Storage carrying robot capable of achieving stable transportation

Abstract

The invention discloses a storage carrying robot capable of achieving stable transportation, and relates to the technical field of storage transportation. The device comprises a machine body, a rotating shaft is rotatably connected to the center in the machine body, a center gear is fixedly installed on the periphery of the bottom of the rotating shaft, transition gears are rotatably connected to the periphery of the center gear in the machine body in a uniform limiting mode, and the transition gears and the center gear are meshed with each other; and side gears are rotationally connected to the outer sides of the transition gears in the machine body in a limiting mode, the side gears are meshed with the transition gears, and advancing assemblies are arranged at the bottom ends of the side gears. While the transportation efficiency is guaranteed, the influence of inertia generated by turning and speed change on the transportation stability can be avoided, the transportation stability is improved, dust and sundries in the advancing direction of the advancing wheels can be effectively blocked, the movement stability is guaranteed, meanwhile, the outer sides of the advancing wheels do not need to be wrapped in all directions, and the transportation efficiency is improved. And materials are reduced, and the cost is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing and transportation, and in particular to a warehousing and handling robot with stable transportation. Background Art

[0002] In warehousing operations, in order to ensure the normal purchase and shipment, the goods need to be moved within the warehouse. With the development of intelligent science and technology, the transportation of warehouse goods is also mainly operated by handling robots.

[0003] However, the existing storage and handling robots still have the following defects during use:

[0004] 1. In order to improve the efficiency of transportation, multiple pieces of goods are often stacked when using a handling robot for transportation. Therefore, stability during transportation is very important. During turning, accelerating, and decelerating, the inertia generated by the existing handling robots will interfere with the stability of the placement of the goods. In order to ensure that the goods will not fall and be damaged, limit devices are set around the goods. However, during the loading and unloading process of the goods, it is necessary to release the limit of the limit device first, which is cumbersome to operate and reduces the efficiency of transportation. Therefore, the existing handling robots cannot simultaneously meet the requirements of easy loading and unloading and stable transportation.

[0005] 2. In order to improve the stability of transportation, it is also very important to protect the traveling wheel when it rotates. The existing protection method is to set a scraper in contact with the ground around the periphery of the traveling wheel. Not only does it require a large area of ​​materials and increase costs, but the accumulation of dust and debris around the scraper will also reduce the barrier effect of the scraper, so that the dust and debris will still affect the rotation of the traveling wheel, thereby reducing the stability of transportation. Summary of the invention

[0006] The purpose of the present invention is to solve the above-mentioned problems that it is impossible to simultaneously meet the requirements of easy loading and unloading and stable transportation, and that the protection of the traveling wheels requires a large area of ​​materials, which increases costs, and the accumulation of dust and debris will also reduce the barrier effect of the scraper, thereby reducing the transportation stability. The present invention provides a warehouse handling robot with stable transportation.

[0007] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

[0008] A warehouse handling robot with stable transportation includes a body, wherein the central part of the body is rotatably connected to a rotating shaft, a central gear is fixedly installed on the periphery of the bottom of the rotating shaft, a transition gear is evenly and rotationally connected to the periphery of the central gear inside the body, and the transition gear and the center gear are meshed with each other, the outer sides of the transition gears inside the body are evenly and rotationally connected to side gears, and the side gears and the transition gears are meshed with each other, a traveling component is arranged at the bottom end of the side gear, and the traveling component is used to drive the body to move, a placement plate is fixedly installed on the top end of the rotating shaft, and a limiting component is arranged on the top of the placement plate.

[0009] Furthermore, the number of the transition gears and side gears is four, and the diameter and number of teeth of the center gear, transition gear and side gear are the same. Therefore, when the center gear rotates, the transition gear can drive the side gear to rotate in the same direction and angle as the center gear.

[0010] Furthermore, a circular groove is provided in the center of the top of the machine body, and the bottom of the placement plate is rotationally connected to the inside of the circular groove to improve the rotation stability of the placement plate.

[0011] Furthermore, the traveling assembly includes a mounting plate, the bottom end of the side gear is fixedly mounted with a mounting plate, the bottom end of the mounting plate is fixedly mounted with a traveling wheel, connecting seats are symmetrically fixedly mounted on both sides of the mounting plate, the interior of the connecting seat is limited and rotatably connected with a mounting plate, and the mounting plate extends obliquely downward toward both sides of the traveling wheel, a spring 1 is fixedly connected between one end of the inner side of the mounting plate and the inner wall of the mounting plate, a push plate is hingedly connected to the bottom end of the mounting plate, and a spring 2 is fixedly connected between the top end of the push plate and the mounting plate.

