An intelligent picking robot arm for a stereoscopic warehouse

Abstract

The present application relates to the technical field of logistics warehousing, and in particular to an intelligent cargo-picking robot arm for a stereoscopic warehouse, which includes a climbing machine, and a vertical track set on the vertical rod of the frame and a horizontal track on the horizontal rod. The climbing machine includes a frame and a moving device set at the four corners of the frame. The frame is provided with a conveying mechanism, and the moving device is used to drive the conveying mechanism to move up and down or horizontally through the frame based on the vertical track or the horizontal track. The present invention sets a frame, a moving device and a conveying mechanism. When in use, the moving device moves based on the vertical track and the horizontal track, and the conveying mechanism is driven by the frame to move horizontally and vertically on the frame, and the synchronous conveying mechanism realizes the purpose of taking and placing the goods in the cargo space in the frame.

Description

Technical Field

[0001] The present application relates to the technical field of logistics warehousing, and in particular to an intelligent picking robot arm for a stereoscopic warehouse. Background Art

[0002] Automated three-dimensional warehouse is a new concept in logistics warehousing. The use of three-dimensional warehouse equipment can realize the rationalization of warehouse high-rise, automatic storage and retrieval, and simplified operation; automated three-dimensional warehouse is a form with a higher technical level at present. The main body of the automated three-dimensional warehouse is composed of shelves, aisle stacking cranes, in-(out-) warehouse workbenches, and automatic in-(out) and operation control systems. The shelves are buildings or structures with steel or reinforced concrete structures. The shelves are standard-sized cargo spaces. The aisle stacking cranes travel through the aisles between the shelves to complete the storage and retrieval of goods. Computers and barcode technology are used in management.

[0003] In the prior art, stacking cranes are often used to pick up and place goods, but they are costly, bulky, and can only pick up and place a single item at a time.

[0004] Through searching, Chinese patent announcement number CN111232511A discloses a small cargo stereoscopic warehouse shelf that automatically replenishes and picks up goods by an automatic arm, including a small shelf, the interior of the small shelf is filled with goods, the top of the charging shell is provided with a charging port, the bottom of the rotating block is fixedly connected to a first retraction cylinder, the bottom of the first retraction cylinder is clamped with a second retraction cylinder, the bottom of the second retraction cylinder is clamped with a third retraction cylinder, and the bottom of the third retraction cylinder is rotatably connected to a gripping manipulator through a rotating shaft; this small cargo stereoscopic warehouse shelf that automatically replenishes and picks up goods by an automatic arm adjusts the longitudinal position of the gripping manipulator by adjusting the contraction of the first retraction cylinder, the second retraction cylinder and the third retraction cylinder, and at the same time can adjust its position by moving the fixed block on the guide rail to change the lateral position of the manipulator, thereby achieving the effect of automatic replenishment and saving costs.

[0005] The above scheme provides an automatic arm for automatically replenishing goods, which satisfies the needs of picking up and putting away goods at different positions of the shelf by adjusting the longitudinal and lateral positions of the automatic arm. However, the above scheme is only suitable for use on small shelves and is not suitable for picking up and putting away goods in large-scale stereoscopic warehouses. Summary of the invention

[0006] In order to solve the problems of stacking cranes in the prior art for picking up and placing goods, such as high cost, large size, and being able to only pick up and place a single item at a time, the present application provides an intelligent picking robot arm for a stereoscopic warehouse.

[0007] The present application provides an intelligent cargo-picking robot arm for a three-dimensional warehouse, which adopts the following technical solution: it includes a climbing machine, and vertical tracks on the vertical bars of the frame and horizontal tracks on the horizontal bars. The climbing machine includes a frame and moving devices arranged at the four corners of the frame. A transport mechanism is arranged on the frame. The moving device is used to drive the transport mechanism to move up and down or horizontally through the frame based on the vertical tracks or horizontal tracks.

