A warehouse robot

Abstract

The present application relates to a warehouse robot comprising: a mobile base unit, a lifting unit, a rotating unit, and a clamping unit. The lifting unit is mounted on the mobile base unit, the rotating unit is mounted on the lifting unit, and the clamping unit is mounted on the rotating unit. The lifting unit is provided with at least two right-angled storage plates, which are fixed to the lifting unit via a lifting fixed plate and a lifting fixed crossbar. The clamping unit comprises: a fork transfer mechanism, left and right clamping mechanisms, and front and rear clamping mechanisms, which are mounted on the fork transfer mechanism. The warehouse robot autonomously moves and completes automated cargo handling tasks via the mobile base unit. The lifting unit enables the lifting and lowering of cargo to accommodate the handling of shelves of different heights. The clamping unit enables the simultaneous placement and handling of multiple bins, thereby improving handling efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of warehouse robots, and in particular to a warehouse robot. Background Art

[0002] With the continuous advancement of technology, automated equipment has been widely used in various industries, including tobacco factories. Warehouse robots are robots that can autonomously perform tasks such as storage, management, and handling of goods. In tobacco factories, warehouse robots can automatically perform tasks such as storage, sorting, scheduling, and transportation of tobacco products, improving production efficiency and quality while also reducing labor costs and intensity.

[0003] In current technologies, warehouse robots are typically equipped with a gripping mechanism to facilitate the placement and access of cargo boxes. These boxes are typically open at the top and closed at the sides and bottom. Warehouse robots perform this by gripping the side walls or supporting the bottom of the box to facilitate placement and transport.

[0004] During the tobacco production process, the boxes used to store tobacco rods (such as Figure 22 (As shown), in addition to the open top, one sidewall is also open. Therefore, when picking up, placing, and transporting this type of bin, the gripping mechanisms of current storage robots don't account for this situation and are not well adapted to the task, causing cigarette sticks to fall during handling. Furthermore, these bins typically contain multiple cigarette sticks placed vertically side by side. Current storage robot gripping mechanisms can only pick up and place one bin at a time, resulting in low handling efficiency. Summary of the Invention

[0005] In order to solve or partially solve the problems existing in the related technology, the present application provides a warehouse robot, which can adapt to the handling work of storing cigarette rod boxes, adapt to the handling tasks of shelves of different heights, and can realize the simultaneous picking, placing and handling of multiple boxes, thereby improving the handling efficiency.

[0006] In a first aspect, the present application provides a warehouse robot comprising: a mobile base unit, a lifting unit, a rotating unit, and a clamping unit. The lifting unit is mounted on the mobile base unit, the rotating unit is mounted on the lifting unit, and the clamping unit is mounted on the rotating unit. The mobile base unit is an AGV (Automated Guided Vehicle) capable of autonomous movement and automated cargo handling. The lifting unit is a motor-driven gantry lift capable of raising and lowering cargo to accommodate handling tasks on shelves of varying heights.

[0007] Optionally, in some embodiments of the first aspect, four right-angle storage plates are provided on the lifting device, and each right-angle storage plate is fixed to the lifting device through a lifting fixing plate and a lifting fixing cross bar, and the right-angle storage plate and the lifting fixing plate are hingedly fixed; two lifting electric cylinders are provided on the top of the lifting device, and the two lifting electric cylinders are fixedly connected to the side walls of each right-angle storage plate through a lifting straight rod.

[0008] Optionally, in some embodiments of the first aspect, the rotating device includes: a rotating motor, a driving gear, a driven gear, a rotating bearing and a rotating pulley, the rotating motor is arranged and installed on a lifting bracket of the lifting device, the driving gear is connected to the output shaft of the rotating motor, the rotating bearing is arranged and installed at the bottom of the lifting device, the driven gear is arranged and installed on the outside of the rotating bearing, and the rotating pulley is meshed with the driving gear and the driven gear; the bottom of the clamping device is provided with a through hole corresponding to the rotating bearing, and the clamping device is fixedly connected to the driven gear through the rotating bearing.

[0009] Optionally, in some embodiments of the first aspect, the clamping device includes: left and right clamping mechanisms, front and rear clamping mechanisms, and a fork transfer mechanism, and the left and right clamping mechanisms and the front and rear clamping mechanisms are arranged and installed on the fork transfer mechanism;

[0010] The left and right clamping mechanisms include a left clamping arm and a right clamping arm. The left clamping arm and the right clamping arm have the same structure and are respectively installed on the left and right sides of the fork transfer mechanism.

