Storage shelf carrying robot

Abstract

The invention provides a storage goods shelf carrying robot which comprises two side mounting box bodies, a storage box body is fixedly connected between the two side mounting box bodies, a goods shelf clamping device is fixedly connected to the upper surface of the storage box body, and a supporting frame is arranged on one side of the lower end of each side mounting box body. A supporting spring rod is movably connected to the surface of one end of the supporting frame, driving crawler belts are fixedly connected to the surfaces of the two sides of the side mounting box body, a sliding door plate is slidably connected to the surface of one side of the storage box body, and an angle adjusting motor is arranged on the inner side of the driving crawler belt in the side mounting box body; the problems that in the background technology, the passing performance of a transfer robot is poor, when the transfer robot faces the operation environment with different heights on the two sides, the transfer robot is prone to being in an inclined state, and a goods shelf above the transfer robot is prone to being overturned are solved.

Description

Technical Field

[0001] The present invention mainly relates to the field of shelf handling, and in particular to a warehouse shelf handling robot. Background Art

[0002] Currently in the field of warehousing and logistics, handling robots that transport shelves are widely used. They can transport the shelves to the sorting area for sorting personnel to pick goods, and then move the shelves back to their original positions after the sorting personnel have finished picking the goods.

[0003] In the invention patent application with application number CN202010728383.X, application publication date 2019.08.06, and titled "A logistics shelf handling method based on a handling robot for warehousing logistics", a robot chassis is provided, which includes a chassis base body, two driving wheels are symmetrically arranged on the left and right sides of the middle part of the chassis base body, and a plurality of driven wheels are respectively arranged on the front and rear sides of the chassis base body, a pallet, which is used to hold up the shelf, a lifting and rotating assembly, which is used to drive the pallet to perform lifting and rotating movements relative to the robot chassis, and a bracket, which includes four brackets. The bracket comprises a body, and rollers are arranged under each body. The bracket can switch between a storage state and an unfolded state. In the unfolded state, the four brackets can respectively hold the four legs of the shelf, and the bracket as a whole can rotate relative to the pallet with the pallet. The bracket also includes a bracket seat, a connecting assembly and a driving unit. The device enables the transport robot to unfold the bracket when transporting the shelf so that the four brackets hold the four legs of the shelf, so that when the shelf is transported, the four legs and the bottom of the shelf are supported. In this way, when the transport robot accelerates, decelerates or stops suddenly, the shelf will not shake or fall over.

[0004] During the operation of a specific embodiment, the inventor discovered the following defects: the transport robot has poor passing performance. When faced with an operating environment with different heights on both sides of the transport robot, the transport robot is easily tilted, which can easily cause the shelf above it to overturn. Summary of the invention

[0005] 1. Technical problems to be solved by the invention: The present invention provides a warehouse shelf transport robot to solve the problem that the transport robot in the above-mentioned background technology has poor passing performance. When facing an operating environment with different heights on both sides of the transport robot, the transport robot is easily in a tilted state, which can easily cause the shelf above it to overturn.

[0006] 2. Technical solution: To achieve the above-mentioned purpose, the technical solution provided by the present invention is as follows: it includes a side-mounted box body, two side-mounted boxes are provided and storage boxes are fixedly connected between them, a shelf clamping device is fixedly connected to the upper surface of the storage box body, a support frame is provided on one side of the lower end of the side-mounted box body, a support spring rod is movably connected to the surface of one end of the support frame, driving tracks are fixedly connected to the two side surfaces of the side-mounted box body, a sliding door panel is slidably connected to the surface of one side of the storage box body, and an angle adjustment motor is provided inside the side-mounted box body on the inner side of the driving track.

[0007] Furthermore, the driving tracks are arranged on both side surfaces of the two side mounting boxes, and the driving tracks are installed on both sides of the side mounting boxes through a supporting frame.

[0008] Furthermore, the shelf clamping device includes a fixed bottom plate fixedly connected to the upper surface of the storage box body, a lifting cylinder is arranged on the upper surface of the fixed bottom plate, the top surface of the lifting cylinder is fixedly connected to the lifting bottom plate, a clamping cylinder is arranged on the upper surface of the lifting bottom plate, and a telescopic claw is arranged at one end of the clamping cylinder.

