Cargo lifting and carrying robot for warehousing

Abstract

The invention provides a goods lifting and carrying robot for warehousing, and belongs to the technical field of warehousing and carrying equipment, the goods lifting and carrying robot for warehousing comprises a carrying vehicle body composed of a machine body bottom shell, side baffles and trays, the side baffles are arranged at the edges of the machine body bottom shell, the trays are arranged at the tops of the side baffles, and driving assemblies are symmetrically arranged on the two side walls in the side baffles; the rocker arm assemblies are symmetrically arranged on the two side walls outside the side baffles. According to the scheme, the connecting rods, the linear rail frame, the lead screw, the sliding block and the clamping block are arranged, the two connecting rods are hinged to one side of the linear rail frame, and the two connecting rods swing synchronously to drive the linear rail frame to move in the state of being parallel to the machine body bottom shell; the position of the sliding block relative to the linear rail frame can be adjusted by rotating the lead screw under the meshing effect of threads, so that the position of the clamping block relative to the tray is adjusted, goods can be placed at different positions on the tray, and the utilization rate of the placing space at the top of the tray is increased.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and handling equipment, and in particular to a cargo lifting and handling robot for warehousing. Background Art

[0002] Warehousing is a comprehensive activity that uses warehouses to store, preserve and store items. The basic warehousing operations include the entry and exit, sorting, packaging, inventory, distribution and information processing of items. In recent years, with the strong growth of the warehousing market, warehouse handling robots have been widely used, and research on warehouse handling robots is also constantly advancing;

[0003] When carrying goods, existing warehouse handling robots need to continuously carry goods between shelves and pallets. For example, a logistics handling clean intelligent robot applied to intelligent warehousing with patent publication number CN115009846B can realize the automatic handling and loading and unloading of goods by the handling robot by adopting the structure of swing arm, transfer plate and first clamping plate, realize the complete automatic handling and transfer of goods, improve the functionality of the robot, save the coordination operation and physical exertion of manual handling and loading and unloading, and improve work efficiency;

[0004] When this type of handling robot uses a swinging rocker arm to transport goods, the rocker arm can only swing relative to the pallet, which is inconvenient to adjust the relative position of the goods relative to the pallet, and the utilization rate of the placement space on the top of the pallet is not high;

[0005] Therefore, there is an urgent need for cargo lifting and handling robots for warehousing to solve the above problems. Summary of the invention

[0006] In view of this, the purpose of the present application is to provide a cargo lifting and handling robot for warehousing, so as to solve the problem that the swinging rocker arm is inconvenient to adjust the cargo placement position, resulting in low utilization of the pallet placement space.

[0007] In order to solve the above technical problems, this application provides the following technical solutions:

[0008] A cargo lifting and handling robot for storage, comprising a handling vehicle body composed of a body bottom shell, side baffles and a pallet, wherein the edge of the body bottom shell is provided with side baffles, the top of the side baffles is provided with a pallet, a driving assembly symmetrically arranged on two side walls inside the side baffles, a rocker assembly symmetrically arranged on two side walls outside the side baffles, and a supporting assembly slidable relative to the body bottom shell is arranged below the rocker assembly;

[0009] The driving assembly includes a linear drive disposed on the inner side wall of the side baffle, and a rack connected to the output portion of the linear drive;

[0010] The rocker arm assembly includes a connecting shaft arranged on the outer side wall of the side baffle, a connecting rod arranged on the connecting shaft, a linear rail frame arranged on the connecting rod, a gear 1 arranged at the end of the connecting shaft, and a fan-shaped guide wheel arranged at the end of the connecting shaft;

[0011] The gear 1 is precisely meshed with the rack;

[0012] A clamping assembly is provided on one side of the linear rail frame, and the clamping assembly includes a slider that can slide along the side wall of the linear rail frame, a clamping block provided on one side of the slider, and an electric push rod provided between the slider and the clamping block;

[0013] A screw rod is provided inside the linear rail frame, and the screw rod passes through the slider;

[0014] The support assembly comprises a support plate arranged directly below the guide wheel.