[0011] The left clamping arm includes: a clamping adjustment mechanism, an upper clamping mechanism and a lower clamping mechanism. The upper clamping mechanism and the lower clamping mechanism have the same structure. The upper clamping mechanism and the lower clamping mechanism are respectively installed on the top and bottom of the clamping adjustment mechanism.

[0012] The clamping adjustment mechanism includes: a first fixed bracket, a clamping motor, a first bearing seat and a first guide rail, the clamping motor is arranged and installed on the first fixed bracket, a bevel gear is respectively provided on the output shaft at both ends of the clamping motor, the first bearing seat is provided with four, two at the top and two at the bottom of the first fixed bracket, a first screw is installed between the two first bearing seats, and a bevel gear and a first connecting block are provided on the first screw, the bevel gears on the output shaft at both ends of the clamping motor are respectively meshed and connected with the bevel gears on the two first bearing seats; the first guide rail is provided with four, two at the top and two at the bottom of the first fixed bracket;

[0013] The upper clamping mechanism comprises: a second fixed bracket, an adjusting motor, an adjusting screw, a second bearing seat, a second guide rail, a first clamping plate, a second clamping plate and a third clamping plate, the second fixed bracket being fixedly connected to the first guide rail located on the top of the first fixed bracket, the adjusting motor being arranged and mounted on the second fixed bracket, the adjusting screw being mounted on the second fixed bracket through the second bearing seat, one end of the adjusting screw being connected to the output shaft of the adjusting motor, the second guide rail being arranged and mounted on the second fixed bracket, and the second guide rail and the adjusting screw being arranged parallel to each other, the first clamping plate being arranged and mounted on the second fixed bracket, the second clamping plate and the third clamping plate being respectively arranged and mounted on the adjusting screw and being threadedly connected to the adjusting screw, and the bottoms of the second clamping plate and the third clamping plate being also fixedly connected to the second guide rail;

[0014] The front and rear clamping mechanism includes: a third fixed bracket, front and rear clamping electric cylinders and a clamping baffle. The front and rear clamping electric cylinders are arranged and installed on the third fixed bracket. The clamping baffle is arranged and installed on the top of the output shaft of the front and rear clamping electric cylinders. At least one third guide rail is provided on the left and right side walls of the third fixed bracket. The left and right side walls of the clamping baffle are respectively connected and fixed to the third guide rails of the left and right side walls of the third fixed bracket.

[0015] Optionally, in some embodiments of the first aspect, the first clamping plate, the second clamping plate and the third clamping plate are all provided with clamping bars, and the clamping bars are made of rubber.

[0016] Optionally, in some embodiments of the first aspect, a first detection piece is mounted on the second fixing bracket of the upper clamping mechanism, and two first photoelectric sensors are provided on the first fixing bracket;

[0017] Optionally, in some embodiments of the first aspect, the left and right clamping mechanisms further include a protective shell, and two protective shells are provided, and the two protective shells are respectively arranged and installed on the left clamping arm and the right clamping arm.

[0018] Optionally, in some embodiments of the first aspect, the fork transfer mechanism includes: a fourth fixed bracket, a slide rail, a transfer motor, a transmission rod, a bearing seat, a rotating pulley, and a connecting plate;

[0019] Two slide rails are provided, and the two slide rails are respectively installed on the left and right inner walls of the fourth fixed bracket. Both slide rails are connected and fixed to the first fixed bracket and the third fixed bracket. The transfer motor is installed on the fourth fixed bracket. The transmission rod is installed on the fourth fixed bracket via a bearing seat. One end of the transmission rod is connected to the front output shaft of the transfer motor. A first belt gear is installed on the rear output shaft of the transfer motor, and a second belt gear is installed on the other end of the transmission rod. A third belt gear and a fourth belt gear are respectively installed on the left and right inner walls of the fourth fixed bracket. Two rotating pulleys are provided, one rotating pulley connecting the first belt gear and the third belt gear, and the other rotating pulley connecting the second belt gear and the fourth belt gear. One of the rotating pulleys is fixedly connected to the third fixed bracket via a connecting plate.

[0020] Optionally, in some embodiments of the first aspect, a third detection piece is provided on the third fixing bracket, and a third photoelectric sensor is provided on the fourth fixing bracket.

[0021] The technical solution provided in the first aspect of this application may have the following beneficial effects:

[0022] The present application provides left and right clamping mechanisms, and by controlling and driving the clamping motor, can drive the upper clamping mechanism and the lower clamping mechanism to move, thereby achieving left and right clamping of the material box, ensuring that the material box will not slip or tilt during the transportation process, thereby improving transportation safety. At the same time, by providing the first clamping plate, the second clamping plate and the third clamping plate, it is possible to realize the transportation of multiple material boxes, thereby improving transportation efficiency.

