A shelf robot and a goods management system

Abstract

The utility model discloses a kind of shelf robots, it includes at least two fixed beams and at least two movable beams, also includes walking mechanism and execution mechanism;The walking mechanism can make the movable beam along the fixed beam translational motion;Adjacent movable beam is connected with at least two connecting rods, all movable beam and all connecting rod constitute the frame structure that can be integrally translated relative to the fixed beam;Connecting rod and movable beam are connected by pin shaft to establish rotational connection relationship.The utility model in, frame structure is conducive to the stability of execution mechanism along movable beam walking, and the rotational connection relationship between connecting rod and movable beam is established by pin shaft, so that frame structure has the ability of adaptive deformation on demand, avoid the resistance increase caused by the connection position speed inconsistency of frame body and each fixed beam, avoid affecting the walking precision of walking mechanism.

Description

Technical Field

[0001] This utility model relates to the field of cargo storage technology, and in particular to a shelf robot and cargo management system. Background Technology

[0002] With the rapid development of automated warehousing, intelligent logistics, and high-density cargo management, higher demands are being placed on the operational efficiency, structural adaptability, and walking accuracy of rack robot systems. Especially in multi-layered, multi-column rack systems, to achieve efficient storage and retrieval of goods, robots need the ability to move precisely in two dimensions—the so-called dual-axis movement capability. However, existing rack robot systems mostly employ rigid frames and independent drive designs, which are not only structurally complex and costly to manufacture, but also prone to problems such as mechanism interference, asynchronous movement, and uneven force distribution during operation. This can cause the actuators to deviate or jam during movement, thereby reducing the system's stability and response efficiency.

[0003] In the prior art, such as patent CN 118701546 A, a fixed track transmission device and transmission system for warehouse racking is provided. It includes a transverse track and a longitudinal track. The longitudinal track travels along the transverse track through a walking mechanism. Although it can realize basic two-dimensional movement function, in practical applications with multi-point support and long-stroke movement, it is often difficult to effectively deal with structural deformation problems caused by manufacturing errors, installation deviations or load changes due to the overall rigidity and connection method. This leads to increased wear of connecting parts, slippage of the walking wheels, increased resistance, and even operation failure. Utility Model Content

[0004] Purpose of the invention: In order to overcome the shortcomings of the existing technology, this utility model provides a shelf robot and cargo management system with strong structural adaptability, high walking accuracy and stable operation.

[0005] Technical solution: To achieve the above objectives, the shelf robot of this utility model includes at least two fixed beams and at least two movable beams, as well as a walking mechanism and an execution mechanism; the walking mechanism enables the movable beams to translate along the fixed beams, and the movable beams carry the execution mechanism to translate along the fixed beams together, and the execution mechanism is able to translate along the extension direction of the movable beams, thus enabling the execution mechanism to perform dual-axis translational motion;

[0006] At least two connecting rods connect adjacent movable beams, and all movable beams and all connecting rods form a frame structure that can be translated as a whole relative to the fixed beam; the connecting rods and the movable beams are connected by pins to establish a rotational connection.

[0007] Furthermore, a first connecting block and a second connecting block are respectively fixed to the connecting rod and the movable beam. The pin is fixedly connected to one of the connecting blocks and rotatably connected to the other connecting block. In this design, the pin has a retaining edge, and the pin is fixed to the second connecting block and rotatable relative to the first connecting block. The retaining edge and the second connecting block are respectively located on both sides of the first connecting block.

[0008] Furthermore, the fixed beams are arranged horizontally, and the movable beams are arranged vertically. In this design, there are 3 fixed beams and 2 movable beams.

[0009] Furthermore, the traveling mechanism includes a traveling wheel assembly corresponding to each of the fixed beams; the traveling wheel assembly includes a drive wheel assembly; the drive wheel assembly includes a drive wheel and a motor that drives the drive wheel to rotate; the drive wheel can elastically float relative to the fixed beam, thus maintaining sufficient contact between the drive wheel and the crossbeam, and the elastic floating can reduce running resistance.

[0010] Furthermore, the drive wheel assembly also includes a component seat and a wheel seat. The component seat is mounted on the movable beam, and the drive wheel is mounted on the wheel seat. The wheel seat is movable relative to the component seat, and a first spring is provided between the two.

[0011] Furthermore, in two adjacent sets of the walking wheel assemblies, the drive wheel assembly is located on different sides of the frame structure.

