A multi-layer palletizing mechanism for a warehouse robot

Abstract

The present invention discloses a multi-layer stacking mechanism of a storage robot, which belongs to the technical field of storage robots, and includes a stacking robot body, wherein the stacking robot body includes a mobile base and a lifting bracket arranged at the upper end of the mobile base, a bracket is arranged at the upper end of one side of the lifting bracket, and a protective component is arranged at the upper end of the lifting bracket. The beneficial effects of the present invention are as follows: by arranging a bidirectional screw, an internal thread sleeve, a protective plate, a protective cover, a pulling component, an extrusion component, and a winding component, after the protective cover contacts the surface of the material, the continued rotation of the bidirectional screw will not drive the protective cover to continue to move, but will only drive another protective cover that is not in contact with the surface of the material to continue to move, that is, the protective cover stops moving after contacting the material, so that the two protective covers can stop moving one after the other, thereby achieving the effect of effectively protecting irregularly stacked materials on the pallet.

Description

Technical Field

[0001] The present invention relates to the technical field of warehouse robots, and in particular to a multi-layer stacking mechanism of a warehouse robot. Background Art

[0002] During the warehousing process, materials are usually stacked on pallets, and then palletizing robots are used to stack and store the pallets to improve the space utilization of the warehouse.

[0003] Most palletizing robots include a mobile base, a lifting frame and a fork. The fork is controlled to be inserted into the insertion hole reserved on the pallet to lift the pallet for transfer and stacking, or to remove the stacked pallet. However, during the transfer process, when the palletizing robot turns, it is easy to cause the materials stacked on the pallet to shake. Therefore, it is necessary to protect the stacked materials during the rotation. The materials are usually stacked on the pallet manually, and deviations are easy to occur during the stacking process. The stacked materials and the pallet are not on the same central axis. Traditional protective devices are difficult to synchronously protect both sides of the offset materials. Summary of the invention

[0004] The purpose of the present invention is to propose a multi-layer palletizing mechanism for a storage robot in order to solve the above-mentioned technical problems.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The lifting of the ...

[0007] As a further description of the above technical solution:

[0008] The pulling assembly includes an installation shaft rotatably arranged inside a fixed shell and a worm gear sleeved on the outside of the installation shaft; a worm sleeve matching the worm gear is sleeved on the surface of the bidirectional screw rod; two winding pieces are symmetrically sleeved on the outside of the installation shaft; a pull rope is fixedly wound on the outer surfaces of the two winding pieces respectively; one end of the two pull ropes are movably inserted into the installation cavity and fixedly connected to the clamping rod; a guide groove matching the pull rope is opened on the surface of the protective plate; a guide wheel matching the pull rope is rotatably arranged inside the installation cavity; and extrusion pieces are respectively provided on the outer surfaces of the two protective plates for squeezing the pull rope so that the clamping rod is disengaged from the clamping groove.

[0009] As a further description of the above technical solution:

[0010] The extrusion member includes a protective cover with a sliding cover arranged on the outside of the protective plate and a mounting block fixedly arranged at one end of the protective cover. The inner side of the protective cover is connected to the surface of the protective plate through a connecting spring. The upper and lower ends of the mounting block are respectively hinged with mounting frames. A constraining torsion spring is provided at the hinge between the mounting frame and the mounting block. The two mounting frames are respectively rotatably provided with rolling wheels that cooperate with the surface of the protective plate on the opposite sides. An extrusion wheel for extruding the pull rope is rotatably provided between the two mounting frames.

[0011] As a further description of the above technical solution:

[0012] The winding member comprises a winding roller sleeved on the outside of the mounting shaft and end plates fixedly arranged at both ends of the winding roller, wherein a surface of one of the end plates is connected to the outer surface of the worm wheel through a connecting torsion spring.

[0013] As a further description of the above technical solution:

[0014] Both ends of the bidirectional lead screw are smooth, a first magnet is fixedly provided on the opposite sides of the two protective plates, and a second magnet matching the first magnet is fixedly provided on the inner wall of the fixed shell.

