Box-type robot applied to smart storeroom

Abstract

The invention relates to the technical field of intelligent storeroom material conveying and material conveying, in particular to a box type robot applied to an intelligent storeroom, which comprises a storage cabinet body internally provided with a main control chip, the side wall of the storage cabinet body is provided with a longitudinal loading and unloading port, and the upper surface of the storage cabinet body is provided with a transverse loading and unloading port. According to the box type robot applied to the intelligent storehouse, electric control type overturning climbing claws capable of ascending and descending are symmetrically assembled on the side wall of the storage cabinet body and located on the two sides of the longitudinal loading and unloading opening, electric control climbing can be conducted on the outer side of a goods shelf in a reciprocating ascending and descending mode, only a simple climbing frame needs to be welded to the outer side of the goods shelf, and the cost is greatly reduced; the compartment type structural design is adopted, cargoes can be stored in a closed mode, and the safety of the cargoes in the transportation process is greatly improved; the longitudinal loading and unloading opening and the transverse loading and unloading opening are formed in the outer wall of the storage cabinet body, goods can be taken from multiple positions, and the operation modes are more diversified.

Description

Technical Field

[0001] The present invention relates to the field of material feeding and material feeding technology in a smart warehouse, and in particular to a box-type robot applied to a smart warehouse. Background Art

[0002] With the development of science and technology, more and more intelligent technology storage technologies are being applied to storage warehouses. In the past, warehouses mainly operated and transported goods by manual labor or manually operated equipment, but this method is not only time-consuming and labor-intensive, but also highly dependent on labor. Therefore, some robots with electronically controlled loading and unloading and storage functions have appeared on the market, but the functional integration of such robots is not high, and mechanisms and equipment for lifting and translation need to be set up on the shelves, which greatly increases the production and manufacturing costs of the shelves. At the same time, a single robot can only be used for a single specification of loading and unloading mechanisms, resulting in a very single applicability. Summary of the invention

[0003] The technical problem to be solved by the present invention is that the functional integration of robots currently on the market is not high, and mechanisms and equipment for lifting and translating need to be set up on the shelves, which greatly increases the production and manufacturing costs of the shelves. At the same time, a single robot can only be used for a loading and unloading mechanism of a single specification, resulting in very single applicability.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a box-type robot applied to a smart warehouse, comprising a storage cabinet with a main control chip installed inside, a longitudinal loading and unloading port is opened on the side wall of the storage cabinet, a transverse loading and unloading port is opened on the upper surface of the storage cabinet, and the side walls of the storage cabinet are symmetrically equipped with embedded outer electric-controlled elevators and embedded inner electric-controlled elevators on both sides of the longitudinal loading and unloading port, and the embedded outer electric-controlled elevators and the embedded inner electric-controlled elevators are both equipped with electric-controlled flip climbing claws, electric-controlled extending clamping and guiding devices are symmetrically installed on the longitudinal inner walls on both sides of the storage cabinet, and electric-controlled flipping and translation wheel groups are movably installed on the side walls of the storage cabinet.

[0005] The storage cabinet is internally equipped with an electrically controlled flexible closing component for closing the longitudinal loading and unloading opening and the transverse loading and unloading opening respectively.

[0006] The electrically controlled flexible closing component comprises a bottom storage shaft cylinder fixed on the inner side of the lower end of the longitudinal loading and unloading port, a top storage shaft cylinder fixed on one side of the lower end of the horizontal loading and unloading port, and an electrically controlled closing roller shutter.

[0007] The embedded outer electric control lift and the embedded inner electric control lift are both composed of embedded guide rails fixed on both sides of the side walls of the storage cabinet, longitudinal electric control screw rods installed in the embedded guide rails, and embedded lift seats threadedly assembled on the longitudinal electric control screw rods.

[0008] The electrically controlled flip climbing claw comprises a top frame fixed on the upper surface of the embedded lifting seat, a flip hook movably mounted on the side wall of the embedded lifting seat, and an adjusting support rod movably mounted on the side wall of the top frame.

[0009] The electrically controlled extending clamping material guiding device includes a built-in lifting screw fixed on the inner walls on both sides of the storage cabinet, a built-in lateral adjustment guide rail threadedly sleeved on the built-in lifting screw, a lateral translation screw movably installed in the built-in lateral adjustment guide rail, an internal thread adjustment block threadedly sleeved on the lateral translation screw, and an electrically controlled extending material guiding belt movably installed on the side wall of the internal thread adjustment block.

