Warehouse robot

Abstract

The application discloses a warehouse robot. The warehouse robot comprises a frame and a climbing unit. The climbing unit comprises a climbing driving mechanism fixedly arranged on the frame and a climbing assembly. The climbing assembly comprises a climbing wheel and a transmission assembly. The transmission assembly is arranged between the climbing wheel and the climbing driving mechanism and comprises a transmission belt, a driving wheel and a power wheel. The driving wheel is fixedly arranged on the frame and is drivingly connected with the climbing driving mechanism. The transmission belt is wound on the driving wheel and the power wheel to drive the power wheel to move. The power wheel is connected with the climbing wheel to drive the climbing wheel to rotate. The power wheel is telescopic with the climbing wheel in a first direction. The driving wheel of the application is fixedly arranged and is not telescopic with the climbing wheel. The climbing driving mechanism is also fixedly arranged on the frame. Therefore, the warehouse robot of the application is safer and more stable.

Description

Technical Field

[0001] This invention relates to the field of warehousing equipment technology, and in particular to a warehousing robot. Background Technology

[0002] With the continuous development of warehousing technology, warehouse robots are used to remove goods from or place them on shelves in order to reduce the workload of workers. At the same time, to improve warehouse space utilization, the shelves are generally set at a relatively high height, so warehouse robots also need to climb the shelves.

[0003] In related technologies, the shelving has two vertically arranged climbing tracks spaced apart. The warehouse robot includes a retractable climbing mechanism that can dock with or detach from the climbing tracks. During operation, the walking mechanism moves the warehouse robot between the two climbing tracks. The telescopic mechanism allows the climbing wheels of the climbing mechanisms on both sides to engage with the corresponding climbing tracks on both sides. The drive unit drives the two climbing wheels to rotate, thereby moving the entire warehouse robot along the height direction of the shelving. Summary of the Invention

[0004] The purpose of this invention is to provide a warehouse robot to improve its stability.

[0005] This invention provides a warehouse robot, comprising:

[0006] rack; and

[0007] The climbing unit includes a climbing drive mechanism and a climbing assembly fixedly mounted on a frame. The climbing assembly includes a climbing wheel and a transmission assembly. The transmission assembly is located between the climbing wheel and the climbing drive mechanism and includes a transmission belt, a drive wheel, and a power wheel. The drive wheel is fixedly mounted on the frame and drivenly connected to the climbing drive mechanism. The transmission belt is wound around the drive wheel and the power wheel to drive the power wheel to move. The power wheel is connected to the climbing wheel to drive the climbing wheel to rotate, and the power wheel extends and retracts in a first direction along with the climbing wheel.

[0008] In some embodiments, the transmission assembly further includes an idler wheel, the drive wheel includes a first drive wheel and a second drive wheel, the first drive wheel is coaxially connected to the climbing wheel, the transmission belt forms a closed loop around the drive wheel, the idler wheel and the first drive wheel, and the second drive wheel is disposed between the drive wheel and the first drive wheel and located outside the closed loop.

[0009] In some embodiments, the transmission component is a chain drive component.

[0010] In some embodiments, the climbing unit includes two climbing components spaced apart in a second direction, and the climbing drive mechanism simultaneously drives the two climbing components to move.

[0011] In some embodiments, the climbing unit further includes a drive shaft, with the drive sprockets of the two climbing components respectively disposed at both ends of the drive shaft.

[0012] In some embodiments, the climbing drive mechanism includes a climbing motor, a driving gear, and a driven gear. The drive shaft is connected to the shaft hole of the driven gear. The climbing motor is driven by the driving gear, and the driven gear meshes with the driving gear to drive the drive shaft to rotate.

[0013] In some embodiments, the warehouse robot includes two climbing units spaced apart in a first direction.

[0014] In some embodiments, the warehouse robot includes a telescopic mechanism that simultaneously drives the climbing wheels of two climbing units to extend and retract relative to the frame in a first direction.

[0015] In some embodiments, the frame has guide rails, and the climbing wheels are slidably disposed on the guide rails.

[0016] In some embodiments, the warehouse robot further includes a support frame fixedly connected to the climbing wheel and a slider disposed on the lower side of the support frame. The slider is slidably disposed on the guide rail to drive the climbing wheel to slide along the guide rail.

[0017] In some embodiments, the warehouse robot further includes an abutment block disposed on the lower side of the support frame and an alignment component disposed corresponding to the climbing wheel. The alignment component includes a fixed seat, an elastic element and a top rod, the elastic element being connected between the fixed seat and the top rod and the top rod abutting against the abutment block.