[0009] Furthermore, the clamping cylinder and the telescopic claw form a lifting structure through a lifting cylinder, four clamping cylinders and telescopic claws are provided, and the telescopic claws form a clamping structure through the clamping cylinder.

[0010] Furthermore, the driving crawler includes a positioning rod arranged on one side of the supporting frame, the inner wall of the side mounting box is provided with an annularly distributed positioning hole, the surface of the positioning rod is sleeved and connected with a swing arm, one side surface of the swing arm is fixedly connected with a rotating disk, one side of the swing arm is movably connected with a swing frame, one side of the swing frame is provided with a main transmission wheel, one side of the main transmission wheel is provided with an induction motor on the inner side of the swing frame, the outer surface of the swing frame is movably connected with a telescopic track wheel, a spring support rod is provided under the telescopic track wheel, a tensioning frame is provided on the surface of the swing frame, a tensioning wheel is provided on the top of the tensioning frame, the telescopic track wheel and the main transmission wheel surface are sleeved and connected with the drive crawler, and one side surface of the swing arm is provided with a cylinder telescopic rod.

[0011] Furthermore, four positioning rods are provided on one side of the supporting frame, and swing arms are provided on the surface of each of the positioning rods. Two rotating disks are provided, and an annular fixed socket is provided on the surface of the rotating disk. The rotating disk and the swing arm are sleeved and connected to the surface of the positioning rod. The angle adjustment motor is installed on the surface of the rotating disk through the supporting frame, and the rotating disk and the swing arm form a swing structure on the surface of the positioning rod through the angle adjustment motor. The swing frame forms a swing structure through the swing arm. The cylinder telescopic rod follows the swing through the swing arm, and passes through the surface of the rotating disk through the telescopic rod of the cylinder, and is embedded and connected to the surface of the annularly distributed positioning hole. The surface of the rotating disk is provided with micro-tooth grooves.

[0012] Furthermore, the telescopic track wheel and the main drive wheel are installed on the surface of the swing frame, and the telescopic track wheel, the main drive wheel and the transmission belt on the surface thereof form a swing structure through the swing frame, the main drive wheel and the induction motor form a transmission structure, and the transmission belt forms a transmission structure through the telescopic track wheel and the main drive wheel.

[0013] Furthermore, the angle adjustment motor includes a mounting shell, an adjustment motor is arranged on one side of the mounting shell, a clamping plate is arranged on the other side surface of the mounting shell, and a transmission gear is arranged between the mounting shell and the clamping plate.

[0014] Furthermore, the angle adjustment motor is installed on the surface of the rotating disk through a mounting shell and a clamping plate, the rotating disks are meshed and connected to form a transmission, and the adjustment motor and the transmission gear form a transmission structure.

[0015] 3. Beneficial effects: Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects: The present invention has a reasonable design. When the cargo handling operation is carried out, the side-mounted box and the storage box are driven by the crawler belt to enter under the shelf. The lifting bottom plate, the clamping cylinder and the telescopic claws are moved upward by the lifting cylinder in the shelf clamping device. The telescopic claws are driven to retract by the clamping cylinder to clamp and fix the bottom of the shelf, thereby achieving the purpose of fixing the shelf. The lifting cylinder continues to extend to drive the shelf off the ground. Then the induction motor is started, and the induction motor drives the main drive wheel to rotate, thereby driving its drive crawler belt to rotate on the surfaces of the two telescopic crawler wheels, so that the storage box and the side-mounted box drive the shelf clamping device and the shelf to move. When facing the carrying rings with different heights on both sides of the carrying robot, the angle adjustment motor works in advance, driving the rotating disk and the swing arm to rotate on the surface of the positioning rod. At the same time, the swing arm drives the swing frame to swing on one side of the side mounting box, so that the swing frame drives the telescopic track wheel, the main drive wheel and the transmission track to adjust the height on one side of the side mounting box. When adjusted to the required height, the cylinder telescopic rod extends out, passes through the holes on the surface of the rotating disk, and finally engages and connects to the surface of the annular distribution positioning holes, so that the angles of the telescopic track wheel, the main drive wheel and the transmission track are fixed, so that the carrying robot can run in the normal direction when the operating environment has different heights on both sides. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a three-dimensional schematic diagram of the storage box of the present invention; Figure 3 is a schematic diagram of the shelf clamping device of the present invention; Figure 4It is a three-dimensional schematic diagram of the drive crawler of the present invention; Figure 5 It is a side schematic diagram of the driving crawler of the present invention; Figure 6 It is a longitudinal schematic diagram of the driving crawler of the present invention; Figure 7 It is a schematic diagram of the angle adjustment motor of the present invention.