[0023] This application sets up front and rear clamping mechanisms and controls the front and rear clamping electric cylinders to drive the clamping baffle to move, thereby closing the top of the material box, preventing the material in the material box from scattering during transportation, and further improving transportation safety.

[0024] The present invention increases the clamping force of the clamping plate by providing the clamping bar, preventing the material box from sliding or swinging during handling. At the same time, the rubber material clamping bar has good wear resistance and impact resistance, which can better adapt to the handling of the material box.

[0025] The present application provides a first detection piece and two first photoelectric sensors, which can be used to detect the movement status of the upper clamping mechanism and the lower clamping mechanism to ensure the stability of transportation.

[0026] The present application can protect the clamping device by providing a protective shell, preventing the clamping device from being damaged and affected by the outside world, and at the same time preventing the operator from being injured due to contact with the clamping device.

[0027] The present application sets up a fork transfer mechanism, which drives the transfer motor through the transmission rod and pulley to drive the left and right clamping mechanisms and the front and rear clamping mechanisms to move on the slide rail, thereby realizing the clamping, transfer and transportation of the material boxes on the shelf.

[0028] The present application provides a third detection piece and a third photoelectric sensor to detect the movement state of the third fixed bracket, thereby ensuring the normal operation of the clamping, transfer and transportation of the material box.

[0029] This application realizes unattended automated handling tasks by adopting the autonomous movement technology of AGV carts, thereby improving handling efficiency and accuracy. By setting up a lifting device, the goods can be raised and lowered to adapt to the handling tasks of shelves at different heights. By setting up a rotating device, the goods can be rotated to adapt to handling tasks in different directions. By setting a clamping device on the rotating device, the cigarette rod material box can be carried by clamping, ensuring the stability and safety of the handling.

[0030] The present application can better adapt to the transportation of cigarette rod boxes by arranging a right-angle storage plate on the lifting device, and can tilt the right-angle storage plate by driving the lifting electric cylinder to ensure the stability of transportation.

[0031] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0033] Figure 1 Schematic diagram of a storage robot according to an embodiment of the present application;

[0034] Figure 2 1 is a schematic structural diagram of a movable base device and a lifting device shown in an embodiment of the present application;

[0035] Figure 3 This is a schematic diagram of an installation structure of a lifting electric cylinder in a lifting device shown in an embodiment of the present application;

[0036] Figure 4 This is a schematic diagram of an installation structure of a right-angle storage plate in a lifting device shown in an embodiment of the present application;

[0037] Figure 5 This is a schematic diagram of an installation structure of a right-angle storage plate and a lifting straight rod shown in an embodiment of the present application;

[0038] Figure 6 1 is a side view of a right-angle storage plate in a lifting device shown in an embodiment of the present application;

[0039] Figure 7 This is a bottom view of the structure of the rotating device and the clamping device shown in the embodiment of the present application;

[0040] Figure 8 1 is a schematic top view of the structure of the rotating device and the clamping device shown in the embodiment of the present application;

[0041] Figure 9 1 is a structural diagram of a clamping device shown in an embodiment of the present application;

[0042] Figure 10 1 is a front view structural diagram of the left and right clamping mechanisms shown in an embodiment of the present application;

[0043] Figure 11 This is a rear structural schematic diagram of the left and right clamping mechanisms shown in an embodiment of the present application;

[0044] Figure 12 1 is a front view structural diagram of the clamping adjustment mechanism shown in an embodiment of the present application;

[0045] Figure 13 1 is a rear view structural diagram of the clamping adjustment mechanism shown in an embodiment of the present application;

[0046] Figure 14 1 is a front view structural diagram of the upper clamping mechanism shown in an embodiment of the present application;

[0047] Figure 15 1 is a rear view structural diagram of the upper clamping mechanism shown in an embodiment of the present application;

[0048] Figure 16 This is a structural diagram of the front and rear clamping mechanisms and the clamping device shown in an embodiment of the present application;

[0049] Figure 17 1 is a rear structural schematic diagram of the front and rear clamping mechanism shown in an embodiment of the present application;

[0050] Figure 18 1 is a front view structural diagram of the front and rear clamping mechanism shown in an embodiment of the present application;

[0051] Figure 19 1 is a left-side structural schematic diagram of the fork transfer mechanism and the front and rear clamping mechanisms shown in an embodiment of the present application;

[0052] Figure 20 1 is a right side structural schematic diagram of the fork transfer mechanism and the front and rear clamping mechanisms shown in the embodiment of the present application;

[0053] Figure 21 Schematic diagram of a fork transfer mechanism according to an embodiment of the present application;

[0054] Figure 22 It is a structural schematic diagram of the material box shown in an embodiment of the present application.