[0018] Based on the technical solution provided by this invention, a warehouse robot includes a frame and a climbing unit. The climbing unit includes a climbing drive mechanism and a climbing assembly fixedly mounted on the frame. The climbing assembly includes a climbing wheel and a transmission assembly. The transmission assembly is disposed between the climbing wheel and the climbing drive mechanism and includes a transmission belt, a drive wheel, and a power wheel. The drive wheel is fixedly mounted on the frame and drivenly connected to the climbing drive mechanism. The transmission belt is wound around the drive wheel and the power wheel to drive the power wheel to move. The power wheel is connected to the climbing wheel to drive the climbing wheel to rotate, and the power wheel extends and retracts in a first direction along with the climbing wheel. In this invention, the drive wheel is fixedly mounted and does not extend or retract with the climbing wheel, and the climbing drive mechanism is also fixedly mounted on the frame. Therefore, the warehouse robot of this invention is safer and more stable.

[0019] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0021] Figure 1 This is a structural diagram of a warehouse robot based on related technologies;

[0022] Figure 2 This is a schematic diagram of the structure of the warehouse robot according to an embodiment of the present invention;

[0023] Figure 3 for Figure 2 A structural diagram of the frame and traveling mechanism in the machine;

[0024] Figure 4 for Figure 2 A structural diagram of the electrical compartment;

[0025] Figure 5 for Figure 2 A structural diagram of each climbing mechanism and climbing drive mechanism in the process;

[0026] Figure 6 for Figure 2 A schematic diagram of the cargo container handling mechanism in the middle;

[0027] Figure 7 for Figure 2 The diagram shows the power arrangement structure of the warehouse robot.

[0028] Figure 8 for Figure 7 A partially enlarged structural diagram;

[0029] Figure 9 for Figure 7 A schematic diagram of the drive mechanism in the diagram;

[0030] Figure 10 for Figure 7 A schematic diagram of the structure of the telescopic component in the diagram;

[0031] Figure 11 for Figure 7 A schematic diagram of the transmission components in the diagram;

[0032] Figure 12 and Figure 13 for Figure 11 The diagram shown illustrates the principle of the transmission assembly during operation.

[0033] Figure 14 and Figure 15 for Figure 7 A schematic diagram of the centering mechanism.

[0034] The labels in each figure represent:

[0035] 1a. Warehouse robots;

[0036] 14a. First climbing component;

[0037] 15a. Climbing drive mechanism;

[0038] 16a. Second climbing component;

[0039] 1. Warehouse robots;

[0040] 11. Frame; 111. Guide rail; 112. Mounting plate; 112A. Groove;

[0041] 12. Walking mechanism;

[0042] 13. Electrical Warehouse;

[0043] 14. Climbing components;

[0044] 141. Climbing sprocket;

[0045] 142. Transmission assembly; 1421. Chain; 1422. Drive sprocket; 1423. Idler wheel;

[0046] 1424. First drive sprocket; 1425. Second drive sprocket; 1426. Auxiliary support plate;

[0047] 143. Slippery boots;

[0048] 16. Cargo container pickup and delivery mechanism;

[0049] 17. Climbing drive mechanism;

[0050] 171. Climbing motor; 172. Reducer; 173. Drive gear; 174. Driven gear;

[0051] 18. Telescopic mechanism;

[0052] 180. Telescopic motor; 181. Reducer; 182. First pulley; 183. Belt;

[0053] 184. Second pulley; 185. Lead screw;

[0054] 20. Drive shaft;

[0055] 21. Slider;

[0056] 22. Centering component;

[0057] 221. Fixed base; 222. Elastic element; 223. Push rod;

[0058] 23. Abutment block; Detailed Implementation

[0059] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0060] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0061] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways, and the spatial relative descriptions used herein will be interpreted accordingly.

[0062] like Figure 1As shown, the warehouse robot 1a of the related technology includes a first climbing component 14a, a second climbing component 16a, and a climbing drive mechanism 15a. The first climbing component 14a includes a climbing sprocket and a chain drive mechanism disposed between the climbing sprocket and the climbing drive mechanism 15a. The climbing sprocket cooperates with the climbing track to drive the warehouse robot 1a to move in the height direction of the shelf. The chain drive mechanism includes a first sprocket, a chain, and a second sprocket. The climbing drive mechanism 15a is driven by the first sprocket, and the second sprocket is connected to the climbing sprocket. Therefore, the climbing drive mechanism 15a can drive the climbing sprocket to rotate through the chain drive mechanism.