[0012] Furthermore, each of the traveling wheels is independently equipped with a driving mechanism for driving the traveling wheel to move forward and backward.

[0013] Furthermore, the symmetrical mounting plates and push plates on both sides of the mounting plate are aligned with the directions of travel and reversal of the traveling wheel, and the push plate is conical on the side away from the traveling wheel, and the bottom of the push plate is made of rubber material, so that when the traveling wheel moves forward or reverses, the push plate located in front of the traveling wheel pushes away dust and debris.

[0014] Furthermore, the limiting assembly includes a slide groove, and two groups of slide grooves are symmetrically opened on the top of the placement plate, and the number of slide grooves in a single group is two. The inside of the slide grooves is connected with a slider for limiting sliding, and the top of the slider is fixedly installed with a limiting column, and a positioning strip is fixedly installed between the limiting columns of the single group, and a fastening screw is threadedly connected to the middle part of the positioning strip. An extrusion groove is opened at the top of the placement plate where it is aligned with the fastening screws on both sides, and the positioning strip is limited by the cooperation of the fastening screw and the extrusion groove.

[0015] Furthermore, goods are stacked and placed between the limiting columns on both sides of the top of the placing plate.

[0016] Furthermore, the forward and reverse directions of all the traveling wheels are the same, and the distribution of the limit columns on both sides of the top of the placement plate is also aligned with the forward and reverse directions of the traveling wheels. Therefore, when the traveling wheels move forward and reverse, the limit columns on both sides can limit the inertia generated by the acceleration and deceleration process.

[0017] Furthermore, a driving gear is fixedly installed on the outer periphery of the middle part of the rotating shaft, and a threaded rod is connected to the outer side of the driving gear inside the body for limiting rotation, and the threaded rod and the driving gear are meshed with each other. A motor is fixedly installed inside the body, and the motor is transmission-connected to the threaded rod, so that the motor can drive the threaded rod to rotate, and drive the driving gear to rotate stably at a certain angle through the threaded rod.

[0018] The beneficial effects of the present invention are as follows:

[0019] 1. The present invention, through the cooperation of the central gear on the periphery of the rotating shaft with the transition gear and the side gear, can drive all the traveling wheels to rotate in the same direction and at the same angle through the side gears during the process of the rotating shaft driving the placement plate to rotate, so as to change the moving direction without generating eccentric centrifugal force during turning, thereby avoiding the influence of inertia during turning on the transportation stability, and at the same time, can also make the distribution of the limit posts on the placement plate always aligned with the forward and reverse directions of the traveling wheels, limit the forward and reverse directions of the movement of the goods, avoid the influence of inertia caused by speed changes on the transportation stability, thereby improving the transportation stability, and directly loading and unloading the goods from the two sides perpendicular to the limit posts on both sides, thereby ensuring the transportation efficiency.

[0020] 2. The present invention, through the design of the mounting plates and the push plates on both sides of the traveling wheel in the traveling assembly, can push the dust and debris in front of the traveling wheel to both sides, thereby avoiding the influence of dust and debris on the movement of the traveling wheel and ensuring the stability of movement. At the same time, dust and debris will not accumulate at the push plates, ensuring the stability of the dust and debris barrier, and the push plates can rotate with the traveling wheels. While ensuring protection, there is no need to fully wrap the outside of the traveling wheel, reducing material usage and saving costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 ;

[0022] Figure 2 The three-dimensional structure of the present invention is shown in FIG. Figure 2 ;

[0023] Figure 3 It is a schematic diagram of a partial three-dimensional structure of the present invention;

[0024] Figure 4 The present invention is a partial cross-sectional three-dimensional structure schematic diagram Figure 1 ;

[0025] Figure 5 The present invention is a partial cross-sectional three-dimensional structure schematic diagram Figure 2 ;

[0026] Figure 6 It is a schematic diagram of the three-dimensional structure of the interior of the machine body and the traveling components of the present invention;

[0027] Figure 7 It is a schematic diagram of the three-dimensional structure of the traveling assembly of the present invention;

[0028] Figure 8 It is a schematic diagram of the cross-sectional three-dimensional structure of the traveling assembly of the present invention;

[0029] Fig. 9 The three-dimensional structure of the mounting plate and the push plate of the present invention is shown in FIG. Figure 1 ;

[0030] Fig.10 The three-dimensional structure of the mounting plate and the push plate of the present invention is shown in FIG. Figure 2 ;

[0031] Fig.11 It is a schematic diagram of the three-dimensional structure of the placement plate and the limiting component of the present invention.