[0010] Binocular optical recognition cameras are fixedly mounted on the side walls of the storage cabinet at both sides of the longitudinal loading and unloading opening.

[0011] Embedded lateral transmission covers are symmetrically fixed on both side walls of the storage cabinet, and an electrically controlled lifting drive wheel set is installed inside the embedded lateral transmission cover.

[0012] A lateral roller is movably mounted on the side wall of the flip hook.

[0013] The electrically controlled flipping and translating wheel set comprises a flipping regulating arm movably mounted on the side of the storage cabinet, a lateral extrusion support rod for controlling one side of the flipping regulating arm, and an electric drive wheel mounted on the end of the flipping regulating arm.

[0014] The beneficial effects of the present invention are: (1) The box-type robot used in a smart warehouse of the present invention is equipped with electrically controlled flip climbing claws that can be raised and lowered symmetrically on both sides of the vertical loading and unloading port on the side wall of the storage cabinet. The robot can perform electrically controlled climbing on the outside of the shelf by reciprocating lifting. It only needs to weld a simple climbing frame on the outside of the shelf, which greatly reduces the cost. (2) The box-type structure design allows for sealed storage of goods, greatly improving the safety of goods during transportation; (3) The outer wall of the storage cabinet is provided with a longitudinal loading and unloading port and a transverse loading and unloading port, so that goods can be taken from multiple positions, and the operation methods are more diverse; (4) The electronically controlled flexible closing assembly can be used to control the opening and closing of the longitudinal loading and unloading port and the horizontal loading and unloading port respectively, making the operation more convenient; (5) The entire robot can not only climb vertically, but also adjust horizontally along the climbing frame, with more diverse adjustment methods; (6) The electrically controlled extension clamping and guiding devices are symmetrically installed on the longitudinal inner walls on both sides of the storage cabinet, which can not only load and unload the goods, but also adjust the height and width according to the size of the shelf and the goods, making it more suitable for use; (7) The entire robot's outer structure adopts an embedded assembly design, which greatly improves safety and durability; (8) It adopts an electric climbing mechanism that can be flipped and lifted, and does not require an additional lifting mechanism to be matched. It can be operated on shelves of various heights. In addition, it adopts a double electric-controlled flip climbing claw design, which makes the operation and assembly more firm and stable; (9) The robot is controlled unmanned, which reduces the cost of human control, makes the operation simpler, more accurate and more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0016] Figure 1 It is a front structural schematic diagram of the present invention.

[0017] Figure 2 It is a schematic diagram of the rear structure of the present invention.

[0018] Figure 3 It is a schematic diagram of the internal structure of the present invention in an assembled state.

[0019] Figure 4 It is a partial schematic diagram of the position of the electrically controlled flip climbing claw in the present invention.

[0020] Figure 5 It is a partial schematic diagram of the electrically controlled stretchable material guide belt in the present invention. DETAILED DESCRIPTION

[0021] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0022] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" 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 an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5A box-type robot used in a smart warehouse is shown, comprising a storage cabinet 1 with a main control chip installed inside, a longitudinal loading and unloading port 2 is provided on the side wall of the storage cabinet 1, a transverse loading and unloading port 3 is provided on the upper surface of the storage cabinet 1, and the side walls of the storage cabinet 1 are symmetrically equipped with embedded outer electric-controlled elevators 4 and embedded inner electric-controlled elevators 5 on both sides of the longitudinal loading and unloading port 2, and the embedded outer electric-controlled elevators 4 and the embedded inner electric-controlled elevators 5 are both equipped with electrically-controlled flip climbing claws 6, electrically-controlled extending clamping and guiding devices 7 are symmetrically installed on the longitudinal inner walls on both sides of the storage cabinet 1, and electrically-controlled flipping and translating wheel groups 8 are movably installed on the side walls of the storage cabinet 1.

[0024] In order to facilitate the layered storage inside the storage cabinet 1, mounting rails can also be installed on both sides of the electrically controlled telescopic clamping material guide device 7, and layered support can be performed by inserting a detachable support plate.

