedly installed at one end of the X-axis monorail. An X-axis first pulley is installed on the output shaft of the X-axis drive motor. An X-axis second pulley is rotatably installed at the other end of the X-axis monorail. The outer sides of the X-axis first pulley and the X-axis second pulley are connected by the same X-axis belt. The top edge of the X-axis belt is connected to... The X-axis support plate is fixedly connected, and the X-axis drive motor drives the first X-axis pulley to rotate. The X-axis belt is driven by the cooperation of the second X-axis pulley. Since the X-axis belt is fixed to the X-axis support plate, and the X-axis support plate is fixed to the X-axis slider, the X-axis belt drives the X-axis slider to slide on the outside of the X-axis monorail. Since the X-axis slider is fixed to the lifting mechanism through the Z-axis slider, the overall mass is large and the inertial resistance is significant. When the X-axis belt pulls the X-axis support plate, the reaction force forces the X-axis monorail to move relative to the slider. The X-axis position of the adjusting claw mechanism is achieved through the X-axis monorail.

[0014] Preferably, the gripper mechanism includes a gripper motor, which is installed at the end of the X-axis monorail. A gear set is connected to the gripper motor, and two sets of grippers are symmetrically connected to the gear set. The gripper motor drives the gear set to work, and the gear set drives the two sets of grippers to grab the goods. The gripper mechanism is existing technology and will not be described in detail here.

[0015] Preferably, a camera is also provided on the inner side of the gripper mechanism for monitoring the goods, and a suction cup is also provided on the inner side of the gripper mechanism for negative pressure suction and fixation when gripping the object.

[0016] Preferably, each key motion node of the transmission is equipped with a sensor (such as the end point of each axial stroke), and a limit sensor is installed. The motor is equipped with an encoder to realize closed-loop control, which is used to limit the position of the movement adjustment.

[0017] Compared with the prior art, the advantages of this utility model are:

[0018] 1. Design of Composite Motion Mechanism

[0019] The mobile mechanism adopts a four-wheel independent drive + track guide wheel structure. The movement is controlled by motors of four drive wheels. The track guide wheels are slidably connected to the Y-axis double rails to improve walking stability and avoid the risk of derailment.

[0020] 2. Optimization of Y-axis positioning belt drive

[0021] The chassis is fixed by a Y-direction belt, and the chassis moves by driving the pulley with a single motor. This simplifies the traditional screw or rack and pinion structure, reduces costs, and facilitates maintenance.

[0022] 3. Gear-driven turntable mechanism

[0023] The rotary motor drives a large gear disk through a small gear to achieve horizontal rotation at a certain degree. It has a compact structure and high torque transmission efficiency.

[0024] 4. Integrated control of three-axis linkage and rotation

[0025] Combining four degrees of freedom—Y-axis movement, Z-axis lifting, X-axis extension and retraction, and horizontal rotation—with a gripper mechanism, it enables omnidirectional grasping of goods, adapting to high-density rack warehouses.

[0026] 5. Driven by the reaction force of X-axis extension and contraction

[0027] Innovatively utilizing the principle of reaction force: the X-axis belt is fixed to the support plate, and the extension and retraction are achieved through the relative movement of the slider and the monorail during driving, avoiding the need to place the motor at the extension end and reducing the weight at the end.

[0028] This invention, through an innovative gantry mechanical structure design, achieves independent and rapid longitudinal (≥0.5m / s) and lateral (≥0.3m / s) movement. Combined with a multi-degree-of-freedom boom (positioning accuracy ±5mm / ±0.5°) and a modular gripping device (multi-functional claw and four-way suction cups), it significantly improves handling efficiency and operational precision. Employing virtual track navigation technology that integrates laser ranging, visual recognition, and infrared line following, it eliminates reliance on physical tracks and enhances environmental adaptability. Furthermore, a zoned power supply system and intelligent control algorithms ensure a 6-hour runtime and safe operation. This invention effectively solves the technical deficiencies of traditional logistics robots in terms of speed, precision, load capacity, and intelligence, providing a highly efficient, precise, and flexible automated solution for modern warehousing and logistics. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the main structure of this design;

[0030] Figure 2 A bottom view of the moving mechanism in this design;

[0031] Figure 3 This is a schematic diagram of the planar structure in this design;

[0032] Figure 4 This is a system framework diagram of the robot in this design.

