Frame-taking RGV carrying robot

Abstract

The invention discloses a frame-taking RGV carrying robot. The frame-taking RGV carrying robot comprises a frame and a carrying base used for placing a material frame; wherein the loading base comprises a bearing plate fixedly connected to the frame; the bearing plate is provided with a first groove which extends from the center of the top face of the bearing plate to the periphery and penetrates through the bearing plate, and a sliding part capable of rotating upwards or downwards is arranged in the first groove in a sliding mode. A second groove is formed in the sliding part; the material frame is provided with an inserting block corresponding to the second groove, and when the sliding component rotates upwards or downwards, the inserting block can stretch into or retreat from the second groove. The lifting device can be suitable for lifting material frames of different shapes and sizes, is better in flexibility and low in maintenance cost, and improves the operation efficiency of storage and transportation.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing, and in particular to a frame-taking RGV handling robot. Background Art

[0002] Smart warehousing is an important part of the logistics process. RGV handling robots can replace manual handling of goods and play an important role in smart warehousing logistics.

[0003] However, in the related art, when the RGV transport robot is transporting goods, the RGV transport robot mostly adopts a telescopic fork structure to pick up goods by insertion or clamping. However, the operating accuracy of this design is low, which becomes a limiting factor in certain application scenarios that require high-precision operation. Moreover, the complex mechanical structure of the telescopic fork may also increase the risk of failure and maintenance costs.

[0004] Therefore, it is necessary to propose further solutions to solve the above technical problems. Summary of the invention

[0005] The present invention provides a frame-removing RGV transport robot to solve the above technical problems.

[0006] The object of the present invention is achieved through the following technical solution: a frame-taking RGV handling robot, comprising a frame and a loading base for placing a feeding frame; wherein:

[0007] The cargo base includes a supporting plate fixedly connected to the frame; the supporting plate has a first groove extending from the center of its top surface to the periphery and penetrating the supporting plate, and a sliding component that can be rotated upward or downward is slidably arranged in the first groove; a second groove is formed on the sliding component; an insert block corresponding to the second groove is provided on the material frame, and when the sliding component rotates upward or downward, the insert block can extend into or withdraw from the second groove.

[0008] Furthermore, a slide rail is provided on the frame, and the sliding component is slidably connected to the slide rail.

[0009] Furthermore, the frame is provided with a first moving drive mechanism that drives the sliding component to move forward and backward, the first moving mechanism includes a main transmission wheel, a secondary transmission wheel, a first transmission belt and a first driving motor installed on the frame, the secondary transmission wheel is rotatably connected to the frame; the main transmission wheel is fixedly connected to the output shaft of the first driving motor, and the main transmission wheel is driven to rotate by the first driving motor; the first transmission belt is tensioned on the main transmission wheel and the secondary transmission wheel; a connecting block is fixedly connected to the first transmission belt, and the connecting block is fixedly connected to the sliding component.

[0010] Furthermore, the sliding component includes a sliding base, a rotating frame-taking arm, a rotating shaft and a cylinder installed on the sliding base, the bottom of the sliding base is slidably connected to the slide rail, and one side of the sliding base is fixedly connected to the first transmission belt; the rotating shaft is rotatably connected to the top of the sliding base; one end of the rotating frame-taking arm is fixedly connected to the rotating shaft; the other end of the rotating frame-taking arm has the second groove formed on its top, and its bottom is rotatably connected to the power end of the cylinder, and the power end of the cylinder performs telescopic movement to drive the rotating frame-taking arm to rotate upward or downward.

[0011] Furthermore, a moving mechanism for adjusting the position of the goods is symmetrically arranged on the frame; the moving mechanism includes a second transmission belt rotatably arranged on both sides of the support plate and a second moving drive mechanism for driving the second transmission belt to rotate, and the second transmission belt is at the same horizontal height as the support plate.