[0032] Figure numerals: 1. body; 2. rotating shaft; 3. center gear; 4. transition gear; 5. side gear; 6. travel assembly; 61. mounting plate; 62. travel wheel; 63. connecting seat; 64. mounting plate; 65. spring 1; 66. push plate; 67. spring 2; 7. placement plate; 8. limit assembly; 81. slide groove; 82. slider; 83. limit column; 84. positioning bar; 85. fastening screw; 86. extrusion groove; 9. driving gear; 10. threaded rod; 11. motor; 12. cargo. DETAILED DESCRIPTION

[0033] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0034] A storage and handling robot for stable transportation according to a preferred embodiment of the present invention will be described in detail below. Figure 1-11As shown, a storage and handling robot with stable transportation includes a body 1, a central rotation inside the body 1 is connected to a rotating shaft 2, a center gear 3 is fixedly installed on the periphery of the bottom of the rotating shaft 2, the periphery of the center gear 3 inside the body 1 is evenly limited and rotated to be connected to a transition gear 4, and the transition gear 4 and the center gear 3 are meshed with each other, the outer side of the transition gear 4 inside the body 1 is evenly limited and rotated to be connected to a side gear 5, and the side gear 5 and the transition gear 4 are meshed with each other, the number of transition gears 4 and side gears 5 are four, and the diameter and number of teeth of the center gear 3, transition gear 4 and side gear 5 are the same, so when the center gear 3 rotates, the transition gear 4 can drive the side gear 5 to rotate in the same direction and angle as the center gear 3.

[0035] A driving gear 9 is fixedly installed on the outer periphery of the middle part of the rotating shaft 2, and a threaded rod 10 is connected to the outer side of the driving gear 9 inside the body 1 for limited rotation, and the threaded rod 10 and the driving gear 9 are meshed with each other. A motor 11 is fixedly installed inside the body 1, and the motor 11 is transmission-connected to the threaded rod 10, so that the motor 11 can drive the threaded rod 10 to rotate, and drive the driving gear 9 to rotate stably at a certain angle through the threaded rod 10.

[0036] A traveling assembly 6 is provided at the bottom end of the side gear 5, and the traveling assembly 6 is used to drive the body 1 to move. The traveling assembly 6 includes a mounting plate 61, and the bottom end of the side gear 5 is fixedly mounted with a mounting plate 61, and the bottom end of the mounting plate 61 is fixedly mounted with a traveling wheel 62, and each traveling wheel 62 is independently mounted with a driving mechanism for driving the traveling wheel 62 to move forward and backward. Connecting seats 63 are symmetrically fixedly mounted on both sides of the mounting plate 61, and the interior of the connecting seat 63 is limited and rotatably connected with a mounting plate 64, and the mounting plate 64 extends obliquely downward toward both sides of the traveling wheel 62, and a spring 1 65 is fixedly connected between one end of the inner side of the mounting plate 64 and the inner wall of the mounting plate 61, and a push plate 66 is hinged at the bottom end of the mounting plate 64, and a spring 2 67 is fixedly connected between the top of the push plate 66 and the mounting plate 64.

[0037] The symmetrical mounting plates 64 and push plates 66 on both sides of the mounting plate 61 are aligned with the directions of travel and reversal of the traveling wheel 62, and the side of the push plate 66 away from the traveling wheel 62 is conical, and the bottom of the push plate 66 is made of rubber material, so that when the traveling wheel 62 moves forward or reverses, the push plate 66 located in front of the traveling wheel 62 pushes away dust and debris.

[0038] A placing plate 7 is fixedly installed on the top of the rotating shaft 2, and a circular groove is opened in the center of the top of the body 1. The bottom of the placing plate 7 is limited and rotatably connected to the inside of the circular groove to improve the rotation stability of the placing plate 7. A limiting component 8 is set on the top of the placing plate 7. The limiting component 8 includes a slide groove 81. Two groups of slide grooves 81 are symmetrically opened on the top of the placing plate 7. The number of slide grooves 81 in a single group is two. The inside of the slide groove 81 is limited and slidably connected with a slider 82. The top of the slider 82 is fixedly installed with a limiting column 83. Goods 12 are stacked and placed between the limiting columns 83 on both sides of the top of the placing plate 7.