[0033] In the diagram: 1. Moving mechanism; 11. Y-axis double rail; 12. Side support; 13. Drive wheel; 14. Drive wheel motor; 15. Chassis; 16. Y-axis drive motor; 17. Y-axis first pulley; 18. Y-axis belt; 19. Y-axis second pulley; 101. Track guide wheel; 2. Gear transmission turntable mechanism; 21. Gear disk; 22. Rotary motor; 23. Rotary gear; 3. Lifting mechanism; 31. Z-axis slide rail; 32. Z-axis drive... 33. Z-axis first pulley; 34. Z-axis second pulley; 35. Z-axis belt; 36. Z-axis third pulley; 37. Z-axis slider; 4. Telescopic mechanism; 41. X-axis monorail; 42. X-axis slider; 43. X-axis support plate; 44. X-axis drive motor; 45. X-axis first pulley; 46. X-axis belt; 47. X-axis second pulley; 5. Claw mechanism; 51. Claw motor; 52. Gear set; 53. Claw. Detailed Implementation

[0034] The embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0035] See Figure 1-4 As shown, a virtual track gantry structure logistics robot for a rack-type warehouse includes a moving mechanism 1. The moving mechanism 1 is slidably mounted with a gear-driven turntable mechanism 2 along the Y direction. A lifting mechanism 3 is fixedly mounted on the top of the gear-driven turntable mechanism 2. A telescopic mechanism 4 is slidably mounted on the lifting mechanism 3 along the Z direction. A claw gripper mechanism 5 is mounted on the front end of the telescopic mechanism 4.

[0036] In this embodiment, the moving mechanism 1 includes two Y-axis double rails 11. Side brackets 12 are fixedly installed at both ends of the two Y-axis double rails 11. Two drive wheel motors 14 are installed on each of the two side brackets 12. Drive wheels 13 are installed on each of the four drive wheel motors 14. The four drive wheel motors 14 drive the four drive wheels 13 to rotate, thereby realizing the movement of the moving mechanism 1.

[0037] In this embodiment, a Y-direction first pulley 17 and a Y-direction second pulley 19 are rotatably mounted on the two side supports 12, respectively. A Y-direction belt 18 is drivenly connected to the Y-direction first pulley 17 and the Y-direction second pulley 19. A chassis 15 is fixedly mounted on the top edge of the Y-direction belt 18. The top of the chassis 15 is connected to the gear transmission turntable mechanism 2. A Y-direction drive motor 16 is mounted on the Y-direction first pulley 17. The Y-direction drive motor 16 drives the Y-direction first pulley 17 to rotate, which in turn drives the Y-direction belt 18 to perform transmission in conjunction with the Y-direction second pulley 19, thereby realizing the Y-direction position adjustment of the gear transmission turntable mechanism 2.

[0038] In this embodiment, four track guide wheels 101 are installed at the bottom of the chassis 15, which slide in cooperation with the Y-axis double rails 11.

[0039] In this embodiment, the gear transmission turntable mechanism 2 includes a gear disk 21 and a rotary motor 22. The gear disk 21 is rotatably mounted on the top of the chassis 15, and the rotary motor 22 is mounted on the side of the chassis 15. A rotary gear 23 is mounted on the output shaft of the rotary motor 22, and the rotary gear 23 meshes with the gear disk 21.

[0040] In this embodiment, the lifting mechanism 3 includes a Z-axis slide rail 31 and a Z-axis drive motor 32. Both the Z-axis slide rail 31 and the Z-axis drive motor 32 are mounted on the top of the gear disk 21. A Z-axis third pulley 36 is rotatably mounted on the top of the Z-axis slide rail 31, and a Z-axis second pulley 34 is rotatably mounted on the top of the gear disk 21. A Z-axis first pulley 33 is mounted on the output shaft of the Z-axis drive motor 32. The outer sides of the Z-axis first pulley 33, the Z-axis second pulley 34, and the Z-axis third pulley 36 are meshed with the same Z-axis belt 35. Two Z-axis sliders 37 are vertically slidably mounted on the outer side of the Z-axis slide rail 31, and the Z-axis belt 35 is fixedly connected to the two Z-axis sliders 37.

[0041] In this embodiment, the telescopic mechanism 4 includes an X-axis monorail 41 and an X-axis support plate 43. The X-axis support plate 43 is fixedly installed with two Z-axis sliders 37. An X-axis slider 42 is fixedly installed on the bottom side of the two X-axis support plates 43. The X-axis monorail 41 is slidably installed inside the X-axis slider 42. An X-axis drive motor 44 is fixedly installed at one end of the X-axis monorail 41. An X-axis first pulley 45 is installed on the output shaft of the X-axis drive motor 44. An X-axis second pulley 47 is rotatably installed at the other end of the X-axis monorail 41. The outer sides of the X-axis first pulley 45 and the X-axis second pulley 47 are connected by the same X-axis belt 46. The top edge of the X-axis belt 46 is connected to... The X-axis support plate 43 is fixedly connected, and the X-axis drive motor 44 drives the first X-axis pulley 45 to rotate. The X-axis belt 46 is driven by the cooperation of the second X-axis pulley 47. Since the X-axis belt 46 is fixed to the X-axis support plate 43, and the X-axis support plate 43 is fixed to the X-axis slider 42, the X-axis belt 46 drives the X-axis slider 42 to slide on the outside of the X-axis monorail 41. Since the X-axis slider 42 is inconvenient to move because it is connected to the lifting mechanism 3, the gear transmission turntable mechanism 2 and the moving mechanism 1, the X-axis monorail 41 and the X-axis slider 42 move relative to each other through the relationship between action and reaction forces. The X-axis position of the adjusting claw mechanism 5 is realized through the X-axis monorail 41.