[0017] Reference numerals: 1. Side-mounted box; 2. Storage box; 3. Shelf clamping device; 301. Fixed bottom plate; 302. Lifting cylinder; 303. Lifting bottom plate; 304. Clamping cylinder; 305. Telescopic claw; 4. Support frame; 5. Support spring rod; 6. Drive track; 601. Positioning rod; 602. Annularly distributed positioning holes; 603. Swing arm; 604. Rotating plate; 605. Swing frame; 606. Main drive wheel; 607. Induction motor; 608. Telescopic track wheel; 609. Spring support rod; 610. Tension frame; 611. Tension wheel; 612. Drive track; 613. Cylinder telescopic rod; 7. Sliding door panel; 8. Angle adjustment motor; 801. Mounting shell; 802. Adjustment motor; 803. Clamping plate; 804. Transmission gear. DETAILED DESCRIPTION

[0018] To facilitate understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "page", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0020] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0021] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", "provided with", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] Example: Refer to the attached Figure 1-7 The storage box 2 is provided with a plurality of storage boxes 3 on both sides of the storage box 2, and a plurality of storage boxes 3 are provided on the storage box 2. The storage box 2 is provided with a plurality of storage boxes 3 on both sides of the storage box 2. The storage box 2 is provided with a plurality of storage boxes 3 on both sides of the storage box 2. The storage box 2 is provided with a plurality of storage boxes 3 on both sides of the storage box 2. The storage box 2 is provided with a plurality of storage boxes 3 on both sides of the storage box 2.

[0023] The shelf clamping device 3 includes a fixed bottom plate 301 fixedly connected to the upper surface of the storage box body 2, a lifting cylinder 302 is arranged on the upper surface of the fixed bottom plate 301, and the top surface of the lifting cylinder 302 is fixedly connected to the lifting bottom plate 303, a clamping cylinder 304 is arranged on the upper surface of the lifting bottom plate 303, and a telescopic claw 305 is arranged at one end of the clamping cylinder 304. The clamping cylinder 304 and the telescopic claw 305 form a lifting structure through the lifting cylinder 302, and there are four clamping cylinders 304 and telescopic claws 305, and the telescopic claws 305 form a clamping structure through the clamping cylinder 304.

[0024] In this embodiment, when performing cargo handling operations, the side-mounted box 1 and the storage box 2 are driven to enter under the shelf by driving the crawler 6, and the lifting base plate 303, the clamping cylinder 304 and the telescopic claw 305 are moved upward by the lifting cylinder 302 in the shelf clamping device 3, and the telescopic claw 305 is driven to contract by the clamping cylinder 304 to clamp and fix the bottom of the shelf, thereby achieving the purpose of fixing the shelf. The lifting cylinder 302 continues to extend, driving the shelf off the ground, and then the induction motor 607 is started, and the induction motor 607 drives the main drive wheel 606 to rotate, and then drives its drive crawler 612 to rotate on the surface of the two telescopic crawler wheels 608, so that the storage box 2 and the side-mounted box 1 drive the shelf clamping device 3 and the shelf to move.