[0039] A positioning strip 84 is fixedly installed between the single set of limiting columns 83, and a fastening screw 85 is threadedly connected to the middle of the positioning strip 84. An extrusion groove 86 is provided at the top of the placement plate 7 where it is aligned with the fastening screws 85 on both sides. The positioning strip 84 is limited by the cooperation of the fastening screw 85 and the extrusion groove 86.

[0040] The forward and backward directions of all the traveling wheels 62 are the same, and the distribution of the limit posts 83 on both sides of the top of the placement plate 7 is also aligned with the forward and backward directions of the traveling wheels 62. Therefore, when the traveling wheels 62 move forward and backward, the limit posts 83 on both sides can limit the inertia generated by the acceleration and deceleration process.

[0041] The working principle of the present invention is:

[0042] During transportation, first release the limit on the positioning bar 84 by rotating the fastening screw 85, then use the slider 82 to slide in the limit connection of the slide groove 81 to adjust the position of the limit columns 83 on both sides, and then adjust the limit columns 83 on both sides to a suitable spacing according to the size of the transported goods 12. After the adjustment is completed, the fastening screw 85 is rotated and the extrusion limit between the fastening screw 85 and the extrusion groove 86 is used to fix the position of the positioning bar 84 and the limit column 83. At this time, the stacking of the goods 12 can be completed from the two side edges perpendicular to the limit columns 83 on both sides, and the goods 12 are placed between the limit columns 83 on both sides.

[0043] After the goods 12 are placed, the driving travel wheel 62 is used to rotate to realize the movement of the machine body 1, and then the goods 12 are transported. When the moving direction needs to be changed, the threaded rod 10 is driven to rotate by starting the motor 11. The threaded rod 10 is engaged with the driving gear 9, so that the driving gear 9 and the rotating shaft 2 can be stably rotated at a certain angle. During the rotation of the rotating shaft 2, the center gear 3 can also be driven to rotate synchronously. During the rotation of the center gear 3, the transition gear 4 and the center gear 3 are engaged with each other, and the side gear 5 and the transition gear 4 are engaged with each other, so that the outer side gears 5 can be driven to rotate synchronously in the same direction, thereby driving the mounting plate 61 and the traveling wheel 62 to rotate synchronously in the same direction to change the moving direction. The same-direction rotation of all the traveling wheels 62 will not generate eccentric centrifugal force during turning, thereby avoiding the influence of inertia during turning on the transportation stability.

[0044] At the same time, by aligning the distribution of the limit columns 83 on both sides of the top of the placement plate 7 with the forward and reverse directions of the traveling wheel 62, the limit columns 83 can also limit the goods 12 during the acceleration and deceleration of the movement to avoid the influence of the inertia caused by the speed change on the transportation stability. At the same time, when turning, the center gear 3, the transition gear 4 and the side gear 5 are designed to have the same diameter and number of teeth. In the process of the rotating shaft 2 driving the traveling wheel 62 to rotate synchronously in the same direction, the rotation angle is also the same. Therefore, the angle at which the rotating shaft 2 drives the placement plate 7 to rotate is consistent with the angle at which the traveling wheel 62 rotates. Therefore, the distribution of the limit columns 83 is always aligned with the forward and reverse directions of the traveling wheel 62. Therefore, after changing the moving trajectory, the limit columns 83 can always limit the forward and reverse directions of the movement of the goods 12.

[0045] During the rotation of the traveling wheel 62, the spring 1 65 can drive the mounting plate 64 and the push plate 66 downward to contact the ground, and the spring 2 67 between the push plate 66 and the mounting plate 64 can make the bottom side of the push plate 66 stick to the ground. Therefore, when the traveling wheel 62 rotates, the conical design of the push plate 66 away from the side of the traveling wheel 62 can push the dust and debris in front of the forward side of the traveling wheel 62 to both sides, thereby avoiding the influence of dust and debris on the movement of the traveling wheel 62 and ensuring the stability of the movement. At the same time, the dust and debris are pushed away and will not accumulate at the push plate 66, ensuring the stability of the dust and debris barrier.

[0046] By utilizing the limited rotation connection of the mounting plate 64 on both sides of the mounting disk 61, when the mounting disk 61 drives the traveling wheel 62 to rotate to change the moving direction, the mounting plate 64 and the push plate 66 will also be driven to rotate synchronously, so that the push plate 66 is always located on both sides of the moving direction of the traveling wheel 62 to protect the traveling wheel 62 from moving forward and backward. There is no need to wrap the outside of the traveling wheel 62 in all directions, which reduces material usage and saves costs.