[0055] Reference numerals:

[0056] 100-clamping device; 1-left and right clamping mechanisms; 10-left clamping arm; 11-right clamping arm;

[0057] 101-clamping adjustment mechanism, 102-upper clamping mechanism, 103-lower clamping mechanism, 104-protective housing;

[0058] 1011-first fixing bracket, 1012-clamping motor, 1013-first bearing seat, 1014-first guide rail, 1015-bevel gear, 1016-first screw, 1017-first connecting block;

[0059] 1021 - second fixing bracket, 1026 - first clamping plate, 1027 - second clamping plate, 1028 - third clamping plate;

[0060] 2- front and rear clamping mechanism, 201- third fixed bracket, 202- front and rear clamping electric cylinder, 203- clamping baffle, 204- third guide rail, 205- clamping connecting plate;

[0061] 3-fork transfer mechanism, 301-fourth fixed bracket, 302-slide rail, 303-transfer motor, 304-transmission rod, 305-bearing seat, 306-first belt gear, 307-second belt gear, 308-third belt gear, 309-fourth belt gear, 310-rotating pulley, 311-belt connecting plate;

[0062] 401-first detection sheet, 402-first photoelectric sensor, 405-third detection sheet, 406-third photoelectric sensor;

[0063] 501-clamping bar block;

[0064] 1000-warehouse robots;

[0065] 200-lifting device, 2001-lifting plate, 2002-right angle storage plate, 2003-lifting electric cylinder, 2004-lifting straight rod, 2005-lifting fixed plate, 2006-lifting fixed cross bar;

[0066] 300-mobile base device;

[0067] 400-rotating device, 4001-rotating motor, 4002-driving gear, 4003-driven gear, 4004-rotating bearing, 4005-rotating pulley;

[0068] 500-material box. DETAILED DESCRIPTION

[0069] The following describes embodiments of the present application in more detail with reference to the accompanying drawings. Although the accompanying drawings illustrate embodiments of the present application, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0070] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0071] In the description of this application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0072] Unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they may refer to fixed or detachable connections, or integration; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0073] During the tobacco production process, the material box used to store tobacco rods has an open top as well as an open side wall. The current clamping mechanism of the storage robot does not take this situation into consideration and cannot adapt well to the clamping and handling of this type of material box. For this type of material box for storing tobacco rods, three material boxes are generally placed vertically side by side. The current clamping mechanism of the storage robot can only pick up and place one box at a time during transportation, and the transportation efficiency is low.

[0074] In response to the above problems, an embodiment of the present application provides a storage robot, which can adapt to the handling work of boxes for storing cigarette rods, and can realize the simultaneous placement and handling of multiple boxes, thereby improving the handling efficiency.

[0075] The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0076] Figure 1 Schematic diagram of a storage robot according to an embodiment of the present application;

[0077] Figure 2 1 is a schematic structural diagram of a movable base device and a lifting device shown in an embodiment of the present application;

[0078] Figure 3 This is a schematic diagram of an installation structure of a lifting electric cylinder in a lifting device shown in an embodiment of the present application;

[0079] Figure 4 This is a schematic diagram of an installation structure of a right-angle storage plate in a lifting device shown in an embodiment of the present application;

[0080] Figure 5 This is a schematic diagram of an installation structure of a right-angle storage plate and a lifting straight rod shown in an embodiment of the present application;

[0081] Figure 6 1 is a side view of a right-angle storage plate in a lifting device shown in an embodiment of the present application;

[0082] Figure 7 This is a bottom view of the structure of the rotating device and the clamping device shown in the embodiment of the present application;

[0083] Figure 8 1 is a schematic top view of the structure of the rotating device and the clamping device shown in the embodiment of the present application;

[0084] Figure 9 1 is a structural diagram of a clamping device shown in an embodiment of the present application;

[0085] Figure 10 1 is a front view structural diagram of the left and right clamping mechanisms shown in an embodiment of the present application;

[0086] Figure 11 This is a rear structural schematic diagram of the left and right clamping mechanisms shown in an embodiment of the present application;

[0087] Figure 12 1 is a front view structural diagram of the clamping adjustment mechanism shown in an embodiment of the present application;

[0088] Figure 13 1 is a rear view structural diagram of the clamping adjustment mechanism shown in an embodiment of the present application;

[0089] Figure 14 1 is a front view structural diagram of the upper clamping mechanism shown in an embodiment of the present application;