[0012] Furthermore, the second mobile drive mechanism includes the transmission shaft, a second drive motor, a first driven wheel and a second driven wheel corresponding to the first transmission wheel, the transmission shaft is rotatably connected to the frame, the first driven wheels are fixedly connected on both sides of the transmission shaft, and the first driven wheels are located on both sides of the support plate; the second driven wheel is rotatably connected to the frame; the transmission belt is tensioned on the first driven wheel and the second driven wheel; the power end of the second drive motor is transmission-connected to the transmission shaft for driving the transmission shaft to rotate.

[0013] Furthermore, the transmission connection is a belt transmission connection or a chain transmission connection.

[0014] Furthermore, the second groove includes left and right side walls arranged longitudinally and a bottom wall which is inclined downward and outward and connects the two left and right side walls, and a notch portion is formed at the junction of the bottom wall and the right side wall; when the material frame is taken out, the plug on the material frame fits into the notch portion.

[0015] The beneficial technical effects achieved by the present invention are:

[0016] When the RGV handling robot picks up the material frame, it pushes the sliding part to move to the specified position in the direction of the material frame, then drives the rotating sliding part to rotate upward at a preset angle, so that the plug on the material frame extends into the second groove on the sliding part, and finally drives the sliding part back to the starting position, while dragging the material frame to move it into the support plate of the loading base. The movement of the sliding part is equivalent to the telescopic movement of the telescopic arm fork. There is no need to set up a complex telescopic structure, the structure is simple, the up and down rotation of the sliding part is driven by the cylinder, the rotation angle is precisely controlled, and only the plug corresponding to the second groove on the material frame is needed to be suitable for the extraction of material frames of different shapes and sizes, with better flexibility and low maintenance costs, which improves the efficiency of warehousing and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 This is one of the overall structural schematic diagrams of a frame-taking RGV handling robot of the present invention;

[0019] Figure 2 This is the second overall structural schematic diagram of a frame-taking RGV handling robot of the present invention;

[0020] Figure 3 It is a schematic diagram of the overall structure of the sliding component of the present invention;

[0021] Figure 4 It is a schematic diagram of the connection structure between the sliding component and the first moving driving mechanism of the present invention;

[0022] Figure 5 It is a schematic structural diagram of the second groove in the rotating frame-taking arm of the present invention; DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0025] See also Figure 1-5 As shown in the figure, a frame-taking RGV handling robot applied by the present invention comprises a frame 1 and a loading base 11 for placing a feeding frame 2; wherein:

[0026] The cargo base 11 includes a supporting plate 14 fixedly connected to the frame 1; the supporting plate 14 has a first groove 1401 extending from the center of its top surface to the periphery and penetrating the supporting plate 14, and a sliding component 12 that can rotate upward or downward is slidably arranged in the first groove 1401; a second groove 1203 is formed on the sliding component 12; an insert block 21 corresponding to the second groove 1203 is provided on the material frame 2, and when the sliding component 12 rotates upward or downward, the insert block 21 can extend into or withdraw from the second groove 1203.

[0027] Furthermore, a slide rail 13 is provided on the vehicle frame 1 , and the slide component 12 is slidably connected to the slide rail 13 .

[0028] Furthermore, if Figure 4 As shown, the frame 1 is provided with a first moving drive mechanism for driving the sliding component 12 to move forward and backward, and the first moving mechanism includes a main transmission wheel 126, an auxiliary transmission wheel 127, a first transmission belt 125 and a first driving motor 124 installed on the frame 1, and the auxiliary transmission wheel 127 is rotatably connected to the frame 1; the main transmission wheel 126 is fixedly connected to the output shaft of the first driving motor 124, and the main transmission wheel 126 is driven to rotate by the first driving motor 124; the first transmission belt 125 is tensioned on the main transmission wheel 126 and the auxiliary transmission wheel 127; a connecting block 128 is fixedly connected to the first transmission belt 125, and the connecting block 128 is fixedly connected to the sliding component 12.