[0047] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A storage and handling robot for stable transportation, comprising a body (1), characterized in that: The central part of the machine body (1) is connected to a rotating shaft (2) for rotation, and a central gear (3) is fixedly installed on the periphery of the bottom of the rotating shaft (2). The periphery of the central gear (3) inside the machine body (1) is evenly connected to a transition gear (4) for rotation in a limited manner, and the transition gear (4) and the central gear (3) are meshed with each other. The outer side of the transition gear (4) inside the machine body (1) is evenly connected to a side gear (5) for rotation in a limited manner, and the side gear (5) and the transition gear (4) are meshed with each other. A travel component (6) is arranged at the bottom end of the side gear (5), and the travel component (6) is used to drive the machine body (1) to move. A placement plate (7) is fixedly installed on the top end of the rotating shaft (2), and a limit position component (8) is arranged on the top of the placement plate (7).

2. The stable transport storage and handling robot according to claim 1, characterized in that: The number of the transition gears (4) and the number of the side gears (5) are both four, and the diameters and the number of teeth of the central gear (3), the transition gear (4) and the side gear (5) are all the same.

3. The stable transport storage and handling robot according to claim 1, characterized in that: A circular groove is provided in the center of the top of the machine body (1), and the bottom of the placement plate (7) is rotatably connected to the inside of the circular groove.

4. The stable transport storage and handling robot according to claim 1, characterized in that: The traveling assembly (6) comprises: A mounting plate (61), the bottom end of each of the side gears (5) being fixedly mounted with a mounting plate (61); A traveling wheel (62), the bottom end of the mounting plate (61) is fixedly mounted with the traveling wheel (62); A connecting seat (63), the connecting seats (63) being symmetrically fixedly mounted on both sides of the mounting plate (61); A mounting plate (64), the interior of the connecting seat (63) is connected to the mounting plate (64) in a limited rotation manner, and the mounting plate (64) extends obliquely downward toward both sides of the traveling wheel (62); Spring 1 (65), a spring 1 (65) is fixedly connected between one end of the inner side of the mounting plate (64) and the inner wall of the mounting plate (61); A push plate (66), the bottom end of the mounting plate (64) is limitedly hinged with the push plate (66); Spring 2 (67), a spring 2 (67) is fixedly connected between the top end of the push plate (66) and the mounting plate (64).

5. The stable transport storage and handling robot according to claim 4, characterized in that: Each of the traveling wheels (62) is independently provided with a driving mechanism for driving the traveling wheel (62) to move forward and backward.

6. The stable transport storage and handling robot according to claim 4, characterized in that: The mounting plates (64) and the push plates (66) symmetrically disposed on both sides of the mounting plate (61) are aligned with the advancing and retreating directions of the traveling wheel (62), and the side of the push plates (66) away from the traveling wheel (62) is conical, and the bottom of the push plates (66) is made of rubber.

7. The stable transport storage and handling robot according to claim 4, characterized in that: The limiting component (8) comprises: Slide grooves (81), the top of the placement plate (7) is symmetrically provided with two groups of slide grooves (81), and the number of the slide grooves (81) in a single group is two; A slider (82), the interior of the slide groove (81) is connected with the slider (82) in a limited sliding manner; A limiting column (83), the top end of each of the sliding blocks (82) is fixedly mounted with a limiting column (83); A positioning bar (84), wherein a positioning bar (84) is fixedly installed between each group of the limiting columns (83); A fastening screw (85), the middle portion of the positioning strip (84) being threadedly connected with the fastening screw (85); An extrusion groove (86) is provided at the top of the placement plate (7) and aligned with the fastening screws (85) on both sides.

8. The stable transport storage and handling robot according to claim 7, characterized in that: Goods (12) are stacked and placed between the limiting columns (83) on both sides of the top of the placement plate (7).

9. The stable transport storage and handling robot according to claim 7, characterized in that: The advancing and reversing directions of all the traveling wheels (62) are the same, and the distribution of the limiting columns (83) on both sides of the top of the placement plate (7) is also aligned with the advancing and reversing directions of the traveling wheels (62).

10. The stable transport storage and handling robot according to any one of claims 1 to 9, characterized in that: A driving gear (9) is fixedly mounted on the periphery of the middle portion of the rotating shaft (2); a threaded rod (10) is rotationally connected to the outer side of the driving gear (9) inside the machine body (1), and the threaded rod (10) and the driving gear (9) are meshed with each other; a motor (11) is fixedly mounted inside the machine body (1), and the motor (11) is transmission-connected to the threaded rod (10).

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