Feeding manipulator for goods shelf

Abstract

The invention discloses a feeding manipulator for a goods shelf, and relates to the technical field of feeding devices, the feeding manipulator comprises a mounting frame, two clamping pieces are arranged on the mounting frame, and a linear driving piece for driving the two clamping pieces to get close to each other or get away from each other is arranged on the mounting frame; a servo motor drives a movable clamping wheel to rotate, so that the movable clamping wheel and a sliding rail are clamped to move, the whole mounting frame is driven to move to the position of a corresponding goods shelf, and then a driving motor drives a transmission bevel gear set and a two-way screw to rotate; the two ends of the two-way screw are in threaded meshing transmission with the threaded holes in the two sliding blocks correspondingly, so that the two clamping rods and the two arc-shaped ends are driven to be away from each other, the clamped objects are loosened, the loosened objects slide towards the goods shelf through the guide chutes, the objects are added to the corresponding positions of the goods shelf, and the feeding process is completed. And full-automatic feeding is achieved, feeding is accurate, the feeding efficiency is improved, and the labor cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of feeding devices, in particular to a feeding robot for shelves. Background Art

[0002] In the manual loading process of existing shelves, the following methods are usually adopted: Suitable for situations where the number of goods is small, the volume is small, and the weight is moderate. Workers can directly carry the goods from the storage area to the shelves. This method requires workers to have sufficient physical strength and handling skills, and at the same time pay attention to the safety of the goods and the load-bearing capacity of the shelves. For goods with large volume or heavy weight, handling tools such as trolleys and forklifts can be used. These tools can reduce the physical burden of workers and improve handling efficiency. When using handling tools, ensure the safety and reliability of the tools to avoid accidents during handling. Set up temporary shelves or platforms next to the transport vehicles to facilitate workers to unload the goods from the vehicles and temporarily store them. Then, workers can carry the goods from the temporary shelves or platforms to the shelves. This method is suitable for situations where the number of goods is large and frequent loading and unloading is required.

[0003] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms. It is mainly used to grasp, move objects or operate tools according to fixed procedures. The following is detailed information about the manipulator: The manipulator is an industrial robot that first appeared and is regarded as the origin of modern robots.

[0004] It can be programmed to complete various expected operations, and its structure and performance combine the advantages of both human and mechanical machines. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Actuator: It is divided into hand, arm, and torso. The hand is a component used to grasp the workpiece (or tool). Driving mechanism: There are mainly hydraulic drive, pneumatic drive, electric drive and other methods. Control system: It controls the motor of each degree of freedom of the manipulator to complete specific actions, and receives information from sensor feedback to form a stable closed-loop control. At present, the research on manipulators is developing in the direction of improving flexibility, reducing complexity and increasing functionality. The manipulator is an important automation tool, which is widely used in industrial production, military, medical and entertainment fields. With the continuous advancement of technology, the function and performance of the manipulator will be further improved, bringing more convenience and benefits to mankind. The existing warehousing and logistics system uses multi-axis manipulators with complex structures.

[0005] In the existing warehousing and logistics system, the loading of shelves usually relies on manual or simple mechanical equipment, which is inefficient, has high labor costs, and is prone to errors due to human factors. To this end, we provide a loading robot for shelves. Summary of the invention

[0006] The technical problem solved by the present invention is that in the existing warehousing and logistics system, the loading of materials on the shelves usually relies on manual labor or simple mechanical equipment, which is inefficient, has high labor costs, and is prone to errors due to human factors.

[0007] The present invention can be implemented through the following technical scheme: a loading robot for a shelf comprises a mounting frame, the mounting frame is provided with two clamping members, the mounting frame is provided with a linear driving member for driving the two clamping members to approach each other or move away from each other, the mounting frame is provided with a guide member, and the guide member is arranged below the two clamping members, both sides of the mounting frame are provided with moving members, the mounting frame is provided with a storage member, and the guide member can be stored in the storage member; the two clamping members are driven to approach each other by the linear driving member, thereby driving the two clamping members to clamp the object, and then the entire mounting frame is driven to slide by the moving member, thereby moving the entire robot and the object clamped by it to the corresponding shelf position, and then the two clamping members are driven to move away from each other by the linear driving member, thereby releasing the object clamped by the two clamping members, and the released object will slide toward the shelf through the guide member, thereby adding the object to the corresponding position of the shelf, thereby completing the loading process.