[0008] Optionally, the frame is arranged in a horizontal direction, and the length of the frame along the length direction of the frame is equal to the length of the cargo space, the moving device includes a base plate fixedly arranged with the frame, two first fork rods with middle sections hinged to each other are arranged in the base plate, the hinge axes of the two first fork rods are fixedly arranged with the base plate, the outer end of each first fork rod extends to the outside of the base plate, and the front side surface of the outer end of each first fork rod is rotatably connected to a moving wheel, and a driving motor is fixedly arranged on the rear side surface of the outer end of each first fork rod, the output shaft of the driving motor passes through the first fork rod and is coaxially fixed to the corresponding moving wheel, and a driving device for driving the two first fork rods to rotate relative to each other is arranged in the base plate; an anti-falling device is also arranged in the base plate, and the anti-falling device is used to prevent the moving device from falling off the horizontal track or the vertical track when the driving device drives the first fork rod to rotate to realize the switching of the movement direction of the moving device.

[0009] Optionally, the horizontal track and the vertical track are both composed of two side panels and a middle panel located between the two side panels, the two side panels and the middle panel are fixed on the horizontal bar or the vertical bar, and the height of the middle panel is higher than the height of the corresponding two side panels, and the inner side walls of the side panels are provided with track grooves along the length direction of the side panels, and the vertical side panels and the middle panel form an interrupted spacing with the horizontal side panels and the middle panel at the intersection of the horizontal bar and the vertical bar, and the corresponding two interrupted spacings form a rotation space.

[0010] Optionally, the anti-falling device includes two second fork rods which are hinged to each other in the middle section of the base plate, the hinge axes of the two second fork rods are fixed to the base plate, the two second fork rods and the two first fork rods are arranged front and rear in the base plate, a driving device is connected to the two second fork rods, a linkage device is arranged between the two second fork rods and the two first fork rods, and when the driving device drives the two second fork rods to rotate, the two second fork rods drive the two first fork rods to rotate through the linkage device, and the linkage device makes the rotation of the two first fork rods lag behind the rotation of the two second fork rods, two sliding shafts are slidingly arranged in the second fork rod along the length direction, the two sliding shafts are located on both sides of the hinge axes of the two second fork rods, four right-angle grooves are opened on the front side surface of the base plate, the four right-angle grooves are evenly arranged on a virtual circle with the central axis of the hinge axes of the two second fork rods as the center, the sliding shaft passes forward through the corresponding right-angle grooves and is rotatably connected to a directional wheel, and the distance the directional wheel extends to the front of the base plate is greater than the distance the moving wheel extends to the front of the base plate.

[0011] Optionally, a positioning sensor is coaxially fixedly arranged on the front side of the base plate, and a positioning block is fixedly arranged at the center of the intersection of the horizontal rod and the vertical rod, that is, in the rotation space.

[0012] Optionally, the driving device includes an adjusting motor fixedly arranged in the base plate, the output shaft of the adjusting motor is fixedly arranged with a threaded rod, the outer surface of the threaded rod is threadedly connected with a first slider, the upper end face and the lower end face of the first slider are hinged with a first connecting rod, and the ends of the two first connecting rods away from the first slider are hinged with corresponding second fork rods; the first slider is connected to the two first fork rods through a linkage device.

[0013] Optionally, the linkage device includes a second slider, a spring is fixedly arranged between the second slider and the first slider, the upper end surface and the lower end surface of the second slider are hinged with second connecting rods, and the end of each second connecting rod away from the second slider is hinged to the corresponding first fork rod, and the left and right sides of the second slider are respectively provided with a first magnetic block and a second magnetic block, and the first magnetic block and the second magnetic block are fixed to the substrate.

[0014] Optionally, the transport mechanism includes two horizontal guide parts fixed to the upper end surface of the frame, the upper end surfaces of the two horizontal guide parts are provided with bottom rods which are slidably arranged with the two horizontal guide parts, a horizontal electric cylinder is fixedly arranged at one end of the two horizontal guide parts, each horizontal electric cylinder is fixed to the frame, the output end of each horizontal electric cylinder is fixed to the bottom rod, two vertical guide parts are fixedly arranged in the vertical direction on the upper end surface of the bottom rod, lifting rods which are slidably arranged with the two vertical guide parts in the up and down directions are provided on the sides of the two vertical guide parts, vertical electric cylinders are fixedly arranged on the top ends of the two vertical guide parts, the output end of each vertical electric cylinder is fixed to the lifting rod, and two fork plates are fixedly arranged on the outer side surfaces of the lifting rods.