[0025] In order to cooperate with the box-type robot to climb, a climbing frame that cooperates with the electric-controlled flip climbing claws 6 needs to be welded on the front of the shelf. This modification solution has low cost. In the process of introducing goods on the shelf into the storage cabinet 1 or introducing goods in the storage cabinet 1 into the shelf, the stability of the storage cabinet 1 can be ensured by the two sets of electric-controlled flip climbing claws 6 at the upper and lower ends.

[0026] In order to facilitate the control of opening and closing one by one or simultaneously, the storage cabinet 1 is equipped with an electrically controlled flexible closing component 9 for closing the longitudinal loading and unloading port 2 and the transverse loading and unloading port 3 respectively.

[0027] In order to cooperate with the storage control at both ends, the electrically controlled flexible closing component 9 includes a bottom storage shaft cylinder 91 fixed on the inner side of the lower end of the longitudinal loading and unloading port 2, a top storage shaft cylinder 92 fixed on one side of the lower end of the horizontal loading and unloading port 3, and an electrically controlled closing roller shutter 93.

[0028] The electrically controlled closed roller shutter 93 includes a first electrically controlled roller shutter shaft installed inside a bottom storage shaft cylinder, a second electrically controlled roller shutter shaft installed inside a top storage shaft cylinder, and a closed roller shutter whose two ends are connected to the first electrically controlled roller shutter shaft and the second electrically controlled roller shutter shaft respectively by pull ropes, and then an inner angle guide rod is arranged at an inner angle position inside the storage cabinet 1.

[0029] When the first electrically-controlled rolling curtain shaft rotates and the rolling curtain is closed by pulling the pull rope, the closed rolling curtain will first open the horizontal loading and unloading port 3, and then open the vertical loading and unloading port 2 by continuing to pull; and when the second electrically-controlled rolling curtain shaft rotates and the rolling curtain is closed by pulling the pull rope, the closed rolling curtain will first open the vertical loading and unloading port 2, and then open the horizontal loading and unloading port 3 by continuing to pull.

[0030] In order to cooperate with the lifting and lowering adjustment, the embedded outer electric-controlled lifter 4 and the embedded inner electric-controlled lifter 5 are both composed of embedded guide rails 451 fixed on both sides of the side walls of the storage cabinet 1, a longitudinal electric-controlled screw rod 452 installed in the embedded guide rails 451, and an embedded lifting seat 453 threadedly assembled on the longitudinal electric-controlled screw rod 452.

[0031] The longitudinal electric control screw rod 452 controls the embedded lifting seat 453 to be raised and lowered along the embedded guide rail 451 by rotating.

[0032] In order to cooperate with the flip adjustment, the electrically controlled flip climbing claw 6 includes a top frame 61 fixed on the upper surface of the embedded lifting seat 453, a flip hook 62 movably installed on the side wall of the embedded lifting seat 453, and an adjustment support rod 63 movably installed on the side wall of the top frame 61.

[0033] The adjusting strut 63 squeezes the flip hook 62 by extension and retraction, thereby controlling the flip adjustment of the flip hook 62. When it needs to be assembled with the climbing frame, the electric-controlled flip climbing claw 6 is first lifted to the top of the upper end of the hanger through the embedded outer electric-controlled lift 4 or the embedded inner electric-controlled lift 5, and then the adjusting strut 63 controls the flip hook 62 to flip outward to the top of the hanger by extension, and then the embedded outer electric-controlled lift 4 or the embedded inner electric-controlled lift 5 controls the electric-controlled flip climbing claw 6 to squeeze downward onto the hanger. At this time, the upper end is fixed, and then continues to move downward, thereby driving the storage cabinet 1 to climb upward, and then the unflipped electric-controlled flip climbing claw 6 is controlled by the embedded outer electric-controlled lifter 4 or the embedded inner electric-controlled lifter 5 to move upward, and then when the unturned electric-controlled flip climbing claw 6 moves to the top of the hanger, the adjustment support rod 63 controls the flip hook 62 to flip outward to the top of the hanger by stretching, and then the embedded outer electric-controlled lifter 4 or the embedded inner electric-controlled lifter 5 controls the electric-controlled flip climbing claw 6 to squeeze downward onto the hanger, at this time the upper end is fixed, and then continue to move downward, at this time the electric-controlled flip climbing claw at the lower end is separated from the hanger at the lower end, and then the electric-controlled flip climbing claw 6 flips inward to reset, and then repeats the above actions, performing reciprocating operations, thereby performing climbing operations.