[0029] Furthermore, if Figure 3 As shown, the sliding component 12 includes a sliding base 122, a rotating frame-taking arm 121, a rotating shaft, and a cylinder 123 installed on the sliding base 122. The bottom of the sliding base 122 is slidably connected to the slide rail 13, and one side of the sliding base 122 is fixedly connected to the first transmission belt 125; the rotating shaft is rotatably connected to the top of the sliding base 122; one end 1201 of the rotating frame-taking arm 121 is fixedly connected to the rotating shaft; the other end 1202 of the rotating frame-taking arm 121 has a second groove 1203 formed on its top, and its bottom is rotatably connected to the power end of the cylinder 123, and the power end of the cylinder 123 performs telescopic movement to drive the rotating frame-taking arm 121 to rotate upward or downward. Accordingly, when the power end of the cylinder 123 extends outward, a force is generated to push the frame-taking arm 121 to rotate upward, so that the second groove 1203 of the frame-taking arm 121 approaches the insert block 21 of the material frame. When the power end of the cylinder 123 contracts, the frame removing arm 121 rotates downward, so that the second groove 1203 of the frame removing arm 121 is separated from the insert block 21 of the material frame.

[0030] Furthermore, a moving mechanism for adjusting the position of the goods is symmetrically arranged on the frame 1; the moving mechanism includes a second transmission belt 14 rotatably arranged on both sides of the supporting plate 14 and a second moving driving mechanism 15 that drives the second transmission belt 14 to rotate, and the second transmission belt 14 is at the same horizontal height as the supporting plate 14.

[0031] Further, the second mobile driving mechanism 15 includes a transmission shaft 151, a second driving motor 152, a first driven wheel 153 and a second driven wheel 154 corresponding to the first transmission wheel. The transmission shaft 151 is rotatably connected to the frame 1. Both sides of the transmission shaft 151 are fixedly connected with the first driven wheels 153, and the first driven wheels 153 are located on both sides of the supporting plate 14; the second driven wheel 154 is rotatably connected to the frame 1; the second transmission belt 14 is tensioned on the first driven wheel 153 and the second driven wheel 154; the power end of the second driving motor 152 is transmission-connected to the transmission shaft 151 to drive the transmission shaft 151 to rotate. Preferably, the transmission connection between the power end of the second driving motor 152 and the transmission shaft 151 can be a belt transmission connection or a chain transmission connection.

[0032] More specifically, if Figure 5 As shown, the second groove 1203 includes a left side wall 1211 and a right side wall 1212 arranged longitudinally, and a bottom wall 1213 which is inclined downward and outward and connects the two left and right side walls 1212, and a notch portion 1214 is formed at the junction of the bottom wall 1213 and the right side wall 1212; when the material frame 2 is taken out, the plug block 21 on the material frame 2 fits in the notch portion 1214; accordingly, the design of the notch portion 1214 deepens the insertion depth of the plug block 21, and can fix the plug block 21 in the second groove 1203, and is not easy to slide and wear with the bottom wall 1213, thereby extending the service life of the plug block 21 on the material frame 2.

[0033] Here’s how it works:

[0034] When the RGV handling robot takes the material frame 2, it pushes the sliding component 12 to move to the specified position in the direction of the material frame 2, then drives the rotating sliding component 12 to rotate upward at a preset angle, so that the plug 21 on the material frame 2 extends into the second groove 1203 on the sliding component 12, and finally drives the sliding component 12 back to the starting position, while dragging the material frame 2 to move onto the supporting plate 14 of the loading base 11. The movement stroke of the sliding component 12 is equivalent to the telescopic movement of the telescopic arm fork, and there is no need to set a complex telescopic structure, the structure is simple, the up and down rotation of the sliding component 12 is driven by the cylinder 123, the rotation angle is precisely controlled, and only the plug 21 corresponding to the second groove 1203 needs to be added to the material frame 2 to be suitable for the extraction of material frames 2 of different shapes and sizes, with better flexibility and low maintenance cost; the operation efficiency of warehousing and transportation is improved.