[0025] The driving crawler 6 includes a positioning rod 601 arranged on one side of the support frame 4, and an annularly distributed positioning hole 602 is arranged on the inner wall of the side mounting box 1. A swing arm 603 is sleeved and connected on the surface of the positioning rod 601. A rotating disk 604 is fixedly connected to the surface of one side of the swing arm 603. A swing frame 605 is movably connected to one side of the swing arm 603. A main transmission wheel 606 is arranged on one side of the swing frame 605. An induction motor 607 is arranged on the inner side of the swing frame 605 on one side of the main transmission wheel 606. The swing frame 6 05 outer surface is movably connected with a telescopic track wheel 608, and a spring support rod 609 is provided below the telescopic track wheel 608. A tension frame 610 is provided on the surface of the swing frame 605, and a tension wheel 611 is provided on the top of the tension frame 610. A transmission track 612 is sleeved and connected to the telescopic track wheel 608 and the main drive wheel 606. A cylinder telescopic rod 613 is provided on one side of the swing arm 603. Four positioning rods 601 are provided on one side of the support frame 4, and the swing arm 603 is provided on the surface. There are two rotating disks 604, and an annular fixed jack is arranged on the surface of the rotating disk 604 and the swing arm 603 are connected to the surface of the positioning rod 601 by sleeve connection. The angle adjustment motor 8 is installed on the surface of the rotating disk 604 through the support frame 4, and the rotating disk 604 and the swing arm 603 form a swing structure on the surface of the positioning rod 601 through the angle adjustment motor 8. The swing frame 605 forms a swing structure through the swing arm 603. The cylinder telescopic rod 613 follows the swing through the swing arm 603, and the telescopic penetration of the cylinder telescopic rod 613 It passes through the surface of the rotating disk 604 and is engaged with the surface of the annularly distributed positioning hole 602. The surface of the rotating disk 604 is provided with micro-tooth grooves. The telescopic track wheel 608 and the main transmission wheel 606 are installed on the surface of the swing frame 605. The telescopic track wheel 608, the main transmission wheel 606 and the transmission track 612 on the surface thereof constitute a swing structure through the swing frame 605. The main transmission wheel 606 and the induction motor 607 constitute a transmission structure. The transmission track 612 constitutes a transmission structure through the telescopic track wheel 608 and the main transmission wheel 606. The angle adjustment motor 8 includes a mounting shell 801, an adjustment motor 802 is arranged on one side of the mounting shell 801, a clamping plate 803 is arranged on the other side surface of the mounting shell 801, and a transmission gear 804 is arranged between the mounting shell 801 and the clamping plate 803. The angle adjustment motor 8 is installed on the surface of the rotating disk 604 through the mounting shell 801 and the clamping plate 803. The rotating disk 604 is meshed with the rotating disk 604 to form a transmission, and the adjustment motor 802 and the transmission gear 804 constitute a transmission structure.

[0026] In this embodiment, when facing the carrying rings with different heights on both sides of the carrying robot, the angle adjustment motor 8 works in advance, driving the rotating disk 604 and the swing arm 603 to rotate on the surface of the positioning rod 601, and at the same time the swing arm 603 drives the swing frame 605 to swing on the side of the side mounting box 1, so that the swing frame 605 drives the telescopic track wheel 608, the main drive wheel 606 and the transmission track 612 to adjust the height on one side of the side mounting box 1. When adjusted to the required height, the cylinder telescopic rod 613 extends out, passes through the holes on the surface of the rotating disk 604, and is finally engaged and connected to the surface of the annular distribution positioning hole 602, so that the angles of the telescopic track wheel 608, the main drive wheel 606 and the transmission track 612 are fixed, so that the carrying robot can run in the operating environment with different heights on both sides.

[0027] The above-described embodiments only express a certain implementation mode of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A warehouse shelf handling robot, characterized in that: The utility model comprises a side-mounted box body (1), wherein two storage boxes (2) are provided on the side-mounted box bodies (1) and are fixedly connected between them, a shelf clamping device (3) is fixedly connected to the upper surface of the storage box bodies (2), a support frame (4) is provided on one side of the lower end of the side-mounted box body (1), a support spring rod (5) is movably connected to the surface of one end of the support frame (4), a driving crawler (6) is fixedly connected to the two side surfaces of the side-mounted box body (1), a sliding door panel (7) is slidably connected to the surface of one side of the storage box body (2), and an angle adjustment motor (8) is provided inside the side-mounted box body (1) and inside the driving crawler (6).

2. A storage shelf handling robot according to claim 1, characterized in that: The driving crawler belt (6) is arranged on both side surfaces of the two side mounting boxes (1), and the driving crawler belt (6) is installed on both sides of the side mounting boxes (1) through a supporting frame (4).