[0015] As a further description of the above technical solution:

[0016] The stiffness coefficient of the connecting torsion spring is smaller than the stiffness coefficient of the compression spring.

[0017] As a further description of the above technical solution:

[0018] The drawstring is made of non-elastic material.

[0019] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0020] In the present invention, by arranging a bidirectional screw, an internal thread sleeve, a protective plate, a protective cover, a pulling assembly, an extrusion member, and a winding member, after the protective cover contacts the surface of the material, the continued rotation of the bidirectional screw will not drive the protective cover to continue to move, but will only drive the other protective cover that is not in contact with the surface of the material to continue to move, that is, the protective cover stops moving after contacting the material, so that the two protective covers can stop moving one after the other, thereby achieving the effect of effectively protecting the irregularly stacked materials on the pallet;

[0021] In the present invention, by arranging a worm sleeve, a worm wheel, a winding roller, an end plate, a connecting torsion spring, a first magnet and a second magnet, etc., the connecting spring is pre-stressed and twisted to store force, so as to prepare for the winding of the pull rope during the subsequent release of the pull rope, so that the pull rope is in a taut state, that is, the stability of the pull rope during movement is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The appearance diagram of the palletizing mechanism provided according to an embodiment of the present invention is shown;

[0023] Figure 2 A schematic diagram of the structure of a protection component provided according to an embodiment of the present invention is shown;

[0024] Figure 3 A schematic diagram of a partial structure of a protection component provided according to an embodiment of the present invention is shown;

[0025] Figure 4 A schematic diagram of the internal structure of a fixed housing provided in an embodiment of the present invention is shown;

[0026] Figure 5 A schematic diagram of the structure of an extrusion member provided according to an embodiment of the present invention is shown;

[0027] Figure 6 A cross-sectional view of the structure of an extrusion member provided according to an embodiment of the present invention is shown;

[0028] Figure 7 A schematic diagram of the structure of a winding member provided according to an embodiment of the present invention is shown;

[0029] Figure 8 An exploded schematic diagram of a winding member structure provided according to an embodiment of the present invention is shown.

[0030] Legend: 1. Mobile base; 2. Lifting bracket; 3. Bracket; 4. Fixed shell; 5. Protective cover; 6. Motor; 7. Protective plate; 8. Internal threaded sleeve; 9. First magnet; 10. Mounting shaft; 11. Pull rope; 12. Connecting spring; 13. Clamping rod; 14. Mounting frame; 15. Compression spring; 16. Guide wheel; 17. Bidirectional screw; 18. Worm sleeve; 19. Second magnet; 20. Worm wheel; 21. Winding roller; 22. Connecting torsion spring; 23. Mounting block; 24. Extrusion wheel; 25. Rolling wheel; 26. Guide groove; 27. End plate. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] like Figure 1-Figure 8 As shown, a multi-layer stacking mechanism of a storage robot includes a stacking robot body, the stacking robot body includes a mobile base 1 and a lifting bracket 2 arranged on the upper end of the mobile base 1, a bracket 3 is provided on the upper end of one side of the lifting bracket 2, a protective component is provided on the upper end of the lifting bracket 2, the protective component includes two protective plates 7 for preventing the material lifted by the bracket 3 from falling and a fixed shell 4 arranged on the upper end of the lifting bracket 2, a bidirectional screw rod 17 is rotatably provided inside the fixed shell 4, a motor 6 for driving the bidirectional screw rod 17 to rotate is provided on the outer side of the fixed shell 4, one end of the two protective plates 7 is respectively rotatably provided with an internal threaded sleeve 8 matched with the bidirectional screw rod 17, an installation cavity is opened inside the two protective plates 7, and a clamping rod 1 is respectively slidably provided in the installation cavity 3. A clamping groove matched with one end of the clamping rod 13 is provided on the surface of the two internal threaded sleeves 8. The other end of the clamping rod 13 is connected to the inner wall of the installation cavity through a compression spring 15. A pulling component matched with the clamping rod 13 is provided inside the fixed shell 4. When the materials stacked on the pallet are transported, the palletizing robot body is first operated to insert the bracket 3 into the pallet, and then the motor 6 drives the bidirectional screw rod 17 to rotate. Since one end of the clamping rod 13 is stuck in the clamping groove, the rotation of the internal threaded sleeve 8 is restricted. Therefore, under the cooperation of the internal threaded sleeve 8 and the bidirectional screw rod 17, the rotation of the bidirectional screw rod 17 drives the two protective plates 7 to move relative to each other and gradually approach each other, thereby achieving the effect of protecting the materials stacked on the pallet.