[0035] The above is a detailed introduction to an RGV transfer device for an intelligent three-dimensional warehouse 1 provided in an embodiment of the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the core idea of ​​the present invention; at the same time, for general technical personnel in this field, according to the ideas and methods of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

[0036] 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 frame-taking RGV handling robot, comprising a frame and a loading base for placing a feeding frame; characterized in that: The cargo base includes a supporting plate fixedly connected to the frame; the supporting plate has a first groove extending from the center of its top surface to the periphery and penetrating the supporting plate, and a sliding component that can be rotated upward or downward is slidably arranged in the first groove; a second groove is formed on the sliding component; an insert block corresponding to the second groove is provided on the material frame, and when the sliding component rotates upward or downward, the insert block can extend into or withdraw from the second groove.

2. The frame-removing RGV handling robot according to claim 1, characterized in that: The frame is provided with a slide rail, and the slide component is slidably connected to the slide rail.

3. The frame-removing RGV handling robot according to claim 2, characterized in that: The frame is provided with a first moving driving mechanism that drives the sliding component to move forward and backward, the first moving mechanism comprises a main transmission wheel, an auxiliary transmission wheel, a first transmission belt and a first driving motor installed on the frame, and the auxiliary transmission wheel is rotatably connected to the frame; The main transmission wheel is fixedly connected to the output shaft of the first driving motor, and the first driving motor drives the main transmission wheel to rotate; the first transmission belt is tensioned on the main transmission wheel and the auxiliary transmission wheel; a connecting block is fixedly connected to the first transmission belt, and the connecting block is fixedly connected to the sliding component.

4. The frame-removing RGV handling robot according to claim 3, characterized in that: The sliding component includes a sliding base, a rotating frame-taking arm, a rotating shaft and a cylinder installed on the sliding base, the bottom of the sliding base is slidably connected to the sliding rail, and one side of the sliding base is fixedly connected to the first transmission belt; the rotating shaft is rotatably connected to the top of the sliding base; one end of the rotating frame-taking arm is fixedly connected to the rotating shaft; the other end of the rotating frame-taking arm has the second groove formed on its top, and the bottom is rotatably connected to the power end of the cylinder, and the rotating frame-taking arm is driven to rotate upward or downward through the telescopic movement of the power end of the cylinder.

5. The frame-removing RGV handling robot according to claim 1, characterized in that: The frame is also symmetrically provided with a moving mechanism for adjusting the position of the goods; the moving mechanism includes a second transmission belt rotatably arranged on both sides of the supporting plate and a second moving driving mechanism that drives the second transmission belt to rotate, and the second transmission belt is at the same horizontal height as the supporting plate.

6. The frame-removing RGV handling robot according to claim 5, characterized in that: The second mobile driving mechanism includes the transmission shaft, a second driving motor, a first driven wheel and a second driven wheel corresponding to the first transmission wheel, the transmission shaft is rotatably connected to the frame, the first driven wheels are fixedly connected on both sides of the transmission shaft, and the first driven wheels are located on both sides of the supporting plate; the second driven wheel is rotatably connected to the frame; the transmission belt is tensioned on the first driven wheel and the second driven wheel; the power end of the second driving motor is transmission-connected to the transmission shaft for driving the transmission shaft to rotate.

7. The frame-removing RGV handling robot according to claim 6, characterized in that: The transmission connection is a belt transmission connection or a chain transmission connection.

8. The frame-removing RGV handling robot according to claim 1, characterized in that: The second groove includes left and right side walls arranged longitudinally and a bottom wall which is inclined downward and outward and connects the two left and right side walls, and a notch is formed at the junction of the bottom wall and the right side wall; when the material frame is taken out, the insert on the material frame fits into the notch.

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