[0012] Furthermore, each set of the walking wheel assembly also includes a driven wheel assembly, which includes a driven wheel that contacts the fixed beam and a second spring that applies an elastic force to the driven wheel. Specifically, the driven wheel is mounted on a rotating arm, the rotating arm is rotatably connected to the connecting rod, and the second spring applies a force to the rotating arm.

[0013] Furthermore, a synchronous belt mechanism is provided on the movable beam to drive the walking mechanism to translate along the movable beam.

[0014] A cargo management system includes a shelf and the aforementioned shelf robot, wherein the fixed beam is fixed relative to the shelf; the shelf has multiple cargo slots arranged in an array, and an actuator is capable of retrieving goods or boxes from the cargo slots or placing goods or boxes into the cargo slots.

[0015] Beneficial effects: The shelf robot and cargo management system of this utility model have the following beneficial effects:

[0016] (1) In this utility model, the frame structure is beneficial to the stability of the actuator walking along the movable beam. The rotational connection between the connecting rod and the movable beam is established by the pin, so that the frame structure has the ability to adapt to deformation as needed, avoiding the increase of resistance caused by the inconsistent speed of the connection position between the frame and each fixed beam, and avoiding affecting the walking accuracy of the walking mechanism.

[0017] (2) The structural design and layout of the driving wheel assembly and the driven wheel assembly in the walking mechanism can ensure the stability of the frame structure walking and the uniformity of the driving force, and can prevent excessive contact between the driving wheel and the fixed beam, which would lead to increased resistance. Attached Figure Description

[0018] Figure 1 This is a front view structural diagram of the shelf robot;

[0019] Figure 2 This is a 3D structural diagram of the shelf robot;

[0020] Figure 3 This is a partial side view of the shelving robot.

[0021] Figure 4 for Figure 1 Enlarged structural diagram of section A;

[0022] Figure 5 for Figure 1 Enlarged structural diagram of section B;

[0023] Figure 6 for Figure 2 Enlarged structural diagram of section C;

[0024] Figure 7 This is a structural diagram of the cargo management system.

[0025] In the diagram: 1-Fixed beam; 2-Moving beam; 3-Traveling mechanism; 31-Drive wheel assembly; 311-Drive wheel; 312-Motor; 313-Assembly base; 314-Wheel seat; 315-First spring; 32-Driven wheel assembly; 321-Driven wheel; 322-Second spring; 323-Rotating arm; 4-Actuator; 5-Connecting rod; 6-Pin; 61-Side guard; 7-First connecting block; 8-Second connecting block; 9-Shelf. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings.

[0027] like Figure 1 and Figure 2The shelf robot shown includes at least two fixed beams 1 and at least two movable beams 2, as well as a walking mechanism 3 and an execution mechanism 4. The walking mechanism 3 enables the movable beams 2 to translate along the fixed beams 1, and the movable beams 2 carry the execution mechanism 4 to translate along the fixed beams 1. The execution mechanism 4 is able to translate along the extension direction of the movable beams 2, thus enabling the execution mechanism 4 to perform dual-axis translational motion.

[0028] At least two connecting rods 5 connect adjacent movable beams 2, and all movable beams 2 and all connecting rods 5 constitute a frame structure capable of translating as a whole relative to the fixed beam 1; Figure 6 As shown, the connecting rod 5 and the movable beam 2 are connected by a pin 6.

[0029] In this invention, the frame structure is beneficial to the stability of the actuator 4 as it moves along the movable beam 2. The rotational connection between the connecting rod 5 and the movable beam 2 is established through the pin 6, which enables the frame structure to adapt to deformation as needed. This avoids increased resistance due to inconsistent speeds at the connection positions of the frame and each fixed beam 1, and avoids affecting the walking accuracy of the walking mechanism 3.

[0030] Preferably, a first connecting block 7 and a second connecting block 8 are fixed to the connecting rod 5 and the movable beam 2 respectively. The pin 6 is fixedly connected to one of the connecting blocks and rotatably connected to the other connecting block. In this embodiment, the pin 6 has a retaining edge 61, and the pin 6 is fixed to the second connecting block 8 and rotatable relative to the first connecting block 7. The retaining edge 61 and the second connecting block 8 are respectively placed on both sides of the first connecting block 7.

[0031] Preferably, the fixed beams 1 are arranged horizontally, and the movable beams 2 are arranged vertically. In this embodiment, there are three fixed beams 1 and two movable beams 2. Thus, the left and right movement of the frame structure only needs to overcome translational resistance, not gravity, which reduces system power consumption.