[0015] Optionally, the upper end surface and the lower end surface of the middle plate located outside the side plate are provided with herringbone grooves, and the outer surface of the moving wheel is provided with herringbone teeth matched with the herringbone grooves of the middle plate.

[0016] In summary, this application includes the following beneficial technical effects:

[0017] The present invention sets a frame, a moving device and a conveying mechanism. When in use, the moving device moves based on vertical tracks and horizontal tracks, and the frame drives the conveying mechanism to move horizontally and in the up and down directions on the frame, and the synchronous conveying mechanism realizes the purpose of taking and placing the goods in the cargo space inside the frame.

[0018] The present invention provides two first fork rods hinged to each other, and a driving motor and a moving wheel are provided at the outer ends of the first fork rods, so that when the two first fork rods are rotated to a state approximately closed in the horizontal direction, the two moving wheels located above and the two moving wheels located below clamp the horizontal track, thereby realizing the rotation of the driving motor, so that the four moving wheels move on the horizontal track, and the purpose of the four moving wheels driving the conveying mechanism to move in the horizontal direction in sequence through the base plate and the frame is achieved; when the two first fork rods are rotated to a state approximately closed in the vertical direction, the two moving wheels located on the right and the two moving wheels located on the left clamp the vertical track, thereby realizing the rotation of the driving motor, so that the four moving wheels move on the vertical track, and the purpose of the four moving wheels driving the conveying mechanism to move in the vertical direction in sequence through the base plate and the frame is achieved; thereby achieving the purpose of switching between horizontal movement and vertical movement through the rotation of the two first fork rods. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall three-dimensional structure of an embodiment of the present application;

[0020] Figure 2 In the embodiment of this application Figure 1 A schematic diagram of the structure enlargement in the middle;

[0021] Figure 3 It is a schematic diagram of the three-dimensional structure of the horizontal track and the vertical track in the embodiment of the present application;

[0022] Figure 4 In the embodiment of this application Figure 3 A magnified schematic diagram of the structure at B in the middle;

[0023] Figure 5 It is a schematic diagram of the three-dimensional structure of the vertical electric cylinder in an embodiment of the present application;

[0024] Figure 6 This is a schematic diagram of the three-dimensional structure of the frame in the embodiment of the present application;

[0025] Figure 7 In the embodiment of this application Figure 6 A magnified schematic diagram of the structure at C in the middle;

[0026] Figure 8 This is a schematic diagram of the three-dimensional structure of the framework in the embodiment of the present application;

[0027] Fig. 9 is a schematic diagram of the three-dimensional structure of the substrate in an embodiment of the present application;

[0028] Fig.10 is a schematic diagram of the three-dimensional structure inside the substrate in an embodiment of the present application;

[0029] Fig.11is a schematic diagram of the three-dimensional structure of the driving motor in an embodiment of the present application;

[0030] Fig.12 This is a schematic diagram of the three-dimensional structure of the directional wheel in the embodiment of the present application;

[0031] Fig.13 This is a schematic diagram of the second fork rod structure in an embodiment of the present application;

[0032] Fig.14 This is a schematic diagram of the three-dimensional structure of the moving wheel in the embodiment of the present application;

[0033] Fig.15 It is a schematic diagram of the three-dimensional structure of the first fork rod in the embodiment of the present application.

[0034] 1. A plurality of fork rods are provided in the plurality of coupling members. The plurality of fork rods are provided with plurality of coupling members. The plurality of coupling members are provided with plurality of coupling members. The plurality of coupling members are provided with plurality of coupling members. DETAILED DESCRIPTION

[0035] The following is combined with Figure 1-15 To further explain this application in detail, the angle directional words appearing in the following embodiments are all Fig. 9 shall prevail.

[0036] The existing shelves include several groups of evenly arranged frames, which are composed of several horizontal bars 1 and vertical bars 2. The vertical bars 2 and the horizontal bars 1 form several equal cargo storage spaces in the frames, and aisles are formed between each two adjacent groups of frames. The aisles are used for the passage of personnel or aisle stacking cranes, which is convenient for personnel or aisle stacking cranes to pick up and put away goods.