[0015] Preferably, a rectangular array of grooves is formed on the side wall of the machine body bottom shell, a connecting seat 1 is fixedly connected to a position on the top rear side of the machine body bottom shell facing the grooves, a connecting arm is rotatably connected to an opening of the connecting seat 1 via a bearing, a steering shaft is rotatably connected to one side of the connecting arm via a bearing, and a steering wheel is fixedly connected to one side of the steering shaft;

[0016] The two connecting arms are connected via a steering tie rod, and a tooth groove is provided at the middle position of the top of the steering tie rod;

[0017] A steering motor is fixedly connected to the middle position of the rear side of the machine body bottom shell, and a second gear is fixedly connected to the output end of the steering motor. The second gear is precisely meshed with the tooth groove at the top of the steering tie rod.

[0018] Preferably, a driving motor is further provided at the top front end of the bottom shell of the machine body, an output end of the driving motor is fixedly connected to a transmission shaft, and the other end of the transmission shaft is fixedly connected to a driving wheel;

[0019] A second connecting seat is sleeved on the outer side of the transmission shaft, and the other end of the second connecting seat is fixed to the top of the bottom shell of the machine body.

[0020] Preferably, the vertical portion of the connecting arm is a hollow tubular structure, the vertical portion of the connecting arm is arranged to pass through the top of the connecting seat 1, a guide column is embedded in the top opening of the connecting arm, a limiting step is arranged on the outer side wall of the guide column, and a reset spring is fixedly connected to the bottom of the connecting arm;

[0021] The side wall of the side baffle is provided with a strip opening, and a pressing block is fixedly connected to the side wall of the support plate facing the side baffle, and the pressing block is arranged just above the guide column;

[0022] The bottom surface of the limiting step is rough, and a positioning groove is provided on the top surface of the connecting seat 1. A friction plate is embedded in the top positioning groove of the connecting seat 1, and the friction plate is nested on the outer side of the connecting arm.

[0023] Preferably, a clamping block is fixedly connected to the top of the guide column, and the clamping block includes a horizontal portion sleeved on the outside of the limiting step, and a vertical portion parallel to the guide column;

[0024] The lower bottom surface of the horizontal part of the clamping block is flush with the bottom surface of the limiting step, and the vertical part of the clamping block is in contact with the outer side wall of the connecting seat 1;

[0025] A groove with an inwardly concave arc surface is provided on the bottom surface of the vertical part of the clamping block, and the vertical part of the clamping block is arranged just above the steering shaft.

[0026] Preferably, the guide wheel is semicircular, the guide wheel is concentrically arranged with the connecting shaft, and the interior of the guide wheel is hollowed out;

[0027] The top of the support plate is fixedly connected to a limiting block, the limiting block is arranged directly below the guide wheel, and the top of the limiting block is provided with an inner concave arc groove whose size matches the size of the guide wheel.

[0028] Preferably, the support plate is arranged around the outer side wall of the side baffle;

[0029] A T-shaped anti-slip block is fixedly connected to the front of the side baffle, and a strip groove is opened on the front of the support plate. The support plate is clamped to the outer side of the anti-slip block through the strip groove.

[0030] Preferably, a groove is formed on the bottom surface of the machine body bottom shell, and the support plate further comprises a horizontal portion embedded in the groove on the bottom surface of the machine body bottom shell.

[0031] Preferably, a groove is provided at the top corner of the side baffle, the linear rail is embedded in the top groove of the side baffle, a groove is provided on the side wall of the linear rail, and the connecting rod is embedded in the side wall groove of the linear rail.

[0032] Preferably, the linear rail frame includes a straight hollow inner cavity, and the side wall of the linear rail frame is provided with a strip-shaped hole communicating with the inner cavity;

[0033] A servo motor is fixedly connected to the end of the linear rail frame, and an output end of the servo motor is fixedly connected to the lead screw.