[0042] In this embodiment, the gripper mechanism 5 includes a gripper motor 51, which is mounted at the end of the X-axis monorail 41. A gear set 52 is connected to the gripper motor 51, and two sets of grippers 53 are symmetrically connected to the gear set 52. The gripper motor 51 drives the gear set 52 to work, and the gear set 52 drives the two sets of grippers 53 to grasp the goods. The gripper mechanism 5 is prior art and will not be described in detail here.

[0043] In this embodiment, a camera is also provided on the inner side of the gripper mechanism 5 for monitoring the goods, and a suction cup is also provided on the inner side of the gripper mechanism 5 for negative pressure suction and fixation when gripping the object.

[0044] In this embodiment, sensors are installed at key motion nodes of each transmission component (such as limit sensors at the end of each axial stroke), and the motor is equipped with an encoder to achieve closed-loop control, which is used to limit the position of movement adjustment.

[0045] This embodiment is specifically designed for warehouse management involving the rapid transportation of small-to-medium volume and heavy goods. By optimizing the mechanical structure, transmission system, and electrical control system, the efficiency, accuracy, and stability of the robot's transportation in the warehouse environment are improved, reducing human intervention, lowering warehouse operating costs, and enhancing the automation level of warehouse management. The research content includes the design of the robot's mechanical system, transmission system, electrical system, and visual perception system.

[0046] In operation, four drive wheel motors 14 drive four drive wheels 13 to rotate, enabling the movement of the moving mechanism 1 and facilitating the adjustment of the robot's overall position. A Y-axis drive motor 16 drives the first Y-axis pulley 17 to rotate, which in turn drives the second Y-axis pulley 19 to drive the Y-axis belt 18, thus adjusting the Y-axis position of the gear-driven turntable mechanism 2 and consequently the gripper mechanism 5. A rotary motor 22 drives a rotary gear 23 to rotate, which in turn drives a gear disk 21 to rotate. The gear disk 21, through a lifting mechanism 3 and a telescopic mechanism 4, drives the gripper mechanism 5 to rotate, adjusting the horizontal angle for grasping goods. A Z-axis drive motor 32 drives the first Z-axis pulley 33 to rotate, which, through the third Z-axis pulley 36 and the second Z-axis pulley 34, drives the Z-axis belt 18. 5. Transmission is performed. The Z-axis belt 35 drives the Z-axis slider 37 to slide vertically on the Z-axis slide rail 31, realizing the Z-axis adjustment of the telescopic mechanism 4, and thus adjusting the gripping height of the claw mechanism 5. The X-axis drive motor 44 drives the first X-axis pulley 45 to rotate. The X-axis second pulley 47 cooperates to make the X-axis belt 46 perform transmission. Since the X-axis belt 46 is fixed to the X-axis support plate 43, and the X-axis support plate 43 is fixed to the X-axis slider 42, the X-axis belt 46 drives the X-axis slider 42 to slide on the outside of the X-axis monorail 41. Since the X-axis slider 42 is fixed to the lifting mechanism 3 through the Z-axis slider 37, the overall mass is large and the inertial resistance is significant. When the X-axis belt 46 pulls the X-axis support plate 43, the reaction force forces the X-axis monorail 41 to move relative to the slider. The X-axis position of the claw mechanism 5 is adjusted through the X-axis monorail 41.

[0047] Specifically, the gantry-structure chassis design allows for fast longitudinal and lateral movement speeds, with independent control algorithms, simple operation algorithms, and high stability. The 3-DOF boom has a large load capacity, enabling efficient loading and unloading of goods. In terms of dimensions, the robot's main body has a maximum height of 650mm, a length of 840mm, and a width of 1400mm. The boom's vertical movement range is 120mm-490mm, with a maximum extension distance of 680mm, ensuring efficient operation within limited spaces. For the transmission system, the chassis movement is driven by friction wheels. The turntable uses gear transmission, while the lifting mechanism and telescopic boom are driven by a winch mechanism and a synchronous belt, respectively. Combined with linear guide rails, this ensures high precision and strength during operation, further enhancing stability. In terms of control and perception, this robot uses multiple sets of LiDAR and laser rangefinders for spatial positioning and autonomous driving, and is equipped with a vision recognition module for encoding and identifying items for intelligent cargo handling.