[0037] The embodiment of the present application discloses an intelligent cargo-picking robot arm for a stereoscopic warehouse, including a climbing machine, and a vertical track 3 arranged on the vertical rod 2 of the frame and a horizontal track 4 on the horizontal rod 1. The climbing machine includes a frame 5 and moving devices arranged at the four corners of the frame 5. A conveying mechanism is arranged on the frame 5. The moving device is used to drive the conveying mechanism to move up and down or horizontally through the frame 5 based on the vertical track 3 or the horizontal track 4; so that the conveying mechanism can freely switch between each cargo storage space of the frame, and conveniently take goods from the corresponding cargo storage space or place goods into the corresponding cargo storage space through the conveying mechanism.

[0038] In this embodiment, the frame 5 is arranged in the horizontal direction, and the length of the frame 5 along the length direction of the frame body is equal to the length of the cargo space. The moving device includes a base plate 6 fixedly arranged with the frame 5, and two first fork rods 7 with middle sections hinged to each other are arranged in the base plate 6. The hinge axes of the two first fork rods 7 are fixedly arranged with the base plate 6, and the outer end of each first fork rod 7 extends to the outside of the base plate 6, and the front side surface of the outer end of each first fork rod 7 is rotatably connected to a moving wheel 8, and the rear side surface of the outer end of each first fork rod 7 is fixedly arranged with a driving motor 9, and the output shaft of the driving motor 9 passes through the first fork rod 7 and is coaxially fixed with the corresponding moving wheel 8. A driving device for driving the two first fork rods 7 to rotate relative to each other is arranged in the base plate 6. When the driving device drives the two first fork rods 7 to rotate to a state of approximately closing in the horizontal direction, the two moving wheels 8 located at the top and the moving wheels 8 located at the bottom are moved. The two moving wheels 8 on the right clamp the horizontal track 4, thereby realizing the rotation of the driving motor 9, so that the four moving wheels 8 move on the horizontal track 4, and the four moving wheels 8 drive the conveying mechanism to move in the horizontal direction through the base plate 6 and the frame 5 in turn; when the driving device drives the two first fork rods 7 to rotate to a state approximately closed in the vertical direction, the two moving wheels 8 on the right and the two moving wheels 8 on the left clamp the vertical track 3, thereby realizing the rotation of the driving motor 9, so that the four moving wheels 8 move on the vertical track 3, and the four moving wheels 8 drive the conveying mechanism to move in the vertical direction through the base plate 6 and the frame 5 in turn; an anti-falling device is also provided in the base plate 6, and the anti-falling device is used to prevent the moving device from falling off the horizontal track 4 or the vertical track 3 when the driving device drives the first fork rod 7 to rotate to realize the switching of the movement direction of the moving device.

[0039] When in use, the four moving wheels 8 are driven to rotate by the driving motor 9, so that the four moving wheels 8 can move on the horizontal track 4 or the vertical track 3, thereby achieving the purpose of driving the conveying mechanism to move on the frame through the frame 5, and the four moving wheels 8 are switched on the horizontal track 4 and the vertical track 3 through the driving device. The timing for the driving device to switch between horizontal movement and vertical movement is that the four base plates 6 are all located at the intersection of the corresponding vertical rods 2 and cross rods 1, thereby achieving the purpose of the frame 5 switching between vertical movement and horizontal movement through the moving wheels 8, and then achieving the purpose of the frame 5 driving the conveying mechanism to achieve horizontal movement and vertical movement on the frame and being able to switch between horizontal movement and vertical movement, so as to facilitate the conveying mechanism to pick up and put goods in the corresponding cargo space.

[0040] In this embodiment, the horizontal track 4 and the vertical track 3 are both composed of two side panels 10 and a middle panel 11 located between the two side panels 10. The two side panels 10 and the middle panel 11 are fixedly arranged on the cross bar 1 or the vertical bar 2, and the height of the middle panel 11 is higher than the height of the corresponding two side panels 10. The inner side walls of the side panels 10 are provided with track grooves 12 along the length direction of the side panels 10. The vertical side panels 10 and the middle panel 11 form an interrupted spacing with the horizontal side panels 10 and the middle panel 11 at the intersection of the cross bar 1 and the vertical bar 2, and the corresponding two interrupted spacings form a rotation space.