[0034] Compared with the prior art, this application has at least the following beneficial effects:

[0035] In the above scheme, by setting a connecting rod, a linear rail frame, a lead screw, a slider and a clamping block, two connecting rods are hinged to one side of the linear rail frame, and the two connecting rods swing synchronously, driving the linear rail frame to move in a state parallel to the bottom shell of the machine body. Through the coordinated cooperation of the lead screw and the slider, the position of the slider relative to the linear rail frame can be adjusted by rotating the lead screw under the meshing action of the thread, thereby adjusting the position of the clamping block relative to the pallet, so that the goods can be placed in different positions on the pallet, thereby improving the utilization rate of the placement space on the top of the pallet.

[0036] By setting the guide column, the limit step, the card block, the support plate and the pressure block, during the process of loading goods, the pressure block squeezes the guide column to make the guide column move downward, and the limit step moves downward to fit the surface of the friction plate, and the friction force is used to fix the connecting arm. The card block moves downward synchronously, and the vertical part of the card block is connected to the outer wall of the steering shaft. The steering shaft is difficult to rotate relative to the connecting arm due to the friction force, thereby locking the steering wheel, further preventing the overall displacement of the handling robot, and improving stability.

[0037] By providing a guide wheel, a limit block and a support plate, the guide wheel contacts the limit block when the connecting rod is in a vertical state, and the guide wheel and the limit block cooperate with each other to avoid axial displacement of the guide wheel along the connecting shaft. The connecting shaft is supported by the guide wheel and has good rotation stability. After the support plate contacts the ground, a good supporting effect is formed for the transport robot as a whole, which can increase the contact area between the transport robot and the ground, thereby improving stability, avoiding shaking, overcoming the problem of slippage of the transport robot, and being safer when used.

[0038] By setting up a support plate, the support plate covers the outer side of the side baffle in all directions, shields the hollow part of the side baffle, and plays a shielding and protective role for the steering wheel and the driving wheel. During actual use, when external foreign objects hit the support plate, damage to the structure of the bottom shell of the body, the side baffle and the tray can be avoided, and the support plate can play a good protective effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, further serve to explain the principles of the present disclosure and to enable those skilled in the relevant art to make and use the present disclosure.

[0040] Figure 1 It is a schematic diagram of the overall structure in this application;

[0041] Figure 2 This is a schematic diagram of the bottom shell structure of the machine body in this application;

[0042] Figure 3 This is a schematic diagram of the linear rail structure in this application;

[0043] Figure 4 This is a structural schematic diagram of a connecting seat in this application;

[0044] Figure 5 This is a schematic diagram of the connecting arm structure in this application;

[0045] Figure 6 This is a schematic diagram of the cross-sectional structure of the guide column in this application;

[0046] Figure 7 This is a schematic diagram of the side baffle structure in this application;

[0047] Figure 8 This is a schematic diagram of the support plate structure in this application;

[0048] Fig. 9 This is a schematic diagram of the slider structure in this application.

[0049] [reference numerals]

[0050] 1. Bottom shell of the machine body; 101. Connecting seat 1; 1011. Friction plate; 102. Connecting arm; 1021. Guide column; 1022. Limiting step; 1023. Reset spring; 1024. Block; 103. Steering shaft; 104. Steering wheel; 105. Steering tie rod; 2. Side baffle; 201. Linear drive; 202. Rack; 203. Anti-drop block; 3. Tray; 4. Connecting shaft; 401. Connecting rod; 402. Linear rail; 4021. Screw rod; 4022. Servo motor; 403. Gear 1; 404. Guide wheel; 5. Slider; 501. Clamp; 502. Electric push rod; 6. Support plate; 601. Pressure block; 602. Limiting block; 7. Steering motor; 701. Gear 2; 8. Drive motor; 801. Transmission shaft; 802. Drive wheel; 803. Connecting seat 2. DETAILED DESCRIPTION

[0051] The following is a detailed description of the warehouse cargo lifting and handling robot provided by the present application in combination with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternative methods to implement some known technologies; and the accompanying drawings are only for a more specific description of the embodiments, and are not intended to specifically limit the present application.