[0008] The moving member comprises two moving clamping wheels, which are respectively rotatably connected to two sides of the mounting frame, and the mounting frame is provided with a rotating member for driving the two moving clamping wheels to rotate.

[0009] A further technical improvement of the present invention is that the rotating member includes a servo motor, and the servo motor drives the movable clamping wheel to rotate.

[0010] A further technical improvement of the present invention is that each clamping member comprises a clamping rod, the two clamping rods are respectively slidably mounted on the mounting frame relative to each other, and the ends of the two clamping rods away from the mounting frame are both provided with arc-shaped ends.

[0011] A further technical improvement of the present invention is that a slide groove is horizontally opened on the mounting frame, two sliding blocks are relatively slidably installed in the slide groove, two clamping rods are respectively installed on the two sliding blocks, and the linear drive member drives the two sliding blocks to move closer to or away from each other.

[0012] A further technical improvement of the present invention is that the linear drive component includes a bidirectional screw, a fixed block is installed on the mounting frame, the bidirectional screw is rotatably mounted on the fixed block, two sliding blocks are provided with penetrating threaded holes, and the two ends of the bidirectional screw are respectively threadedly connected to the threaded holes on the two sliding blocks.

[0013] A further technical improvement of the present invention is that a driving motor is provided on the fixing block, a transmission bevel gear set is provided between the driving motor and the bidirectional screw, and the driving motor and the bidirectional screw are connected in transmission via the transmission bevel gear set.

[0014] A further technical improvement of the present invention is that the guide member comprises a guide ramp, the mounting frame is provided with an electric slide rail, the electric slide rail is tiltedly arranged below the clamping rod, and the guide ramp is mounted on the electric slide rail.

[0015] A further technical improvement of the present invention is that the storage member includes a storage box, the storage box is arranged on the mounting frame, and the storage box is connected to the electric slide rail, and the guide ramp can be located in the storage box.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The manipulator drives the transmission bevel gear set to rotate through the driving motor, thereby driving the bidirectional screw to rotate, and the two ends of the bidirectional screw are respectively threadedly engaged with the threaded holes on the two sliding blocks for transmission, thereby driving the two sliding blocks to approach each other along the slide groove, and the two sliding blocks drive the two clamping rods and the two arc-shaped end heads to approach each other, thereby clamping and fixing the object, and then driving the moving clamping wheel to rotate through the servo motor, so that the moving clamping wheel and the sliding track are engaged and moved, thereby driving the entire mounting frame to move to the corresponding shelf position, completing the automatic positioning of the object;

[0018] The electric slide rail drives the guide ramp to move to the position of the shelf and is under the object. The driving motor drives the transmission bevel gear set to rotate, thereby driving the bidirectional screw to rotate. The two ends of the bidirectional screw are respectively threadedly engaged with the threaded holes on the two sliding blocks, thereby driving the two sliding blocks to move away from each other along the slide groove. The two sliding blocks drive the two clamping rods and the two arc-shaped ends to move away from each other, thereby loosening the clamped objects. The loosened objects will slide toward the shelf through the guide ramp, thereby adding the objects to the corresponding position of the shelf, thereby completing the loading process. The loading is fully automatic and accurate, which improves the loading efficiency and reduces labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0021] Figure 2 For the present invention Figure 1 A local enlarged schematic diagram of point A;

[0022] Figure 3It is a schematic diagram of the connection state of the electric slide rail, the guide ramp and the storage box of the present invention;

[0023] Figure 4 It is a schematic diagram of the mobile card wheel and the sliding track on the shelf of the present invention.

[0024] In the figure: 1. mounting frame; 2. movable clamping wheel; 3. servo motor; 4. clamping rod; 5. arc-shaped end; 6. slide groove; 7. sliding block; 8. bidirectional screw; 9. fixing block; 10. threaded hole; 11. driving motor; 12. guide ramp; 13. electric slide rail; 14. storage box. DETAILED DESCRIPTION

[0025] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0026] See also Figure 1-Figure 4 As shown, the present invention proposes a loading robot for shelves, including a mounting frame 1, two clamping members are arranged on the mounting frame 1, a linear driving member for driving the two clamping members to approach or move away from each other is arranged on the mounting frame 1, a guide member is arranged on the mounting frame 1, and the guide member is arranged below the two clamping members, moving members are arranged on both sides of the mounting frame 1, a storage member is arranged on the mounting frame 1, and the guide member can be stored in the storage member; the two clamping members are driven to approach each other by the linear driving member, thereby driving the two clamping members to clamp the object, and then the whole mounting frame 1 is driven to slide by the moving member, thereby moving the whole robot and the object clamped by it to the corresponding shelf position, and then the two clamping members are driven to move away from each other by the linear driving member, thereby releasing the object clamped by the two clamping members, and the released object will slide toward the shelf through the guide member, thereby adding the object to the corresponding position of the shelf, thereby completing the loading process.