[0041] In this embodiment, the anti-falling device includes two second fork rods 13 hinged to each other in the middle section arranged in the base plate 6, the hinge axes of the two second fork rods 13 are fixed to the base plate 6, the two second fork rods 13 and the two first fork rods 7 are arranged front and back in the base plate 6, the driving device is connected to the two second fork rods 13, a linkage device is arranged between the two second fork rods 13 and the two first fork rods 7, the driving device is connected to the two first fork rods 7 through the two second fork rods 13 and the linkage device, when the driving device drives the two second fork rods 13 to rotate, the two second fork rods 13 drive the two first fork rods 7 to rotate through the linkage device, and the linkage device makes the rotation of the two first fork rods 7 lag behind the rotation of the two second fork rods 13, and a Two sliding shafts 14 are located on both sides of the hinge shafts of the two second fork rods 13. Four right-angle grooves 16 are opened on the front side of the base plate 6. The four right-angle grooves 16 are evenly arranged on a virtual circle with the central axis of the hinge shafts of the two second fork rods 13 as the center. The sliding shaft 14 passes forward through the corresponding right-angle grooves 16 and is rotatably connected to a directional wheel 15. The distance that the directional wheel 15 extends to the front of the base plate 6 is greater than the distance that the moving wheel 8 extends to the front of the base plate 6. When moving, the corresponding two directional wheels 15 are located in the track grooves 12 in the corresponding two side plates 10, and the corresponding two directional wheels 15 clamp the corresponding middle plate 11. The corresponding two moving wheels 8 are located on the outside of the corresponding side plates 10 and clamp the middle plate 11 located on the outside of the side plates 10.

[0042] When in use, the driving motor 9 rotates to drive the moving wheel 8 to rotate, so that the moving wheel 8 rolls based on the middle plate 11 and then drives the frame 5 to move through the base plate 6. At the same time, the directional wheels 15 move in the track grooves 12 of the side plates 10, so that the frame 5 drives the conveying mechanism to move. When the conveying mechanism needs to switch from horizontal movement to vertical movement, when the four moving wheels 8 and the four directional wheels 15 are located in the rotating space at the intersection of the cross bar 1 and the vertical bar 2, the four moving wheels 8 are located on the left and right sides of the rotating space, and the four directional wheels 15 are located on the left and right sides of the rotating space. The driving device drives the two second fork rods 13 to rotate toward a vertically closed state, and the two second fork rods 13 drive the sliding shaft 14 to first move inward in the horizontal groove of the right-angle groove 16. At the same time, the sliding shaft 14 slides on the second fork rod 13. As the two second fork rods 13 rotate, when the sliding shaft 14 moves to the right angle of the right-angle groove 16, the sliding shaft 14 enters the vertical groove of the right-angle groove 16 and moves. The movement of the sliding shaft 14 drives the directional wheels 15 first The frame 5 is moved in the vertical direction by the two second fork rods 13, and the two first fork rods 7 are driven to rotate by the two second fork rods 13 through the linkage device. Due to the hysteresis effect of the linkage device, after the four directional wheels 15 enter the track grooves 12 of the vertical side plates 10, the two first fork rods 7 begin to rotate to a vertically closed state, thereby driving the two upper moving wheels 8 to clamp the upper middle plate 11 and the two lower moving wheels 8 to clamp the lower middle plate 11, thereby completing the switching from horizontal movement to vertical movement. At this time, the four moving wheels 8 are driven to rotate by the driving motor 9, and the four moving wheels 8 drive the frame 5 to move in the vertical direction through the base plate 6, thereby realizing the driving of the conveying mechanism to move in the vertical direction; the same is true for switching from vertical movement to horizontal movement.

[0043] In order to increase the moving effect of the moving wheel 8 based on the middle plate 11, in this embodiment, the upper end surface and the lower end surface of the middle plate 11 located on the outer side of the side plate 10 are provided with herringbone grooves, and the outer surface of the moving wheel 8 is provided with herringbone teeth matched with the herringbone grooves of the middle plate 11. When the moving wheel 8 moves based on the middle plate 11, the herringbone teeth of the moving wheel 8 are engaged with the herringbone grooves of the middle plate 11, so that the rotation of the moving wheel 8 is more stable, thereby increasing the stability of the movement of the moving wheel 8 based on the middle plate 11.