[0052] like Figure 1 , Figure 2 , Figure 3The warehouse cargo lifting and handling robot shown in the embodiment of the present application includes a handling vehicle body composed of a body bottom shell 1, a side baffle 2 and a pallet 3, the side baffle 2 is arranged on the edge of the body bottom shell 1, the pallet 3 is arranged on the top of the side baffle 2, a driving assembly is symmetrically arranged on the inner side walls of the side baffle 2, a rocker arm assembly is symmetrically arranged on the outer side walls of the side baffle 2, and a supporting assembly that can slide relative to the body bottom shell 1 is arranged below the rocker arm assembly;

[0053] The driving assembly includes a linear drive 201 disposed on the inner wall of the side baffle 2, and a rack 202 connected to the output portion of the linear drive 201;

[0054] The rocker arm assembly includes a connecting shaft 4 disposed on the outer side wall of the side baffle 2, a connecting rod 401 disposed on the connecting shaft 4, a linear rail frame 402 disposed on the connecting rod 401, a gear 403 disposed at the end of the connecting shaft 4, and a fan-shaped guide wheel 404 disposed at the end of the connecting shaft 4;

[0055] Gear 1 403 is precisely meshed with rack 202;

[0056] A clamping assembly is provided on one side of the linear rail frame 402, and the clamping assembly includes a slider 5 that can slide along the side wall of the linear rail frame 402, a clamping block 501 provided on one side of the slider 5, and an electric push rod 502 provided between the slider 5 and the clamping block 501;

[0057] A screw rod 4021 is provided inside the linear rail frame 402, and the screw rod 4021 is provided through the slider 5;

[0058] The support assembly includes a support plate 6 disposed directly below the guide wheel 404;

[0059] In actual use, the linear driver 201 drives the rack 202 to move in a linear direction, the rack 202 drives the two gears 403 to rotate simultaneously, the gear 403 drives the connecting shaft 4 to rotate, so that the connecting rod 401 swings relative to the side baffle 2, the two connecting rods 401 swing synchronously, and drive the linear rail frame 402 to move in a state parallel to the bottom shell 1 of the machine body, while the connecting rod 401 drives the linear rail frame 402 to move upward relative to the tray 3, the linear rail frame 402 also moves horizontally relative to the tray 3;

[0060] The movable adjustable angle of the connecting rod 401 relative to the pallet 3 is 180°. By adjusting the angle of the connecting rod 401 relative to the pallet 3, the height of the linear rail frame 402 relative to the pallet 3 is controlled, which is beneficial to controlling the distance between the goods and the pallet 3, improving work efficiency, and reducing the impact force generated when carrying goods from a high place to the pallet 3, which is beneficial to protecting the goods.

[0061] The electric push rod 502 drives the clamping block 501 to move away from the slider 5 on the same side, and the two clamping blocks 501 can clamp and fix the goods. During the horizontal movement of the two clamping blocks 501 relative to the tray 3, the goods can be released on the top of the tray 3;

[0062] By setting the lead screw 4021 and the linear rail frame 402, both ends of the lead screw 4021 are rotatably connected to the end surface of the linear rail frame 402 through bearings, and the slider 5 is connected to the lead screw 4021 through threads. The position of the slider 5 relative to the linear rail frame 402 can be adjusted by rotating the lead screw 4021 under the meshing action of the threads, thereby adjusting the position of the clamping block 501 relative to the pallet 3, so that the goods can be placed at different positions on the pallet 3;

[0063] By setting the electric push rod 502 and controlling the distance between the slide block 5 and the clamping block 501 , the goods can be firmly clamped, and the position of the goods relative to the pallet 3 can be adjusted, thereby improving the utilization rate of the placement space on the top of the pallet 3 .

[0064] In this embodiment, Figure 2-Figure 9 As shown: a rectangular array of grooves is opened on the side wall of the machine body bottom shell 1, a connecting seat 101 is fixedly connected to the position of the top rear side of the machine body bottom shell 1 facing the groove, a connecting arm 102 is rotatably connected to the opening of the connecting seat 101 through a bearing, a steering shaft 103 is rotatably connected to one side of the connecting arm 102 through a bearing, and a steering wheel 104 is fixedly connected to one side of the steering shaft 103;

[0065] The two connecting arms 102 are connected by a steering rod 105, and a tooth groove is provided at the middle position of the top of the steering rod 105;