[0033] Further, the pulling assembly includes a mounting shaft 10 rotatably arranged inside the fixed shell 4 and a worm wheel 20 sleeved on the outside of the mounting shaft 10, a worm sleeve 18 matching the worm wheel 20 is sleeved on the surface of the bidirectional screw 17, two winding pieces are symmetrically sleeved on the outside of the mounting shaft 10, and the outer surfaces of the two winding pieces are respectively fixedly wound with a pull rope 11, the pull rope 11 is made of a non-elastic material, one end of the two pull ropes 11 is respectively movably penetrated into the mounting cavity and fixedly connected to the clamping rod 13, a guide groove 26 matching the pull rope 11 is opened on the surface of the protective plate 7, and a guide groove 26 matching the pull rope 11 is rotatably arranged inside the mounting cavity. 1, and the outer surfaces of the two protective plates 7 are respectively provided with extrusion pieces for extruding the draw rope 11 so that the clamping rod 13 is separated from the clamping groove. In the process that the two-way screw 17 rotates to drive the two protective plates 7 to move relative to each other, the two-way screw 17 rotates to drive the worm sleeve 18 to rotate. Under the mutual cooperation of the worm sleeve 18 and the worm wheel 20, the worm sleeve 18 rotates to drive the worm wheel 20 to rotate, and then drives the installation shaft 10 to rotate. The installation shaft 10 rotates to drive the winding piece to rotate. The winding piece rotates synchronously to reel in the draw rope 11 that is loosened due to the movement of the protective plates 7.

[0034] Further, the extrusion member includes a protective cover 5 whose sliding cover is arranged on the outside of the protective plate 7 and a mounting block 23 fixedly arranged at one end of the protective cover 5. The inner side of the protective cover 5 is connected to the surface of the protective plate 7 through a connecting spring 12. The upper and lower ends of the mounting block 23 are respectively hinged with mounting frames 14. The hinge between the mounting frame 14 and the mounting block 23 is provided with a constraining torsion spring. The two mounting frames 14 are respectively provided with rolling wheels 25 that match the surface of the protective plate 7 on the opposite sides. An extrusion wheel 24 for extruding the pull rope 11 is rotatably arranged between the two mounting frames 14. During the relative movement of the above-mentioned two protective plates 7, due to the material being placed on the support The tray is not regular, that is, it is not in the center of the tray. Therefore, during the relative movement of the two protective plates 7, one of the protective plates 7 will inevitably contact the surface of the material on the tray first, thereby restricting the movement of the protective plates 7. At this time, the other protective plate 7 has not yet contacted the surface of the material and has no protective effect. When one protective plate 7 has contacted the surface of the material on the tray, the bidirectional screw rod 17 continues to rotate to drive the protective plate 7 to move, which will cause the protective plate 7 to squeeze the material and easily cause the material to fall. Therefore, during the relative movement of the two protective plates 7, the protective cover 5 will first contact the material. When the protective cover 5 is squeezed, the connecting spring 12 is compressed. When the protective cover 5 is squeezed, the mounting frame 14 is deflected, and the squeezing wheel 24 squeezes the pull rope 11. When the pull rope 11 is squeezed, the guide wheel 16 pulls the clamping rod 13 to move, so that the clamping rod 13 gradually disengages from the clamping groove. When the clamping rod 13 disengages from the clamping groove, the rotation of the two-way screw rod 17 will cause the internal threaded sleeve 8 to idle, and the protective plate 7 will not be driven to move at this time, so that the protective cover 5 is attached to the outer surface of the material to play a protective effect. At this time, the two-way screw rod 17 The screw rod 17 continues to rotate, causing the other protective plate 7 to continue to move, until the internal threaded sleeve 8 on the protective plate 7 idles. At this time, both protective covers 5 remain in contact with the surface of the material. The bidirectional screw rod 17 continues to rotate to drive the other protective plate 7 to move. During this process, the two pull ropes 11 will continue to be wound up by the winding member. Since one of the protective plates 7 does not move, the winding of the pull rope 11 will pull the clamping rod 13 to continue to move, causing the clamping rod 13 to gradually move away from the clamping groove, preparing for the subsequent reset of the protective plate 7. The above process enables the two protective plates 7 to contact the surface of the material one after the other.