[0032] Preferably, the walking mechanism 3 includes a walking wheel assembly corresponding to each of the fixed beams 1; the walking wheel assembly includes a drive wheel assembly 31; the drive wheel assembly 31 includes a drive wheel 311 and a motor 312 that drives the drive wheel 311 to rotate; the drive wheel 311 can elastically float relative to the fixed beam 1, so that sufficient contact can be maintained between the drive wheel 311 and the crossbeam 1, and the elastic floating can reduce running resistance.

[0033] Preferably, specifically, such as Figure 3 and Figure 4As shown, the drive wheel assembly 31 also includes an assembly seat 313 and a wheel seat 314. The assembly seat 313 is mounted on the movable beam 2, and the drive wheel 311 is mounted on the wheel seat 314. The wheel seat 314 is movable relative to the assembly seat 313, and a first spring 315 is provided between the two.

[0034] Preferably, such as Figure 1 As shown, in the two adjacent sets of walking wheel assemblies, the drive wheel assembly 31 is located on different sides of the frame structure.

[0035] Preferably, each set of the walking wheel assembly further includes a driven wheel assembly 32, such as... Figure 6 As shown, the driven wheel assembly 32 includes a driven wheel 321 that contacts the fixed beam 1, and a second spring 322 that applies an elastic force to the driven wheel 321. Specifically, the driven wheel 321 is mounted on a rotating arm 323, the rotating arm 323 is rotatably connected to the connecting rod 5, and the second spring 322 applies a force to the rotating arm 323.

[0036] The structural design and layout of the drive wheel assembly 31 and driven wheel assembly 32 in the walking mechanism 3 can ensure the stability of the frame structure's movement and the uniformity of the driving force, and can prevent excessive contact between the drive wheel 311 and the fixed beam 1, which would lead to increased resistance.

[0037] Preferably, the movable beam 2 is provided with a synchronous belt mechanism to drive the walking mechanism 3 to translate along the movable beam 2.

[0038] A cargo management system, such as Figure 7 As shown, the device includes a shelf 9 and the aforementioned shelf robot. The fixed beam 1 is fixed relative to the shelf 9. The shelf 9 has multiple cargo compartments arranged in an array. The actuator 4 can remove goods or boxes from the cargo compartments or put goods or boxes into the cargo compartments.

[0039] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A shelf robot comprising at least two fixed beams (1) and at least two movable beams (2), further comprising a walking mechanism (3) and an execution mechanism (4); wherein the walking mechanism (3) enables the movable beams (2) to translate along the fixed beams (1); characterized in that: At least two connecting rods (5) are connected between adjacent movable beams (2), and all the movable beams (2) and all the connecting rods (5) constitute a frame structure that can be translated as a whole relative to the fixed beam (1); the connecting rods (5) and the movable beams (2) are connected by a pin (6).

2. The shelf robot according to claim 1, characterized in that, The connecting rod (5) and the movable beam (2) are respectively fixed with a first connecting block (7) and a second connecting block (8). The pin (6) is fixedly connected to one of the connecting blocks and rotatably connected to the other connecting block.

3. The shelf robot according to claim 1, characterized in that, The fixed beam (1) is arranged horizontally, and the movable beam (2) is arranged vertically.

4. The shelf robot according to claim 1, characterized in that, The walking mechanism (3) includes a walking wheel assembly corresponding to each of the fixed beams (1); the walking wheel assembly includes a drive wheel assembly (31); the drive wheel assembly (31) includes a drive wheel (311) and a motor (312) for driving the drive wheel (311) to rotate; the drive wheel (311) is capable of elastically floating relative to the fixed beam (1).

5. The shelf robot according to claim 4, characterized in that, The drive wheel assembly (31) also includes an assembly seat (313) and a wheel seat (314); the wheel seat (314) is movable relative to the assembly seat (313), and a first spring (315) is provided between the two.

6. The shelf robot according to claim 4, characterized in that, In two adjacent sets of the walking wheel assemblies, the drive wheel assembly (31) is located on different sides of the frame structure.

7. The shelf robot according to claim 4, characterized in that, Each of the walking wheel assemblies also includes a driven wheel assembly (32), which includes a driven wheel (321) in contact with the fixed beam (1) and a second spring (322) that applies an elastic force to the driven wheel (321).

8. The shelf robot according to claim 1, characterized in that, A synchronous belt mechanism is provided on the movable beam (2) to drive the walking mechanism (3) to translate along the movable beam (2).

9. A cargo management system, characterized in that, The device includes a shelf (9) and a shelf robot as described in any one of claims 1-8, wherein the fixed beam (1) is fixed relative to the shelf (9); the shelf (9) has a plurality of cargo compartments arranged in an array.

Images