[0063] The first climbing component 14a extends relative to the frame to engage with the climbing rail when needed, and retracts relative to the frame after operation. Because the climbing drive mechanism 15a is connected to the first climbing component 14a, it extends and retracts along with the first climbing component 14a, resulting in a cantilevered state for the entire climbing drive mechanism and insufficient stability. Furthermore, as... Figure 1 As shown, the second sprocket of the first climbing component 14a drives the climbing sprocket of the second climbing component 16a to rotate through the drive shaft. The twisting of the drive shaft will cause the climbing sprockets of the two climbing components to move asynchronously.

[0064] To improve the problems existing in the aforementioned warehouse robots, such as Figures 2 to 15 As shown, the warehouse robot of this embodiment includes a frame 11 and a climbing unit. The climbing unit includes a climbing drive mechanism 17 and a climbing component 14 fixedly mounted on the frame 11. The climbing component 14 includes a climbing wheel and a transmission component 142. The transmission component 142 is disposed between the climbing wheel and the climbing drive mechanism 17 and includes a transmission belt, a drive wheel and a power wheel. The drive wheel is fixedly mounted on the frame and drivenly connected to the climbing drive mechanism 17. The transmission belt is wound around the drive wheel and the power wheel to drive the power wheel to move. The power wheel is connected to the climbing wheel to drive the climbing wheel to rotate. The power wheel extends and retracts in the first direction X along with the climbing wheel.

[0065] In this embodiment of the invention, the drive wheel is fixed and does not extend or retract with the climbing wheel, and the climbing drive mechanism 17 is also fixedly mounted on the frame 11. Therefore, the warehouse robot in this embodiment of the invention is safer and more stable.

[0066] like Figure 2As shown, the warehousing robot of this embodiment includes a frame 11, a walking mechanism 12, an electrical compartment 13, a cargo handling mechanism 16, and climbing units. This embodiment also includes two climbing units positioned along a first direction X. All the aforementioned mechanisms are assembled around the frame 11. The electrical compartment 13 is located at the bottom of the frame 11, the walking mechanism 12 is mounted on both sides of the frame 11 along the first direction X, and the two climbing units are respectively mounted on both sides of the frame 11 along the first direction X. The cargo handling mechanism 16 is mounted on the frame 11. In summary, the various mechanisms of the warehousing robot of this embodiment are detachably connected to the frame 11, thus making the warehousing robot easy to assemble and maintain.

[0067] like Figure 5 As shown, the climbing unit in this embodiment includes a climbing component 14. A climbing drive mechanism 17 drives the climbing component 14 to operate. Specifically, as... Figure 11 As shown, the climbing assembly 14 includes a climbing sprocket 141 and a transmission assembly 142 disposed between the climbing drive mechanism 17 and the climbing sprocket 141. The transmission assembly 142 includes a chain 1421, a drive sprocket 1422, an idler pulley 1423, a first drive sprocket 1424, and a second drive sprocket 1425. The drive sprocket 1422 is fixedly mounted on the frame 11. The first drive sprocket 1424 and the second drive sprocket 1425 are connected to the climbing sprocket 141 and extend and retract with the climbing sprocket 141. The first drive sprocket 1424 is coaxially connected to the climbing sprocket 141 to drive the climbing sprocket 141. Figure 12 As shown, when the climbing sprocket 141 extends, the first drive sprocket 1424 and the second drive sprocket 1425 also extend accordingly; as Figure 13 As shown, when the climbing sprocket 141 retracts, the first drive sprocket 1424 and the second drive sprocket 1425 also retract. Since the drive sprocket 1422 does not extend or retract with the climbing sprocket 141, the climbing drive mechanism 17 also does not extend or retract and is fixedly mounted on the frame 11, thus making it more stable.

[0068] To improve the stability of the movement of the climbing component 14 in this embodiment, such as Figure 8 As shown, the transmission assembly 142 in this embodiment further includes an auxiliary support plate 1426 for supporting the first drive sprocket 1424 and the second drive sprocket 1425. The auxiliary support plate 1426 is translatable along the mounting plate 112 on the frame 11. The mounting plate 112 is provided with a groove 112A to reduce weight.

[0069] Moreover, as Figure 7As shown, the climbing unit includes two climbing components 14 respectively disposed in the second direction Y. Each climbing component 14 includes an independently disposed transmission component, and the climbing drive mechanism 17 drives the two climbing sprockets to rotate simultaneously through the two transmission components, thus making its power transmission more reasonable.

[0070] Figure 8 The structure of the climbing drive mechanism 17 is shown. The climbing drive mechanism 17 includes a climbing motor 171, a reducer 172, a drive gear 173, a driven gear 174, and a drive shaft 175. The drive shaft 175 rotates following the driven gear 174, and drive sprockets 1422 are respectively provided at both ends of the drive shaft 175.