[0035] When unloading is required, that is, when the two protective plates 7 need to be opened, the motor 6 reverses to drive the two-way screw rod 17 to reverse, and then with the cooperation of the worm sleeve 18 and the worm wheel 20, the mounting shaft 10 is driven to reverse, so that the winding member releases the pull rope 11. The winding member releases the pull rope 11, so that the two clamping rods 13 are gradually reset under the action of the compression spring 15. Since the distance between the clamping rod 13 and the clamping groove of the protective plate 7 that stops moving first is larger, during the release of the pull rope 11, the clamping rod 13 on the protective plate 7 that stops moving later is first engaged with the clamping groove, and then with the cooperation of the two-way screw rod 17 and the internal threaded sleeve 8, the protective plate 7 that stops moving later performs a reset movement first, and then as the pull rope 11 continues to be released, the clamping rod 13 on the protective plate 7 that stops moving first will engage with the clamping groove, and then the two-way screw rod 17 reverses to drive the two protective plates 7 to move in the opposite direction and reset.

[0036] Furthermore, the winding member includes a winding roller 21 sleeved on the outside of the mounting shaft 10 and end plates 27 fixedly arranged at both ends of the winding roller 21, wherein the surface of one of the end plates 27 is connected to the outer surface of the worm gear 20 by connecting the torsion spring 22, and the two ends of the bidirectional lead screw 17 are smooth, and the two protective plates 7 are fixedly provided with a first magnet 9 on the opposite side, and the inner wall of the fixed shell 4 is respectively fixedly provided with a second magnet 19 matching the first magnet 9. When in use, when it is necessary to drive the bidirectional lead screw 17 to rotate by the motor 6 so that the two protective plates 7 move relative to each other, the first magnet 9 and the second magnet 19 remain adsorbed in the initial state, and the internal threaded sleeve 8 is in the smooth section at both ends of the bidirectional lead screw 17. First, the motor 6 drives the bidirectional lead screw 17 to rotate, and under the cooperation of the worm sleeve 18 and the worm gear 20, the rotation of the bidirectional lead screw 17 drives the worm gear 20 to rotate. Since the first magnet 9 and the second magnet 19 are adsorbed, the worm gear 20 cannot drive the winding roller 21 to rotate when it rotates at the beginning. When the pull rope 11 is wound up, the connecting torsion spring 22 will be deformed under force (to prepare for the subsequent winding of the pull rope 11). As the worm gear 20 continues to rotate, the pulling force on the pull rope 11 will gradually increase, and then the first magnet 9 and the second magnet 19 will be separated from the adsorption, and the protective plate 7 will be pulled to move, so that the internal threaded sleeve 8 is threadedly connected with the bidirectional screw rod 17, thereby driving the two protective plates 7 to achieve the relative movement described in the previous paragraph, and in the resetting process of the protective plate 7 described in the previous paragraph, the protective cover 5 will be separated from the material surface, and then the protective cover 5 will be reset under the action of the connecting spring 12. At this time, the mounting frame 14 will be deflected and reset, which will make the originally squeezed pull rope 11 in a relaxed state. At this time, under the resetting action of the connecting torsion spring 22, the winding roller 21 will be driven to rotate, and the relaxed pull rope 11 can be wound up, ensuring that the pull rope 11 is in a taut state, thereby ensuring stability during the entire operation process.