[0090] Figure 15 1 is a rear view structural diagram of the upper clamping mechanism shown in an embodiment of the present application;

[0091] Figure 16 This is a structural diagram of the front and rear clamping mechanisms and the clamping device shown in an embodiment of the present application;

[0092] Figure 17 1 is a rear structural schematic diagram of the front and rear clamping mechanism shown in an embodiment of the present application;

[0093] Figure 18 1 is a front view structural diagram of the front and rear clamping mechanism shown in an embodiment of the present application;

[0094] Figure 19 1 is a left-side structural schematic diagram of the fork transfer mechanism and the front and rear clamping mechanisms shown in an embodiment of the present application;

[0095] Figure 20 1 is a right side structural schematic diagram of the fork transfer mechanism and the front and rear clamping mechanisms shown in the embodiment of the present application;

[0096] Figure 21 Schematic diagram of a fork transfer mechanism according to an embodiment of the present application;

[0097] Figure 22 It is a structural schematic diagram of the material box shown in an embodiment of the present application.

[0098] See also Figure 1-22 The present application provides a warehouse robot, comprising: a mobile base device 300, a lifting device 200, a rotating device 400, and a clamping device 100. The lifting device 200 is mounted on the mobile base device 300, the rotating device 400 is mounted on the lifting plate 2001 of the lifting device 200, and the clamping device 100 is mounted on the rotating device 400.

[0099] The mobile base device 300 is an AGV cart that can move autonomously and complete the automated handling task of goods. The lifting device 200 is a gantry lifting frame driven by a motor that can realize the raising and lowering of goods to adapt to the handling tasks of shelves of different heights.

[0100] This application realizes unattended automated handling tasks by adopting the autonomous movement technology of the AGV cart, thereby improving the handling efficiency and accuracy. By setting up a lifting device 200, the goods can be raised and lowered to adapt to the handling tasks of shelves at different heights. By setting up a rotating device 400, the goods can be rotated to adapt to handling tasks in different directions. By setting the clamping device 100 on the rotating device, the cigarette rod material box can be transported by clamping, thereby ensuring the stability and safety of the handling.

[0101] Specifically, the lifting device 200 is equipped with four right-angled storage plates 2002, each secured to the lifting device 200 via a lifting fixing plate 2005 and a lifting fixing crossbar 2006. The right-angled storage plates 2002 and the lifting fixing plates 2005 are hingedly fixed. Two lifting cylinders 2003 are installed at the top of the lifting device 200, each fixedly connected to the side wall of each right-angled storage plate 2002 via a lifting straight rod 2004.

[0102] The present application provides a right-angled storage plate 2002 on the lifting device to better accommodate the handling of cigarette rod bins. Furthermore, by driving the lifting electric cylinder 2003, the lifting rod 2004 is driven upward, thereby pulling the right-angled storage plate 2002 and tilting it. Therefore, after the bin is placed on the right-angled storage plate 2002, it can be well supported by the right-angled storage plate 2002, further ensuring stability during handling.

[0103] Specifically, the rotating device 400 includes: a rotating motor 4001, a driving gear 4002, a driven gear 4003, a rotating bearing 4004 and a rotating pulley 4005. The rotating motor 4001 is arranged and installed on the lifting bracket of the lifting device 200. The driving gear 4002 is connected to the output shaft of the rotating motor 4001. The rotating bearing 4004 is arranged and installed at the bottom of the lifting device 200. The driven gear 4003 is arranged and installed on the outside of the rotating bearing 4004. The rotating pulley 4005 is meshed and connected with the driving gear 4002 and the driven gear 4003; the bottom of the fourth fixed bracket is provided with a through hole corresponding to the rotating bearing 4004, and the fourth fixed bracket passes through the rotating bearing 4004 and is fixedly connected to the driven gear 4003 so that the rotating device 4000 can rotate accurately.

[0104] The clamping device includes: left and right clamping mechanisms 1, front and rear clamping mechanisms 2 and a fork transfer mechanism 3. The left and right clamping mechanisms 1 and the front and rear clamping mechanisms 2 are installed on the fork transfer mechanism 3.

[0105] The left and right clamping mechanism 1 includes a left clamping arm 10 and a right clamping arm 11. The left clamping arm 10 and the right clamping arm 11 have the same structure and are respectively installed on the left and right sides of the fork transfer mechanism 3.

[0106] The left clamping arm 10 includes a clamping adjustment mechanism 101, an upper clamping mechanism 102, and a lower clamping mechanism 103. The upper clamping mechanism 102 and the lower clamping mechanism 103 have the same structure. The upper clamping mechanism 102 and the lower clamping mechanism 103 are respectively installed on the top and bottom of the clamping adjustment mechanism 101.