3. A storage shelf handling robot according to claim 1, characterized in that: The shelf clamping device (3) comprises a fixed bottom plate (301) fixedly connected to the upper surface of the storage box (2); a lifting cylinder (302) is arranged on the upper surface of the fixed bottom plate (301); a lifting bottom plate (303) is fixedly connected to the top surface of the lifting cylinder (302); a clamping cylinder (304) is arranged on the upper surface of the lifting bottom plate (303); and a telescopic claw (305) is arranged at one end of the clamping cylinder (304).

4. A storage shelf handling robot according to claim 3, characterized in that: The clamping cylinder (304) and the telescopic claw (305) form a lifting structure through the lifting cylinder (302), and four of the clamping cylinders (304) and the telescopic claw (305) are provided, and the telescopic claw (305) forms a clamping structure through the clamping cylinder (304).

5. The storage shelf handling robot according to claim 1, characterized in that: The driving crawler (6) comprises a positioning rod (601) arranged on one side of the supporting frame (4); the inner wall of the side mounting box (1) is provided with annularly distributed positioning holes (602); a swing arm (603) is sleeved and connected to the surface of the positioning rod (601); a rotating disk (604) is fixedly connected to the surface of one side of the swing arm (603); a swing frame (605) is movably connected to one side of the swing arm (603); a main transmission wheel (606) is provided on one side of the swing frame (605); and one side of the main transmission wheel (606) is connected to the swing frame (605). An induction motor (607) is arranged on the inner side; a telescopic track wheel (608) is movably connected to the outer surface of the swing frame (605); a spring support rod (609) is arranged below the telescopic track wheel (608); a tensioning frame (610) is arranged on the surface of the swing frame (605); a tensioning wheel (611) is arranged at the top of the tensioning frame (610); a transmission track (612) is sleeved and connected to the surface of the telescopic track wheel (608) and the main drive wheel (606); and a cylinder telescopic rod (613) is arranged on one side surface of the swing arm (603).

6. A storage shelf handling robot according to claim 5, characterized in that: Four positioning rods (601) are provided on one side of the support frame (4), and the surfaces of the four positioning rods (601) are provided with swing arms (603). Two rotating disks (604) are provided, and the surfaces of the rotating disks (604) are provided with annular fixed jacks. The rotating disks (604) and the swing arms (603) are sleeved and connected to the surfaces of the positioning rods (601). The angle adjustment motor (8) is installed on the surface of the rotating disk (604) through the support frame (4), and the rotating disk (604) and the swing arms (603) form a swing structure on the surface of the positioning rod (601) through the angle adjustment motor (8). The swing frame (605) forms a swing structure through the swing arms (603). The cylinder telescopic rod (613) swings along with the swing arms (603), and penetrates the surface of the rotating disk (604) through the telescopic movement of the cylinder telescopic rod (613), and is engaged and connected to the surfaces of the annularly distributed positioning holes (602). The surface of the rotating disk (604) is provided with micro-tooth grooves.

7. A storage shelf handling robot according to claim 6, characterized in that: The telescopic track wheel (608) and the main drive wheel (606) are mounted on the surface of a swing frame (605), and the telescopic track wheel (608), the main drive wheel (606) and the drive track (612) on the surface thereof form a swing structure through the swing frame (605), the main drive wheel (606) and the induction motor (607) form a transmission structure, and the drive track (612) forms a transmission structure through the telescopic track wheel (608) and the main drive wheel (606).

8. The storage shelf handling robot according to claim 1, characterized in that: The angle adjustment motor (8) comprises a mounting shell (801), an adjustment motor (802) is arranged on one side of the mounting shell (801), a clamping plate (803) is arranged on the other side of the mounting shell (801), and a transmission gear (804) is arranged between the mounting shell (801) and the clamping plate (803).

9. The storage shelf handling robot according to claim 8, characterized in that: The angle adjustment motor (8) is mounted on the surface of the rotating disk (604) via a mounting housing (801) and a clamping plate (803); the rotating disks (604) are meshed with each other to form a transmission; and the adjustment motor (802) and the transmission gear (804) form a transmission structure.

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