[0044] It should be noted that not all the intermediate plates 11 in the drawings are drawn with herringbone grooves. The drawings are only for illustration purposes. In order to reduce the difficulty of drawing, the drawings only draw herringbone grooves on representative intermediate plates 11.

[0045] In order to increase the accuracy of grasping the timing when the moving wheel 8 and the directional wheel 15 are switching, in this embodiment, a positioning sensor 17 is coaxially fixedly arranged on the front side of the base plate 6, and a positioning block 18 is fixedly arranged at the center of the intersection of the horizontal bar 1 and the vertical bar 2, that is, in the rotating space; when switching is required, when the positioning sensor 17 of the base plate 6 senses the signal of the positioning block 18, it represents that the frame 5 moves to the position of the switching timing, that is, the four base plates 6 are all located at the intersection position of the corresponding vertical bar 2 and the horizontal bar 1, the sensor transmits the signal to the drive device, and the drive device starts to move to perform the switching operation.

[0046] In this embodiment, the driving device includes an adjusting motor 19 fixedly arranged in the base plate 6, and the output shaft of the adjusting motor 19 is fixedly provided with a threaded rod 20, and the outer surface of the threaded rod 20 is threadedly connected with a first slider 21, and the upper end surface and the lower end surface of the first slider 21 are hinged with a first connecting rod 22, and the ends of the two first connecting rods 22 away from the first slider 21 are hinged with the corresponding second fork rods 13; the first slider 21 is connected to the two first fork rods 7 through a linkage device; when reversing is required, the adjusting motor 19 rotates to drive the first slider 21 to move left and right through the threaded rod 20, and then the first slider 21 drives the two second fork rods 13 to rotate through the two first connecting rods 22, so that the two second fork rods 13 rotate in the direction of the vertical closing state or in the direction of the horizontal closing state, so as to achieve the purpose of reversing the four directional wheels 15, and the movement of the first slider 21 drives the two first fork rods 7 to rotate through the linkage device, so as to achieve the purpose of reversing the four moving wheels 8.

[0047] In this embodiment, the linkage device includes a second slider 23, a spring 24 is fixedly arranged between the second slider 23 and the first slider 21, the upper end surface and the lower end surface of the second slider 23 are hinged with a second connecting rod 25, and each second connecting rod 25 is hinged with the corresponding first fork rod 7 at one end away from the second slider 23, and the left and right sides of the second slider 23 are respectively provided with a first magnetic block 26 and a second magnetic block 27, and the first magnetic block 26 and the second magnetic block 27 are fixedly arranged with the base plate 6; when reversing, when the regulating motor 19 rotates to drive the first slider 21 to move left and right, the first slider 21 pulls the second slider 23 to move through the spring 24, but the second slider 23 is adsorbed by the first magnetic block 26, and the second slider 23 remains stationary at the initial stage. When the first slider 21 moves to the four directional wheels 1 After both enter the position in the track groove 12 of the side plate 10 to be switched, the pulling force of the spring 24 overcomes the adsorption force of the first magnetic block 26 to pull the second slider 23 to move, and the second slider 23 moves through the two second connecting rods 25 to drive the two first fork rods 7 to rotate. When the second slider 23 moves to the vicinity of the second magnetic block 27, the second slider 23 is adsorbed by the second magnetic block 27, so that the purpose of driving the two first fork rods 7 to rotate through the spring 24 when the two second fork rods 13 rotate is achieved, and at the same time, the purpose of the two first fork rods 7 rotating lags behind the two second fork rods 13 is achieved. The positions of the first magnetic block 26 and the second magnetic block 27 are set so that when the second slider 23 is adsorbed by the first magnetic block 26 and the second magnetic block 27, the moving wheel 8 can clamp the intermediate plate 11.