[0027] The moving part comprises two moving clamping wheels 2, and the two moving clamping wheels 2 are rotatably connected to two sides of the mounting frame 1 respectively. The mounting frame 1 is provided with a rotating part for driving the two moving clamping wheels 2 to rotate.

[0028] The rotating part includes a servo motor 3, which drives the moving card wheel 2 to rotate; the two moving card wheels 2 are respectively connected to the sliding tracks on both sides of the shelf, and the servo motor 3 drives the moving card wheel 2 to rotate, causing the moving card wheel 2 to engage and move with the sliding track, thereby driving the entire mounting frame 1 to move to the corresponding shelf position.

[0029] Each clamping member includes a clamping rod 4, and the two clamping rods 4 are respectively slidably mounted on the mounting frame 1, and the ends of the two clamping rods 4 away from the mounting frame 1 are provided with arc-shaped ends 5; the two sliding blocks 7 drive the two clamping rods 4 and the two arc-shaped ends 5 to approach each other, so as to clamp and fix the object, and the arc-shaped end 5 can improve the stability of the object clamping.

[0030] A slide groove 6 is horizontally opened on the mounting frame 1, and two sliding blocks 7 are relatively slidably installed in the slide groove 6. The two clamping rods 4 are respectively installed on the two sliding blocks 7, and the linear drive member drives the two sliding blocks 7 to move closer to or away from each other; the two clamping rods 4 slide on the slide groove 6 through the sliding blocks 7, thereby improving the stability of the two clamping rods 4 when moving.

[0031] The linear drive component includes a bidirectional screw 8, a fixed block 9 is installed on the mounting frame 1, the bidirectional screw 8 is rotatably mounted on the fixed block 9, and the two sliding blocks 7 are each provided with a penetrating threaded hole 10, and the two ends of the bidirectional screw 8 are respectively threadedly connected with the threaded holes 10 on the two sliding blocks 7; the driving motor 11 drives the transmission bevel gear set to rotate, thereby driving the bidirectional screw 8 to rotate, and the two ends of the bidirectional screw 8 are respectively threadedly engaged with the threaded holes 10 on the two sliding blocks 7, thereby driving the two sliding blocks 7 to approach each other along the slide groove 6.

[0032] A driving motor 11 is provided on the fixed block 9, and a transmission bevel gear set is provided between the driving motor 11 and the bidirectional screw 8, and the driving motor 11 and the bidirectional screw 8 are connected by the transmission bevel gear set; the transmission bevel gear set is driven by the driving motor 11 to rotate, thereby driving the bidirectional screw 8 to rotate, and the two ends of the bidirectional screw 8 are respectively threadedly engaged with the threaded holes 10 on the two sliding blocks 7, thereby driving the two sliding blocks 7 to approach each other along the slide groove 6, and the two sliding blocks 7 drive the two clamping rods 4 and the two arc-shaped end heads 5 to approach each other, thereby clamping and fixing the object; the transmission bevel gear set is driven by the driving motor 11 to rotate, thereby driving the bidirectional screw 8 to rotate, and the two ends of the bidirectional screw 8 are respectively threadedly engaged with the threaded holes 10 on the two sliding blocks 7, thereby driving the two sliding blocks 7 to move away from each other along the slide groove 6, and the two sliding blocks 7 drive the two clamping rods 4 and the two arc-shaped end heads 5 to move away from each other, thereby releasing the clamped object.

[0033] The guide member includes a guide ramp 12, and an electric slide rail 13 is provided on the mounting frame 1. The electric slide rail 13 is tilted below the clamping rod 4, and the guide ramp 12 is installed on the electric slide rail 13; the electric slide rail 13 drives the guide ramp 12 to move toward the position of the shelf and is located below the object. The released object will slide toward the shelf through the guide ramp 12, thereby adding the object to the corresponding position of the shelf.

[0034] The storage piece includes a storage box 14, which is set on the mounting frame 1, and the storage box 14 is connected to the electric slide rail 13, and the guide ramp 12 can be located in the storage box 14; the electric slide rail 13 drives the guide ramp 12 to move to the storage box 14, which facilitates the storage of the guide ramp 12 and reduces the space occupied by the guide ramp 12.