[0048] This utility model is not limited to the above-described preferred embodiment. Anyone can derive other products in various forms under the guidance of this utility model. However, regardless of any changes made in its shape or structure, any technical solution that is the same as or similar to this utility model is within its protection scope.

Claims

1. A virtual track gantry structure logistics robot for rack-type warehouses, comprising a mobile mechanism (1), characterized in that: The moving mechanism (1) is slidably mounted with a gear-driven turntable mechanism (2) along the Y direction. A lifting mechanism (3) is fixedly mounted on the top of the gear-driven turntable mechanism (2). A telescopic mechanism (4) is slidably mounted on the lifting mechanism (3) along the Z direction. A claw mechanism (5) is mounted on the front end of the telescopic mechanism (4).

2. The virtual track gantry structure logistics robot for a rack-type warehouse according to claim 1, characterized in that: The moving mechanism (1) includes two Y-axis double rails (11), with side brackets (12) fixedly installed at both ends of the two Y-axis double rails (11). Two drive wheel motors (14) are installed on each of the two side brackets (12), and drive wheels (13) are installed on each of the four drive wheel motors (14).

3. A virtual track gantry structure logistics robot for a rack-type warehouse according to claim 2, characterized in that: Y-direction first pulley (17) and Y-direction second pulley (19) are rotatably mounted on the two side supports (12), respectively. Y-direction first pulley (17) and Y-direction second pulley (19) are connected by a Y-direction belt (18). A chassis (15) is fixedly mounted on the top edge of the Y-direction belt (18). The top of the chassis (15) is connected to the gear transmission turntable mechanism (2). A Y-direction drive motor (16) is mounted on the Y-direction first pulley (17).

4. A virtual track gantry structure logistics robot for a rack-type warehouse according to claim 3, characterized in that: The chassis (15) has four track guide wheels (101) installed at the bottom, which slide in cooperation with the Y-axis double rail (11).

5. A virtual track gantry structure logistics robot for a rack-type warehouse according to claim 4, characterized in that: The gear transmission turntable mechanism (2) includes a gear disk (21) and a rotary motor (22). The gear disk (21) is rotatably mounted on the top of the chassis (15). The rotary motor (22) is mounted on the side of the chassis (15). A rotary gear (23) is mounted on the output shaft of the rotary motor (22). The rotary gear (23) meshes with the gear disk (21).

6. A virtual track gantry structure logistics robot for a rack-type warehouse according to claim 1, characterized in that: The lifting mechanism (3) includes a Z-axis slide rail (31) and a Z-axis drive motor (32). Both the Z-axis slide rail (31) and the Z-axis drive motor (32) are mounted on the top of the gear disk (21). A Z-axis third pulley (36) is rotatably mounted on the top of the Z-axis slide rail (31). A Z-axis second pulley (34) is rotatably mounted on the top of the gear disk (21). A Z-axis first pulley (33) is mounted on the output shaft of the Z-axis drive motor (32). The outer sides of the Z-axis first pulley (33), Z-axis second pulley (34) and Z-axis third pulley (36) are meshed with the same Z-axis belt (35). Two Z-axis sliders (37) are vertically slidably mounted on the outer side of the Z-axis slide rail (31). The Z-axis belt (35) is fixedly connected to the two Z-axis sliders (37).

7. A virtual track gantry structure logistics robot for a rack-type warehouse according to claim 1, characterized in that: The telescopic mechanism (4) includes an X-axis monorail (41) and an X-axis support plate (43). The X-axis support plate (43) is fixedly installed with two Z-axis sliders (37). An X-axis slider (42) is fixedly installed on the bottom side of the two X-axis support plates (43). An X-axis monorail (41) is slidably installed inside the X-axis slider (42). An X-axis drive motor (44) is fixedly installed at one end of the X-axis monorail (41). An X-axis first pulley (45) is installed on the output shaft of the X-axis drive motor (44). An X-axis second pulley (47) is rotatably installed at the other end of the X-axis monorail (41). The X-axis first pulley (45) and the X-axis second pulley (47) are connected by the same X-axis belt (46) on their outer sides. The top edge of the X-axis belt (46) is fixedly connected to the X-axis support plate (43). The X-axis first pulley (45) is driven to rotate by the X-axis drive motor (44).

8. A virtual track gantry structure logistics robot for a rack-type warehouse according to claim 7, characterized in that: The claw mechanism (5) includes a claw motor (51), which is installed at the end of the X-direction monorail (41). A gear set (52) is connected to the claw motor (51), and two sets of claws (53) are symmetrically connected to the gear set (52).

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