[0066] A steering motor 7 is fixedly connected to the middle position of the rear side of the body bottom shell 1, and a second gear 701 is fixedly connected to the output end of the steering motor 7. The second gear 701 is precisely meshed with the tooth groove at the top of the steering tie rod 105;

[0067] A driving motor 8 is also provided at the top front end of the machine body bottom shell 1, and a transmission shaft 801 is fixedly connected to the output end of the driving motor 8, and a driving wheel 802 is fixedly connected to the other end of the transmission shaft 801;

[0068] The outer side of the transmission shaft 801 is sleeved with a second connection seat 803, and the other end of the second connection seat 803 is fixed to the top of the bottom shell 1 of the body;

[0069] During actual use, the drive motor 8 drives the transmission shaft 801 to rotate, thereby driving the driving wheel 802 to rotate, generating driving force, and the steering motor 7 drives the gear 2 701 to rotate. The gear 2 701 and the steering rod 105 cooperate with each other through teeth and tooth grooves to realize the linear reciprocating movement of the steering rod 105, driving the connecting arm 102 to swing, thereby controlling the steering wheel 104 to swing, realizing the steering function, and cooperating with the driving wheel 802, so that the handling robot as a whole can move flexibly, and can realize straight-line driving and turning.

[0070] like Figure 5 and Figure 6 As shown, the vertical part of the connecting arm 102 is a hollow tubular structure, and the vertical part of the connecting arm 102 passes through the top of the connecting seat 101. A guide column 1021 is embedded in the top opening of the connecting arm 102, and a limiting step 1022 is provided on the outer side wall of the guide column 1021. A return spring 1023 is fixedly connected to the bottom of the connecting arm 102;

[0071] The side wall of the side baffle 2 is provided with a strip-shaped opening, and a pressing block 601 is fixedly connected to the side wall of the support plate 6 facing the side baffle 2, and the pressing block 601 is arranged just above the guide column 1021;

[0072] The bottom surface of the limiting step 1022 is rough, and a positioning groove is provided on the top surface of the connecting seat 101. A friction plate 1011 is embedded in the top positioning groove of the connecting seat 101, and the friction plate 1011 is nested on the outer side of the connecting arm 102.

[0073] During actual use, when the connecting rod 401 swings, it drives the guide wheel 404 to rotate, and the arc-shaped part of the guide wheel 404 squeezes the support plate 6, causing the support plate 6 to move downward, and the pressure block 601 on the side wall of the support plate 6 slides in the strip opening on the side wall of the side baffle 2. The pressure block 601 squeezes the guide column 1021, causing the guide column 1021 to move downward, and the limiting step 1022 moves downward to fit the surface of the friction plate 1011, and the friction force is used to fix the connecting arm 102, locking the position of the connecting arm 102 relative to the connecting seat 101, achieving the positioning effect, reducing the overall swing of the handling robot, and improving the stability when transporting goods.

[0074] The connecting arm 102 is kept vertical by the limiting effect of the connecting seat 101, and has good bearing performance. The guide column 1021 can only move in the vertical direction relative to the connecting arm 102, and the matching accuracy is good. The limiting step 1022 and the friction plate 1011 have a high degree of fit, a flat contact surface, and stable friction.

[0075] The pressing block 601 can only move in the strip-shaped opening of the side wall of the side baffle 2. The pressing block 601 is in stable contact with the guide column 1021. The pressing block 601 also has a good limiting effect on the support plate 6. The support plate 6 can only move back and forth in the vertical direction.

[0076] The friction plate 1011 is limited by the groove at the top of the connecting seat 101 , and its position is stable when under pressure. The friction plate 1011 is not easy to move and can cooperate well with the limiting step 1022 .