[0048] In this embodiment, the transport device comprises two horizontal guides 28 fixedly provided on the upper end surface of the frame 5, the upper end surfaces of the two horizontal guides are provided with bottom rods 29 which are slidably provided with the two horizontal guides 28, one end of the two horizontal guides 28 is fixedly provided with a horizontal electric cylinder 30, each horizontal electric cylinder 30 is fixedly provided with the frame 5, the output end of each horizontal electric cylinder 30 is fixedly provided with the bottom rod 29, the upper end surface of the bottom rod 29 is fixedly provided with two vertical guides 31 in the vertical direction, the sides of the two vertical guides 31 are provided with lifting rods 32 which are slidably provided with the two vertical guides 31 in the up-down direction, the top ends of the two vertical guides 31 are fixedly provided with vertical electric cylinders 33, each vertical electric cylinder 33 The output ends are fixedly arranged with the lifting rod 32, and two fork plates 34 are fixedly arranged on the outer side of the lifting rod 32; when it is necessary to transport goods, the horizontal electric cylinder 30 pushes the bottom rod 29 to move into the cargo storage space, thereby driving the two vertical guide parts 31 to move into the cargo storage space, so that the fork plates 34 on the two vertical guide parts 31 are inserted into the bottom of the goods, and then the two vertical electric cylinders 33 drive the lifting rod 32 to move upward, so that the lifting rod 32 lifts the goods through the two fork plates 34, and then the two horizontal electric cylinders 30 drive the bottom rod 29 to move to the outside of the cargo storage space, so that the two fork plates 34 drive the goods to move out of the cargo storage space, and then the driving motor 9 and the adjusting motor 19 cooperate to move the goods to the corresponding cargo storage space.

[0049] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An intelligent picking robot arm for a three-dimensional warehouse, comprising a climbing machine, a vertical track (3) arranged on a vertical rod (2) of a frame, and a horizontal track (4) on a horizontal rod (1), characterized in that: The climbing machine comprises a frame (5) and moving devices arranged at four corners of the frame (5); a transport mechanism is arranged on the frame (5); the moving device is used to drive the transport mechanism to move up and down or horizontally through the frame (5) based on a vertical track (3) or a horizontal track (4); The frame (5) is arranged in a horizontal direction, and the length of the frame (5) along the length direction of the frame body is equal to the length of the cargo storage space. The moving device comprises a base plate (6) fixedly arranged with the frame (5). Two first fork rods (7) whose middle sections are hinged to each other are arranged in the base plate (6). The hinge axes of the two first fork rods (7) are fixedly arranged with the base plate (6). The outer end of each first fork rod (7) extends to the outside of the base plate (6). The front side surface of the outer end of each first fork rod (7) is rotatably connected to a moving wheel (8). The rear side surface of the outer end of each first fork rod (7) is fixedly arranged with a driving motor (9). The output shaft of the driving motor (9) passes through the first fork rod (7) and is coaxially fixedly arranged with the corresponding moving wheel (8). A driving device for driving the two first fork rods (7) to rotate relative to each other is arranged in the base plate (6). An anti-falling device is also arranged in the base plate (6). The anti-falling device is used to prevent the moving device from falling off the horizontal track (4) or the vertical track (3) when the driving device drives the first fork rod (7) to rotate to realize the switching of the moving device's movement direction. The anti-falling device comprises two second fork rods (13) which are hinged to each other in the middle section and are arranged in a base plate (6); the hinge axes of the two second fork rods (13) are fixed to the base plate (6); the two second fork rods (13) and the two first fork rods (7) are arranged in the base plate (6) in a front-rear manner; a driving device is connected to the two second fork rods (13); a linkage device is arranged between the two second fork rods (13) and the two first fork rods (7); the driving device is connected to the two first fork rods (7) through the two second fork rods (13) and the linkage device; when the driving device drives the two second fork rods (13) to rotate, the two second fork rods (13) drive the two first fork rods (7) to rotate through the linkage device; and the linkage device causes the two second fork rods (13) to rotate. The rotation of the two first fork rods (7) lags behind the rotation of the two second fork rods (13); two sliding shafts (14) are slidably arranged in the second fork rods (13) along the length direction; the two sliding shafts (14) are located on both sides of the hinge shafts of the two second fork rods (13); four right-angle grooves (16) are opened on the front side surface of the base plate (6); the four right-angle grooves (16) are evenly arranged on a virtual circle with the central axis of the hinge shafts of the two second fork rods (13) as the center; the sliding shafts (14) pass forward through the corresponding right-angle grooves (16) and are rotatably connected to the directional wheels (15); the distance that the directional wheels (15) extend forward of the base plate (6) is greater than the distance that the moving wheels (8) extend forward of the base plate (6).