[0034] In order to cooperate with the loading and unloading operations, the electrically controlled extending clamping material guiding device 7 includes a built-in lifting screw 71 fixed on the inner walls on both sides of the storage cabinet 1, a built-in lateral adjustment guide rail 72 threadedly sleeved on the built-in lifting screw 71, a lateral translation screw 73 movably installed in the built-in lateral adjustment guide rail 72, an internal thread adjustment block 74 threadedly sleeved on the lateral translation screw 73 and an electrically controlled extending material guiding belt 75 movably installed on the side wall of the internal thread adjustment block 74.

[0035] The built-in lifting screw 71 can control the built-in lateral adjustment guide rail 72 for lifting and lowering adjustment by rotating, while the lateral translation screw 73 controls the internal thread adjustment block 74 for horizontal adjustment. The electrically controlled extendable material guide belt 75 includes an external flip frame movably mounted on the side wall of the internal thread adjustment block 74, an inner extrusion support rod for controlling the external flip frame, and an electrically controlled conveyor belt movably mounted on the side wall of the external flip frame; the electrically controlled conveyor belt has the same structural principle as the electric conveyor belt on the market, and the conveyor belt is driven by the active wheel to run, thereby cooperating with the material guiding.

[0036] In order to coordinate the positions and specifications of the shelves and goods, binocular optical recognition cameras 10 are fixedly mounted on the side walls of the optical recognition storage cabinet 1 on both sides of the longitudinal loading and unloading port 2 .

[0037] The binocular optical recognition camera 10 formed by the single cameras installed on both sides of the longitudinal loading and unloading port 2 optically recognizes the structure size and gap of the goods from both sides, and then controls the height and spacing of the electrically controlled extension clamping guide device 7 to clamp the two sides of the goods, and then uses the electrically controlled extension guide belt 75 to perform translation loading and unloading operations. The binocular optical recognition camera 10 can not only facilitate the robot to optically recognize objects, but also facilitate people to remotely control the box robot.

[0038] In order to cooperate with driving and lifting adjustment, embedded lateral transmission covers 11 are symmetrically fixed on the two side walls of the storage cabinet 1, and an electrically controlled lifting driving wheel set 12 is installed inside the embedded lateral transmission cover 11.

[0039] A telescopic opening is provided at the lower end of the embedded lateral transmission cover 11, and the electrically controlled lifting driving wheel group 12 includes a first flip frame and a second flip frame movably installed in the embedded lateral transmission cover 11, an electrically controlled lifting strut for controlling the first flip frame and the second flip frame, a control connecting rod for connecting the protruding end of the electrically controlled lifting strut with the first flip frame and the second flip frame, a top wheel movably installed at the movably connected end of the first flip frame and the second flip frame, a driven wheel movably installed at the end of the first flip frame, a driving wheel movably installed at the end of the second flip frame, a driving belt sleeved on the top wheel, the driven wheel and the driving wheel, and an elastic tensioning wheel movably installed on the inner side surface of the embedded lateral transmission cover 11, the elastic tensioning wheel squeezes the driving belt from both sides to ensure the tension after the angle between the first flip frame and the second flip frame becomes smaller.

[0040] When the angle between the first flip frame and the second flip frame becomes smaller, the height of the storage cabinet 1 is controlled to be raised, and the storage cabinet 1 is controlled to move or rotate by the running direction of the driving tracks on both sides.

[0041] In order to reduce the lateral friction resistance during translation, a lateral roller 64 is movably mounted on the side wall of the flip hook 62 .

[0042] When the electrically-controlled flipping and translating wheel set 8 flips downward and is supported on the climbing frame, the lateral roller 64 contacts the side wall of the climbing frame from the inside. At this time, when the electrically-controlled flipping and translating wheel set 8 controls the translation of the storage cabinet 1, the lateral friction force will be greatly reduced.

[0043] In order to adjust the angle, the electrically controlled flip and translation wheel group 8 includes a flip adjustment arm 81 movably installed on the side of the storage cabinet 1, a lateral extrusion support rod 82 for controlling one side of the flip adjustment arm 81, and an electric drive wheel 83 installed at the end of the flip adjustment arm 81.