[0107] The clamping and adjusting mechanism 101 includes a first fixing bracket 1011 , a clamping motor 1012 , a first bearing seat 1013 and a first guide rail 1014 .

[0108] The clamping motor 1012 is arranged and installed on the first fixed bracket 1011, and a bevel gear 1015 is provided on each of the output shafts at both ends of the clamping motor 1012. The first bearing seat 1013 is provided with four, two at the top and two at the bottom of the first fixed bracket 1011. By installing a first screw 1016 between the two first bearing seats 1013, and providing a bevel gear 1015 and a first connecting block 1017 on the first screw 1016, the bevel gears on the output shafts at both ends of the clamping motor 1012 are respectively engaged with the bevel gears 1015 on the two first bearing seats 1013; the first guide rails 1014 are provided with four, two at the top and two at the bottom of the first fixed bracket 1011.

[0109] The upper clamping mechanism 102 includes a second fixing bracket 1021, a first clamping plate 1026, a second clamping plate 1027, and a third clamping plate 1028. The second fixing bracket 1021 is fixedly connected to the two first guide rails 1014 located at the top of the first fixing bracket and is also fixedly connected to the first connecting block 1017. The lower clamping mechanism 103 is fixedly connected to the two first guide rails 1014 located at the bottom of the first fixing bracket and is also fixedly connected to the first connecting block 1017.

[0110] By driving the clamping motor 1012 , the first screw 1016 can be rotated, driving the first connecting block 1017 to move, thereby moving the upper clamping mechanism 102 and the lower clamping mechanism 103 in turn.

[0111] The front-to-back clamping mechanism 2 includes a third fixed bracket 201, front-to-back clamping electric cylinders 202, and a clamping baffle 203. The front-to-back clamping electric cylinders 202 are mounted on the third fixed bracket 201, and the clamping baffle 203 is mounted on top of the output shaft of the front-to-back clamping electric cylinders 202. Two third guide rails 204 are provided on the left and right side walls of the third fixed bracket 201. The left and right side walls of the clamping baffle 203 are respectively connected and fixed to the two third guide rails 204 on the left and right side walls of the third fixed bracket 201. The clamping baffle 203 can be moved by driving the front-to-back clamping electric cylinders 202. The provision of the third guide rails 204 ensures the stability of the movement of the clamping baffle 203.

[0112] Specifically, the first clamping plate 1026 , the second clamping plate 1027 and the third clamping plate 1028 are all provided with clamping bars 501 , and the clamping bars 501 are made of rubber.

[0113] Specifically, a first detection piece 401 is installed on the second fixed bracket 1021 of the upper clamping mechanism 102, and two first photoelectric sensors 402 are provided on the top of the first fixed bracket 1011; a second detection piece 403 is provided on the top of the third clamping plate 1028 of the upper clamping mechanism 102, and two second photoelectric sensors 404 are provided on the second fixed bracket 1021 of the upper clamping mechanism.

[0114] Specifically, the left and right clamping mechanism 1 further includes a protective shell 104 , which is mounted on the left clamping arm 10 and the right clamping arm 11 .

[0115] Specifically, the fork transfer mechanism 3 comprises: a fourth fixed bracket 301, a slide rail 302, a transfer motor 303, a transmission rod 304, a bearing block 305, a rotating pulley 310, and a belt connecting plate 311. Two slide rails 302 are provided, mounted on the left and right inner walls of the fourth fixed bracket 301, respectively. Both slide rails 302 are connected and fixed to the side walls of the first fixed bracket 1011 and the third fixed bracket 201. The transfer motor 303 is mounted on the fourth fixed bracket 301, and the transmission rod 304 is mounted on the fourth fixed bracket 301 via the bearing block 305. One end of the transmission rod 304 is connected to the front output shaft of the transfer motor 303. A first belt gear 306 is mounted on the rear output shaft of the transfer motor 303, a second belt gear 307 is mounted on the other end of the transmission rod 304, and a third belt gear 308 and a fourth belt gear 309 are mounted on the left and right inner walls of the fourth fixed bracket 301, respectively. Two rotating pulleys 310 are provided: one connecting the first belt gear 306 and the third belt gear 308, and the other connecting the second belt gear 307 and the fourth belt gear 309. One of the rotating pulleys 310 is fixedly connected to the third fixed bracket 201 via a belt connecting plate 311. A protective housing 104 is also provided on the fourth fixed bracket 301.

[0116] Specifically, a third detection piece 405 is provided on the third fixing bracket 201 , and a third photoelectric sensor 406 is provided on the fourth fixing bracket 301 .