[0071] Figure 9 A schematic diagram of the telescopic mechanism of this embodiment is shown. The telescopic mechanism includes a telescopic motor 180, a reducer 181, a first pulley 182, a belt 183, a second pulley 184, and a lead screw 185. The telescopic motor 180 drives the first pulley 182 to rotate via the reducer 181. The first pulley 182 drives the second pulley 184 to rotate via the belt 183. The rotation of the second pulley 182 and the lead screws 185 located on both sides of the second pulley 182 further drives the first power sprocket 1424 and the second power sprocket 1425 to move along the first direction X. Under normal operating conditions, the climbing component of the warehouse robot should be in the retracted state. When climbing is required, the motor of the telescopic mechanism operates, driving the reducer, belt, and left and right lead screws to rotate to achieve the telescopic function.

[0072] Specifically, such as Figure 8 and Figure 10 As shown, the climbing assembly 14 in this embodiment also includes a slip shoe 143 connected to the climbing sprocket 1422. The slip shoe 143 is sleeved on the outside of the lead screw 185 and cooperates with the lead screw 185 to move along the first direction X under the drive of the lead screw 185.

[0073] Specifically, a slider 21 is provided at the lower end of the slipper 143, and the slider 21 is slidably mounted on the guide rail 111. The centering mechanism 22 includes a fixed base 221, an elastic element 222, and a push rod 223. An abutment block 23 is provided in the middle of the two climbing components 14, and the two push rods 223 abut against both sides of the abutment block 23. When subjected to external force, the climbing components 14 on both sides can float freely in the first direction X.

[0074] Specifically, the elastic element 222 is a spring.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A warehouse robot, characterized in that, include: Rack (11); and The climbing unit includes a climbing drive mechanism (17) fixedly mounted on the frame (11) and a climbing assembly (14). The climbing assembly (14) includes a climbing wheel and a transmission assembly (142). The transmission assembly (142) is disposed between the climbing wheel and the climbing drive mechanism (17) and includes a transmission belt, a drive wheel, a power wheel and an idler wheel. The drive wheel is fixedly mounted on the frame and drivenly connected to the climbing drive mechanism (17). The power wheel includes a first power wheel and a second power wheel. The transmission belt forms a closed loop around the drive wheel, the idler wheel and the first power wheel. The second power wheel is disposed between the drive wheel and the first power wheel and is located outside the closed loop. The first power wheel is coaxially connected to the climbing wheel to drive the climbing wheel to rotate. The warehouse robot includes a telescopic mechanism (18) for driving the climbing wheel to extend and retract relative to the frame (11) in a first direction (X), and the first power wheel and the second power wheel extend and retract in the first direction (X) along with the climbing wheel; The climbing unit includes two climbing components (14) spaced apart in the second direction (Y), and the climbing drive mechanism (17) simultaneously drives the two climbing components (14) to move.

2. The warehouse robot according to claim 1, characterized in that, The transmission component (142) is a chain transmission component.

3. The warehouse robot according to claim 1, characterized in that, The climbing unit also includes a drive shaft (20), and the drive sprockets (1422) of the two climbing components are respectively disposed at both ends of the drive shaft (20).

4. The warehouse robot according to claim 3, characterized in that, The climbing drive mechanism (17) includes a climbing motor (171), a driving gear (173), and a driven gear (174). The transmission shaft (20) is connected to the shaft hole of the driven gear (174). The climbing motor (171) is driven by the driving gear (173), and the driven gear (174) meshes with the driving gear (173) to drive the transmission shaft (20) to rotate.

5. The warehouse robot according to claim 1, characterized in that, The warehouse robot includes two climbing units spaced apart in a first direction (X).

6. The warehouse robot according to claim 5, characterized in that, The telescopic mechanism (18) simultaneously drives the climbing wheels (141) of the two climbing units to extend and retract relative to the frame (11) in the first direction (X).

7. The warehouse robot according to claim 1, characterized in that, The frame (11) has a guide rail (111), and the climbing wheel is slidably disposed on the guide rail (111).

8. The warehouse robot according to claim 7, characterized in that, The warehousing robot also includes a support frame (24) fixedly connected to the climbing wheel and a slider (21) disposed on the lower side of the support frame (24). The slider (21) is slidably disposed on the guide rail (111) to drive the climbing wheel to slide along the guide rail (111).

9. The warehouse robot according to claim 8, characterized in that, The warehousing robot also includes an abutment block (23) disposed on the lower side of the support frame (24) and a centering component (22) disposed corresponding to the climbing wheel. The centering component (22) includes a fixed seat (221), an elastic element (222) and a top rod (223). The elastic element (222) is connected between the fixed seat (221) and the top rod (223), and the top rod (223) abuts against the abutment block (23).

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