[0037] Furthermore, the stiffness coefficient of the connecting torsion spring 22 is smaller than the stiffness coefficient of the compression spring 15 , so that when the connecting torsion spring 22 is reeled under force, the clamping rod 13 will not be separated from the clamping groove.

[0038] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multi-layer palletizing mechanism of a storage robot, comprising a palletizing robot body, the palletizing robot body comprising a mobile base (1) and a lifting bracket (2) arranged on the upper end of the mobile base (1), a bracket (3) being arranged on the upper end of one side of the lifting bracket (2), characterized in that: A protective component is provided at the upper end of the lifting bracket (2), and the protective component comprises two protective plates (7) for preventing the material lifted by the bracket (3) from falling and a fixed shell (4) provided at the upper end of the lifting bracket (2); a bidirectional screw rod (17) is rotatably provided inside the fixed shell (4); a motor (6) for driving the bidirectional screw rod (17) to rotate is provided on the outer side of the fixed shell (4); one end of the two protective plates (7) is respectively rotatably provided with an internal threaded sleeve (8) matching with the bidirectional screw rod (17); a mounting cavity is provided inside the two protective plates (7); a clamping rod (13) is slidably provided inside the mounting cavity; a clamping groove matching with one end of the clamping rod (13) is provided on the surface of the two internal threaded sleeves (8); the other end of the clamping rod (13) is connected to the inner wall of the mounting cavity via a compression spring (15); a pulling component matching with the clamping rod (13) is provided inside the fixed shell (4); The pulling assembly comprises a mounting shaft (10) rotatably arranged inside the fixed shell (4) and a worm wheel (20) sleeved on the outside of the mounting shaft (10); the surface of the bidirectional screw (17) is sleeved with a worm sleeve (18) matching with the worm wheel (20); the outside of the mounting shaft (10) is symmetrically sleeved with two winding pieces; the outer surfaces of the two winding pieces are respectively fixedly wound with a draw rope (11); one end of the two draw ropes (11) are respectively movably inserted into the mounting cavity and fixedly connected to the clamping rod (13); the surface of the protective plate (7) is provided with a guide groove (26) matching with the draw rope (11); the inside of the mounting cavity is rotatably provided with a guide wheel (16) matching with the draw rope (11); the outer surfaces of the two protective plates (7) are respectively provided with extrusion pieces for extruding the draw rope (11) so that the clamping rod (13) is separated from the clamping groove; The extrusion member comprises a protective cover (5) whose sliding cover is arranged on the outside of the protective plate (7) and a mounting block (23) fixedly arranged at one end of the protective cover (5); the inner side of the protective cover (5) is connected to the surface of the protective plate (7) via a connecting spring (12); the upper and lower ends of the mounting block (23) are respectively hingedly provided with mounting frames (14); a constraining torsion spring is provided at the hinge between the mounting frame (14) and the mounting block (23); rolling wheels (25) cooperating with the surface of the protective plate (7) are rotatably provided on opposite sides of the two mounting frames (14); and an extrusion wheel (24) for extruding the pull rope (11) is rotatably provided between the two mounting frames (14).

2. The multi-layer palletizing mechanism of a storage robot according to claim 1, characterized in that: The winding member comprises a winding roller (21) sleeved on the outside of the mounting shaft (10) and end plates (27) fixedly arranged at both ends of the winding roller (21), wherein a surface of one of the end plates (27) is connected to the outer surface of the worm gear (20) via a connecting torsion spring (22).

3. The multi-layer palletizing mechanism of a storage robot according to claim 1, characterized in that: Both ends of the bidirectional screw rod (17) are smooth, and first magnets (9) are fixedly provided on opposite sides of the two protective plates (7), and second magnets (19) matching the first magnets (9) are fixedly provided on the inner walls of the fixed shell (4).

4. The multi-layer palletizing mechanism of a storage robot according to claim 2, characterized in that: The stiffness coefficient of the connecting torsion spring (22) is smaller than the stiffness coefficient of the compression spring (15).

5. The multi-layer palletizing mechanism of a storage robot according to claim 1, characterized in that: The drawstring (11) is made of a non-elastic material.

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