[0117] The present application provides left and right clamping mechanisms 1, and by controlling and driving the clamping motor 1012, it can drive the upper clamping mechanism 102 and the lower clamping mechanism 103 to move, thereby achieving left and right clamping 100 of the material box, ensuring that the material box will not slip or tilt during the transportation process, thereby improving transportation safety. At the same time, by providing the first clamping plate 1026, the second clamping plate 1027 and the third clamping plate 1028, it can achieve the transportation of multiple material boxes, thereby improving transportation efficiency.

[0118] This application sets up front and rear clamping mechanisms 2, and by controlling the front and rear clamping electric cylinders 202, it can drive the clamping baffle 203 to move, thereby achieving the closure of the top of the material box, avoiding the scattering of materials in the material box during transportation, and further improving the transportation safety.

[0119] The present application can increase the clamping force of the clamping plate by setting the clamping bar 501 to prevent the material box from sliding or swinging during transportation. At the same time, the clamping bar 501 made of rubber material has good wear resistance and impact resistance, which can better adapt to the transportation of the material box.

[0120] The present application provides a first detection piece 401 and two first photoelectric sensors 402 to detect the movement status of the upper clamping mechanism 102 and the lower clamping mechanism 103 to ensure the stability of transportation.

[0121] The present application provides a protective shell 104 to protect the clamping device 100, thereby preventing the clamping device from being damaged and affected by the outside world, and at the same time preventing the operator from being injured due to contact with the clamping device.

[0122] The present application sets up a fork transfer mechanism 3, and drives the transfer motor 303 to drive the left and right clamping mechanisms 1 and the front and rear clamping mechanisms 2 to move on the slide rail 302 through the transmission rod 304 and the pulley, thereby realizing the clamping, transfer and transportation of the material boxes on the shelf.

[0123] The present application provides a third detection piece 405 and a third photoelectric sensor 406 to detect the movement state of the third fixed bracket 201 and ensure the normal operation of the clamping, transfer and transportation of the material box.

[0124] Finally, it should be noted that, in this document, relationships such as first and second, etc., are used solely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms include, comprise, or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0125] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0126] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0127] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

[0128] The embodiments of the present application have been described above. The above description is illustrative and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or improvements to the technology in the market, or to enable other persons skilled in the art to understand the embodiments disclosed herein.

Claims

1. A storage robot, characterized in that: include: A movable base device (300), a lifting device (200), a rotating device (400), and a clamping device (100), wherein the lifting device (200) is mounted on the movable base device (300), the rotating device (400) is mounted on the lifting device (200), and the clamping device is mounted on the rotating device (400); The lifting device (200) is provided with at least two right-angled storage plates (2002), the right-angled storage plates (2002) being fixed to the lifting device (200) via a lifting fixed plate (2005) and a lifting fixed cross bar (2006), and the right-angled storage plates and the lifting fixed plate are hingedly fixed; The clamping device (100) comprises: a fork transfer mechanism (3), a left and right clamping mechanism (1) and a front and rear clamping mechanism (2), wherein the left and right clamping mechanism (1) and the front and rear clamping mechanism (2) are arranged and mounted on the fork transfer mechanism (3); Two lifting electric cylinders (2003) are provided on the top of the lifting device (200), and the two lifting electric cylinders (2003) are fixedly connected to the side walls of each right-angle storage plate (2002) via a lifting straight rod (2004). By driving the lifting electric cylinders (2003), the lifting straight rod (2004) is driven to move upward, thereby pulling the right-angle storage plate (2002), so that the right-angle storage plate (2002) is tilted.

2. The storage robot according to claim 1, characterized in that: The rotating device (400) comprises: a rotating motor (4001), a driving gear (4002), a driven gear (4003), a rotating bearing (4004) and a rotating pulley (4005); the rotating motor (4001) is arranged and mounted on a lifting bracket of the lifting device (200); the driving gear (4002) is connected to the output shaft of the rotating motor (4001); the rotating bearing (4004) is arranged and mounted on the bottom of the lifting device (200); the driven gear (4003) is arranged and mounted on the outside of the rotating bearing (4004); and the rotating pulley (4005) is meshedly connected with the driving gear (4002) and the driven gear (4003); and the bottom of the clamping device (100) is provided with a through hole corresponding to the rotating bearing (4004); the clamping device (100) passes through the rotating bearing (4004) and is fixedly connected to the driven gear (4003).