[0077] like Figure 5 and Figure 6 As shown, a block 1024 is fixedly connected to the top of the guide column 1021, and the block 1024 includes a horizontal portion sleeved on the outside of the limiting step 1022, and a vertical portion parallel to the guide column 1021;

[0078] The bottom surface of the horizontal part of the block 1024 is flush with the bottom surface of the limiting step 1022, and the vertical part of the block 1024 is in contact with the outer wall of the connecting seat 101;

[0079] The bottom surface of the vertical portion of the clamping block 1024 is provided with a concave arc groove, and the vertical portion of the clamping block 1024 is arranged directly above the steering shaft 103;

[0080] When the guide column 1021 is squeezed and displaced downward by the pressing block 601, the clamping block 1024 moves downward synchronously, and the vertical portion of the clamping block 1024 is clamped on the outer wall of the steering shaft 103. The steering shaft 103 is difficult to rotate relative to the connecting arm 102 due to the friction force, thereby locking the steering wheel 104, further preventing the overall displacement of the handling robot, and improving stability;

[0081] The vertical portion of the block 1024 is designed with a groove, which can fit against the outer wall of the steering shaft 103 to increase the contact area and play a limiting role to prevent the steering shaft 103 from horizontal displacement. The vertical portion of the block 1024 also fits against the outer wall of the connecting seat 101. The block 1024 cannot rotate relative to the guide column 1021, and the guide column 1021 can only be displaced in the vertical direction, which has a good guiding and limiting effect.

[0082] like Figure 7 and Figure 8 The guide wheel 404 is semicircular, and is concentrically arranged with the connecting shaft 4, and the interior of the guide wheel 404 is hollowed out;

[0083] The top of the support plate 6 is fixedly connected to a limit block 602, which is arranged directly below the guide wheel 404. The top of the limit block 602 is provided with an inner concave arc groove whose size matches the size of the guide wheel 404.

[0084] When the connecting rod 401 is in a vertical state, the guide wheel 404 contacts the limit block 602, and the groove on the surface of the limit block 602 is used to limit the guide wheel 404 to prevent the guide wheel 404 from axially displacing along the connecting shaft 4. The connecting shaft 4 is supported by the guide wheel 404, and the rotation stability is good;

[0085] The middle part of the guide wheel 404 is hollowed out, so it has elasticity, which prevents the guide wheel 404 from impacting the limit block 602, can reduce the vibration phenomenon of the overall operation of the transport robot, and improve the stability of the linear rail frame 402;

[0086] When the arc part of the guide wheel 404 squeezes the limit block 602, the support plate 6 is pressed toward the ground. After the support plate 6 contacts the ground, a good supporting effect is formed for the transport robot as a whole, which can increase the contact area between the transport robot and the ground, thereby improving stability and avoiding shaking. At the same time, it reduces the pressure on the steering wheel 104 and the driving wheel 802, overcomes the problem of slippage of the transport robot, and is safer when used.

[0087] like Figure 7 and Figure 8 As shown, the support plate 6 is arranged around the outer side wall of the side baffle 2;

[0088] A "T"-shaped anti-slip block 203 is fixedly connected to the front of the side baffle 2, and a strip groove is opened on the front of the support plate 6, and the support plate 6 is clamped to the outer side of the anti-slip block 203 through the strip groove;

[0089] The support plate 6 covers the outer side of the side baffle 2 in all directions, shields the hollow part of the side baffle 2, and plays a role of shielding and protecting the steering wheel 104 and the driving wheel 802. In actual use, when external foreign objects hit the support plate 6, it can avoid damaging the structure of the body bottom shell 1, the side baffle 2 and the tray 3, and the support plate 6 can play a good protective effect;

[0090] At the same time, the frame-shaped support plate 6 can only move vertically relative to the side baffle 2, and the support plate 6 cannot move horizontally, thereby avoiding the problem of poor support effect caused by the horizontal movement of the support plate 6 relative to the bottom shell 1 of the body;

[0091] The anti-slip block 203 is designed to further prevent the support plate 6 from being detached from the entire device. The overall structure of the device is compact, highly compatible, and has good stability.

[0092] The bottom surface of the machine body bottom shell 1 is provided with a groove, and the support plate 6 further includes a horizontal portion embedded in the groove of the bottom surface of the machine body bottom shell 1;

[0093] The support plate 6 is also designed with a horizontal portion located in the middle thereof, which further strengthens the overall strength of the support plate 6 structure, while well protecting the bottom shell 1 of the body, and increasing the contact area between the support plate 6 and the ground during support, further preventing displacement of the support plate 6 during support, and improving the support effect of the support plate 6.