[0035] When the present invention is in use, the driving motor 11 drives the transmission bevel gear set to rotate, thereby driving the bidirectional screw 8 to rotate, and the two ends of the bidirectional screw 8 are respectively threadedly engaged with the threaded holes 10 on the two sliding blocks 7, thereby driving the two sliding blocks 7 to approach each other along the slide groove 6, and the two sliding blocks 7 drive the two clamping rods 4 and the two arc-shaped end heads 5 to approach each other, thereby clamping and fixing the object, and then the servo motor 3 drives the moving card wheel 2 to rotate, so that the moving card wheel 2 and the sliding track are engaged and moved, thereby driving the entire mounting frame 1 to move to the corresponding shelf position, and then the electric slide rail 13 drives the guide ramp 12 to move to the position of the shelf and is located below the object. The driving motor 11 drives the transmission bevel gear set to rotate, thereby driving the bidirectional screw 8 to rotate. The two ends of the bidirectional screw 8 are respectively threadedly engaged with the threaded holes 10 on the two sliding blocks 7, thereby driving the two sliding blocks 7 to move away from each other along the slide groove 6. The two sliding blocks 7 drive the two clamping rods 4 and the two arc-shaped end heads 5 to move away from each other, thereby releasing the clamped objects, and the released objects will slide toward the shelf through the guide ramp 12, thereby adding the objects to the corresponding positions of the shelf, thereby completing the loading process; then the electric slide rail 13 drives the guide ramp 12 to move to the storage box 14, which is convenient for the storage of the guide ramp 12 and reduces the space occupied by the guide ramp 12.

[0036] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A loading robot for a shelf, characterized in that: The invention comprises a mounting frame (1), wherein the mounting frame (1) is provided with two clamping members, the mounting frame (1) is provided with a linear driving member for driving the two clamping members to move closer to each other or away from each other, the mounting frame (1) is provided with a guide member, and the guide member is arranged below the two clamping members, both sides of the mounting frame (1) are provided with moving members, the mounting frame (1) is provided with a storage member, and the guide member can be stored in the storage member; The moving part comprises two moving clamping wheels (2), which are respectively rotatably connected to two sides of the mounting frame (1), and the mounting frame (1) is provided with a rotating part for driving the two moving clamping wheels (2) to rotate.

2. A shelf loading robot according to claim 1, characterized in that: The rotating member comprises a servo motor (3), and the servo motor (3) drives the moving clamp wheel (2) to rotate.

3. A shelf loading robot according to claim 1, characterized in that: Each clamping member comprises a clamping rod (4), and the two clamping rods (4) are respectively mounted on the mounting frame (1) in a relatively slidable manner, and the ends of the two clamping rods (4) away from the mounting frame (1) are both provided with arc-shaped ends (5).

4. A shelf loading robot according to claim 1, characterized in that: The mounting frame (1) is provided with a sliding groove (6) horizontally, two sliding blocks (7) are relatively slidably mounted in the sliding groove (6), two clamping rods (4) are respectively mounted on the two sliding blocks (7), and the linear drive member drives the two sliding blocks (7) to move closer to or away from each other.

5. A shelf loading robot according to claim 4, characterized in that: The linear drive component comprises a bidirectional screw (8), a fixed block (9) is mounted on the mounting frame (1), the bidirectional screw (8) is rotatably mounted on the fixed block (9), two sliding blocks (7) are each provided with a threaded hole (10) penetrating therethrough, and two ends of the bidirectional screw (8) are respectively threadedly connected to the threaded holes (10) on the two sliding blocks (7).

6. A loading robot for a shelf according to claim 5, characterized in that: The fixed block (9) is provided with a driving motor (11), a transmission bevel gear set is provided between the driving motor (11) and the bidirectional screw (8), and the driving motor (11) and the bidirectional screw (8) are transmission-connected via the transmission bevel gear set.

7. A shelf loading robot according to claim 3, characterized in that: The guide member comprises a guide ramp (12), an electric slide rail (13) is provided on the mounting frame (1), the electric slide rail (13) is arranged obliquely below the clamping rod (4), and the guide ramp (12) is mounted on the electric slide rail (13).

8. A shelf loading robot according to claim 7, characterized in that: The storage member comprises a storage box (14), the storage box (14) is arranged on the mounting frame (1), and the storage box (14) is connected to the electric slide rail (13), and the guide ramp (12) can be located in the storage box (14).

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