3. The storage robot according to claim 1, characterized in that: The left and right clamping mechanisms (1) include: a left clamping arm (10) and a right clamping arm (11); the left clamping arm (10) and the right clamping arm (11) have the same composition and structure; the left clamping arm (10) and the right clamping arm (11) are respectively arranged and installed on the left and right sides of the fork transfer mechanism (3); the left clamping arm (10) includes: a clamping adjustment mechanism (101), an upper clamping mechanism (102) and a lower clamping mechanism (103); the upper clamping mechanism (102) and the lower clamping mechanism (103) have the same composition and structure; the upper clamping mechanism (102) and the lower clamping mechanism (103) are respectively arranged and installed on the top and bottom of the clamping adjustment mechanism (101).

4. The storage robot according to claim 3, characterized in that: The clamping adjustment mechanism (101) comprises: a first fixed bracket (1011), a clamping motor (1012), a first bearing seat (1013) and a first guide rail (1014); the clamping motor (1012) is arranged and installed on the first fixed bracket (1011), and a bevel gear (1015) is respectively provided on the output shaft at both ends of the clamping motor (1012); the first bearing seat (1013) is provided with four, two at the top and two at the bottom of the first fixed bracket, and a first screw (1016) is installed between the two first bearing seats, and a bevel gear (1015) and a first connecting block (1017) are provided and installed on the first screw (1016), and the bevel gears (1015) on the output shaft at both ends of the clamping motor (1012) are respectively engaged and connected with the bevel gears (1015) on the two first bearing seats (1013); the first guide rail (1014) is provided with four, two at the top and two at the bottom of the first fixed bracket; The upper clamping mechanism (102) comprises: a second fixing bracket (1021), a first clamping plate (1026), a second clamping plate (1027), and a third clamping plate (1028); the first clamping plate (1026), the second clamping plate (1027), and the third clamping plate (1028) are mounted on the second fixing bracket (1021); The front and rear clamping mechanism (2) comprises: a third fixed bracket (201), front and rear clamping electric cylinders (202) and a clamping baffle (203); the front and rear clamping electric cylinders (202) are arranged and mounted on the third fixed bracket (201); the clamping baffle (203) is arranged and mounted on the top of the output shaft of the front and rear clamping electric cylinders (202); at least one third guide rail (204) is provided on the left and right side walls of the third fixed bracket (201); and the left and right side walls of the clamping baffle (203) are respectively connected and fixed to the third guide rails (204) on the left and right side walls of the third fixed bracket (201).

5. The storage robot according to claim 4, characterized in that: The first clamping plate (1026), the second clamping plate (1027) and the third clamping plate (1028) are all provided with clamping bars (501) installed thereon, and the clamping bars are made of rubber.

6. The storage robot according to claim 1, characterized in that: The left and right clamping mechanisms (1) further include a protective shell (104), two of which are provided, and the two protective shells are respectively installed on the left clamping arm (10) and the right clamping arm (11).

7. The storage robot according to claim 1, characterized in that: The fork transfer mechanism (3) comprises: a fourth fixed bracket (301), a slide rail (302), a transfer motor (303), a transmission rod (304), a bearing seat (305), a rotating pulley (310) and a belt connecting plate (311); two slide rails (302) are provided, and the two slide rails are respectively provided and installed on the left and right inner walls of the fourth fixed bracket (301), and the two slide rails are connected and fixed to the first fixed bracket (1011) and the third fixed bracket (201); the transfer motor (303) is provided and installed on the fourth fixed bracket (301); the transmission rod (304) is provided and installed on the fourth fixed bracket (301) through the bearing seat (305), and one end of the transmission rod is connected to the first fixed bracket (1011) and the third fixed bracket (201). The front output shaft of the transfer motor is connected; a first belt gear (306) is provided on the rear output shaft of the transfer motor, a second belt gear (307) is provided on the other end of the transmission rod, a third belt gear (308) and a fourth belt gear (309) are provided on the left and right inner walls of the fourth fixed bracket (301), respectively, and two rotating pulleys (310) are provided, one rotating pulley is connected to the first belt gear (306) and the third belt gear (308), and the other rotating pulley is connected to the second belt gear (307) and the fourth belt gear (309), and one of the rotating pulleys is fixedly connected to the third fixed bracket (201) through a belt connecting plate (311).

8. The storage robot according to claim 4, characterized in that: A first detection piece (401) is mounted on the second fixing bracket (1021) of the upper clamping mechanism (102), and two first photoelectric sensors (402) are mounted on the first fixing bracket (1011); A third detection piece (405) is provided on the third fixing bracket (201).

9. The storage robot according to claim 7, characterized in that: A third photoelectric sensor (406) is provided on the fourth fixing bracket (301).

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