2. The intelligent picking robot arm for a stereoscopic warehouse according to claim 1 is characterized in that: The horizontal track (4) and the vertical track (3) are both composed of two side plates (10) and a middle plate (11) located between the two side plates (10). The two side plates (10) and the middle plate (11) are both fixedly arranged on the crossbar (1) or the vertical bar (2), and the height of the middle plate (11) is higher than the height of the corresponding two side plates (10). The inner side walls of the side plates (10) are provided with track grooves (12) along the length direction of the side plates (10). The vertical side plates (10) and the middle plate (11) and the horizontal side plates (10) and the middle plate (11) form an interrupted spacing at the intersection of the crossbar (1) and the vertical bar (2), and the corresponding two interrupted spacings form a rotation space.

3. The intelligent picking robot arm for a stereoscopic warehouse according to claim 2 is characterized in that: A positioning sensor (17) is coaxially fixedly arranged on the front side of the base plate (6), and a positioning block (18) is fixedly arranged at the center of the intersection of the horizontal rod (1) and the vertical rod (2), that is, in the rotation space.

4. The intelligent picking robot arm for a stereoscopic warehouse according to claim 3 is characterized in that: The driving device comprises an adjusting motor (19) fixedly arranged in a base plate (6); a threaded rod (20) is fixedly arranged on an output shaft of the adjusting motor (19); a first slider (21) is threadedly connected to an outer surface of the threaded rod (20); first connecting rods (22) are hingedly connected to the upper end surface and the lower end surface of the first slider (21); and ends of the two first connecting rods (22) away from the first slider (21) are hingedly connected to corresponding second fork rods (13); and the first slider (21) is connected to the two first fork rods (7) via a linkage device.

5. The intelligent picking robot arm for a stereoscopic warehouse according to claim 4 is characterized in that: The linkage device comprises a second slider (23), a spring (24) is fixedly arranged between the second slider (23) and the first slider (21), the upper end surface and the lower end surface of the second slider (23) are both hingedly connected to second connecting rods (25), one end of each second connecting rod (25) away from the second slider (23) is hingedly connected to the corresponding first fork rod (7), and the left and right sides of the second slider (23) are respectively provided with a first magnetic block (26) and a second magnetic block (27), and the first magnetic block (26) and the second magnetic block (27) are both fixedly arranged on the base plate (6).

6. The intelligent picking robot arm for a stereoscopic warehouse according to claim 1 is characterized in that: The transport mechanism comprises two horizontal guides (28) fixedly arranged on the upper end surface of the frame (5); the upper end surfaces of the two horizontal guides are provided with bottom rods (29) slidably arranged on the two horizontal guides (28); one end of the two horizontal guides (28) is fixedly arranged with a horizontal electric cylinder (30); each horizontal electric cylinder (30) is fixedly arranged on the frame (5); the output end of each horizontal electric cylinder (30) is fixedly arranged on the bottom rod (29); two vertical guides (31) are fixedly arranged on the upper end surface of the bottom rod (29) in a vertical direction; the sides of the two vertical guides (31) are provided with lifting rods (32) slidably arranged on the two vertical guides (31) in an up-and-down direction; the top ends of the two vertical guides (31) are fixedly arranged with vertical electric cylinders (33); the output end of each vertical electric cylinder (33) is fixedly arranged on the lifting rod (32); and two fork plates (34) are fixedly arranged on the outer side surfaces of the lifting rods (32).

7. The intelligent picking robot arm for a stereoscopic warehouse according to claim 1 is characterized in that: The upper end surface and the lower end surface of the middle plate (11) located outside the side plate (10) are both provided with herringbone grooves, and the outer surface of the moving wheel (8) is provided with herringbone teeth matched with the herringbone grooves of the middle plate (11).

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