[0094] A groove is provided at the top corner of the side baffle 2, and the linear rail frame 402 is embedded in the groove at the top of the side baffle 2. A groove is provided on the side wall of the linear rail frame 402, and the connecting rod 401 is embedded in the groove on the side wall of the linear rail frame 402.

[0095] The grooves on the side baffle 2 have a limiting effect on the linear rail frame 402, reducing the space for axial displacement of the linear rail frame 402 along the connecting shaft 4 and improving its movement accuracy. The linear rail frame 402 limits the connecting rod 401 through its own grooves, limiting the movable space of the connecting rod 401. It has strong integrity, high matching accuracy, and is more stable and safe to use.

[0096] like Figure 3 , Figure 7 and Fig. 9 As shown, the linear rail frame 402 includes a straight hollow inner cavity, and the side wall of the linear rail frame 402 is provided with a strip hole connected to the inner cavity;

[0097] The end of the linear rail frame 402 is fixedly connected to a servo motor 4022, and the output end of the servo motor 4022 is fixedly connected to the lead screw 4021;

[0098] The servo motor 4022 drives the screw rod 4021 to rotate, so that the position of the slider 5 relative to the linear rail frame 402 can be adjusted more conveniently. Meanwhile, the slider 5 is limited by the inner cavity of the linear rail frame 402 and the strip holes on the side wall, and the sliding fit accuracy is high.

[0099] In addition, the slider 5 includes a groove portion that is clamped on the outer side of the linear rail frame 402, further increasing the contact area between the slider 5 and the linear rail frame 402, thereby improving the stability thereof during sliding.

Claims

1. A cargo lifting and handling robot for storage, comprising a handling vehicle body consisting of a body bottom shell (1), a side baffle (2) and a pallet (3), wherein the edge of the body bottom shell (1) is provided with a side baffle (2), and the top of the side baffle (2) is provided with a pallet (3), characterized in that: A driving assembly is symmetrically arranged on two side walls inside the side baffle (2), a rocker assembly is symmetrically arranged on two side walls outside the side baffle (2), and a supporting assembly is arranged below the rocker assembly and can slide relative to the machine body bottom shell (1); The driving assembly comprises a linear drive (201) arranged on the inner wall of the side baffle (2), and a rack (202) connected to the output portion of the linear drive (201); The rocker arm assembly comprises a connecting shaft (4) arranged on the outer side wall of the side baffle (2), a connecting rod (401) arranged on the connecting shaft (4), a linear rail frame (402) arranged on the connecting rod (401), a gear 1 (403) arranged at the end of the connecting shaft (4), and a fan-shaped guide wheel (404) arranged at the end of the connecting shaft (4); The gear 1 (403) is precisely meshed with the rack (202); A clamping assembly is provided on one side of the linear rail frame (402), and the clamping assembly comprises a slider (5) that can slide along the side wall of the linear rail frame (402), a clamping block (501) provided on one side of the slider (5), and an electric push rod (502) provided between the slider (5) and the clamping block (501); A screw rod (4021) is provided inside the linear rail frame (402), and the screw rod (4021) is provided through the slider (5); The support assembly comprises a support plate (6) arranged directly below the guide wheel (404).

2. The cargo lifting and handling robot for warehousing according to claim 1, characterized in that: A rectangular array of grooves is provided on the side wall of the machine body bottom shell (1); a connection seat (101) is fixedly connected to a position on the top rear side of the machine body bottom shell (1) facing the grooves; an opening of the connection seat (101) is rotatably connected to a connection arm (102) via a bearing; a steering shaft (103) is rotatably connected to one side of the connection arm (102) via a bearing; a steering wheel (104) is fixedly connected to one side of the steering shaft (103); The two connecting arms (102) are connected via a steering rod (105), and a tooth groove is provided at the middle position of the top of the steering rod (105); A steering motor (7) is fixedly connected to the middle position of the rear side of the machine body bottom shell (1), and a second gear (701) is fixedly connected to the output end of the steering motor (7), and the second gear (701) is precisely meshed with the tooth groove at the top of the steering tie rod (105).

3. The cargo lifting and handling robot for warehousing according to claim 2, characterized in that: A driving motor (8) is also provided at the top front end of the machine body bottom shell (1); an output end of the driving motor (8) is fixedly connected to a transmission shaft (801); and the other end of the transmission shaft (801) is fixedly connected to a driving wheel (802); A second connecting seat (803) is sleeved on the outer side of the transmission shaft (801), and the other end of the second connecting seat (803) is fixed to the top of the machine body bottom shell (1).

4. The cargo lifting and handling robot for warehousing according to claim 2, characterized in that: The vertical portion of the connecting arm (102) is a hollow tubular structure, and the vertical portion of the connecting arm (102) is arranged to pass through the top of the connecting seat (101). A guide column (1021) is embedded in the top opening of the connecting arm (102), and a limiting step (1022) is arranged on the outer side wall of the guide column (1021). A return spring (1023) is fixedly connected to the bottom of the connecting arm (102); The side wall of the side baffle (2) is provided with a strip-shaped opening, and a pressing block (601) is fixedly connected to the side wall of the support plate (6) facing the side baffle (2), and the pressing block (601) is arranged directly above the guide column (1021); The bottom surface of the limiting step (1022) is roughened, and a positioning groove is provided on the top surface of the connecting seat (101). A friction plate (1011) is embedded in the top positioning groove of the connecting seat (101), and the friction plate (1011) is nested on the outer side of the connecting arm (102).

5. The cargo lifting and handling robot for warehousing according to claim 4, characterized in that: A clamping block (1024) is fixedly connected to the top of the guide column (1021), and the clamping block (1024) comprises a horizontal portion sleeved on the outside of the limiting step (1022), and a vertical portion parallel to the guide column (1021); The lower bottom surface of the horizontal part of the clamping block (1024) is flush with the bottom surface of the limiting step (1022), and the vertical part of the clamping block (1024) is in contact with the outer side wall of the connecting seat (101); A groove with an inwardly concave arc surface is provided on the bottom surface of the vertical portion of the clamping block (1024), and the vertical portion of the clamping block (1024) is arranged directly above the steering shaft (103).

6. The cargo lifting and handling robot for warehousing according to claim 1, characterized in that: The guide wheel (404) is semicircular, the guide wheel (404) is concentrically arranged with the connecting shaft (4), and the interior of the guide wheel (404) is hollowed out; The top of the support plate (6) is fixedly connected to a limit block (602), and the limit block (602) is arranged directly below the guide wheel (404). The top of the limit block (602) is provided with an inner concave arc groove whose size matches the size of the guide wheel (404).

7. The cargo lifting and handling robot for warehousing according to claim 6, characterized in that: The support plate (6) is arranged around the outer side wall of the side baffle plate (2); A T-shaped anti-slip block (203) is fixedly connected to the front of the side baffle plate (2), a strip groove is provided on the front of the support plate (6), and the support plate (6) is clamped to the outside of the anti-slip block (203) through the strip groove.

8. The cargo lifting and handling robot for warehousing according to claim 1, characterized in that: The bottom surface of the machine body bottom shell (1) is provided with a groove, and the support plate (6) further comprises a horizontal portion embedded in the groove on the bottom surface of the machine body bottom shell (1).

9. The cargo lifting and handling robot for warehousing according to claim 1, characterized in that: A groove is provided at the top corner of the side baffle (2), the linear rail frame (402) is embedded in the top groove of the side baffle (2), a groove is provided on the side wall of the linear rail frame (402), and the connecting rod (401) is embedded in the side wall groove of the linear rail frame (402).

10. The cargo lifting and handling robot for warehousing according to claim 9, characterized in that: The linear rail frame (402) comprises a straight hollow inner cavity, and a strip-shaped hole communicating with the inner cavity is formed on the side wall of the linear rail frame (402); A servo motor (4022) is fixedly connected to the end of the linear rail frame (402), and an output end of the servo motor (4022) is fixedly connected to the lead screw (4021).

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