[0044] The lateral extrusion strut 82 controls the flip adjustment arm 81 to perform flip adjustment by extending and retracting. When the storage cabinet 1 needs to be translated along the climbing frame, the lateral extrusion strut 82 is controlled to extend, and the flip adjustment arm 81 is controlled to flip downward, and the electric drive wheel 83 is squeezed onto the climbing frame at the upper end. At this time, the entire storage cabinet 1 can be driven by the electric drive wheel 83 to perform translation adjustment at the front end of the shelf.

[0045] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A box-type robot used in a smart warehouse, comprising a storage cabinet (1) with a main control chip installed inside, characterized in that: The side wall of the storage cabinet (1) is provided with a longitudinal loading and unloading opening (2), and the upper surface of the storage cabinet (1) is provided with a transverse loading and unloading opening (3). The side walls of the storage cabinet (1) are symmetrically equipped with an embedded outer electric-controlled lift (4) and an embedded inner electric-controlled lift (5) on both sides of the longitudinal loading and unloading opening (2). Both the embedded outer electric-controlled lift (4) and the embedded inner electric-controlled lift (5) are equipped with an electric-controlled flip climbing claw (6). The longitudinal inner walls on both sides of the storage cabinet (1) are symmetrically equipped with electric-controlled extension clamping and guiding devices (7). The side walls of the storage cabinet (1) are movably equipped with an electric-controlled flipping and translation wheel group (8).

2. According to claim 1, a box-type robot applied to a smart warehouse is characterized by: The storage cabinet (1) is internally equipped with an electrically controlled flexible closing component (9) for respectively closing the longitudinal loading and unloading opening (2) and the transverse loading and unloading opening (3).

3. According to claim 2, a box-type robot applied to a smart warehouse is characterized by: The electrically controlled flexible closing component (9) comprises a bottom storage shaft cylinder (91) fixed to the inner side of the lower end of the longitudinal loading and unloading port (2), a top storage shaft cylinder (92) fixed to one side of the lower end of the transverse loading and unloading port (3), and an electrically controlled closing roller shutter (93).

4. According to claim 1, a box-type robot applied to a smart warehouse is characterized by: The embedded outer electric-controlled lift (4) and the embedded inner electric-controlled lift (5) are both composed of embedded guide rails (451) fixed to both sides of the side walls of the storage cabinet (1), a longitudinal electric-controlled lead screw (452) installed in the embedded guide rails (451), and an embedded lift seat (453) threadedly assembled on the longitudinal electric-controlled lead screw (452).

5. The box-type robot used in a smart warehouse according to claim 4 is characterized in that: The electrically controlled flip climbing claw (6) comprises a top frame (61) fixed to the upper surface of the embedded lifting seat (453), a flip hook (62) movably mounted on the side wall of the embedded lifting seat (453), and an adjustment support rod (63) movably mounted on the side wall of the top frame (61).

6. The box-type robot used in a smart warehouse according to claim 1 is characterized in that: The electrically controlled extending clamping material guiding device (7) comprises a built-in lifting screw (71) fixed on the inner walls of both sides of the storage cabinet (1), a built-in lateral adjustment guide rail (72) threadedly sleeved on the built-in lifting screw (71), a lateral translation screw (73) movably mounted in the built-in lateral adjustment guide rail (72), an internal thread adjustment block (74) threadedly sleeved on the lateral translation screw (73), and an electrically controlled extending material guiding belt (75) movably mounted on the side wall of the internal thread adjustment block (74).

7. The box-type robot used in a smart warehouse according to claim 1 is characterized in that: Binocular optical recognition cameras (10) are fixedly mounted on the side walls of the storage cabinet (1) on both sides of the longitudinal loading and unloading opening (2).

8. The box-type robot used in a smart warehouse according to claim 1 is characterized in that: Embedded lateral transmission covers (11) are symmetrically fixed on both side walls of the storage cabinet (1), and an electrically controlled lifting drive wheel set (12) is installed inside the embedded lateral transmission cover (11).

9. The box-type robot used in a smart warehouse according to claim 5 is characterized in that: A lateral roller (64) is movably mounted on the side wall of the flip hook (62).

10. The box-type robot used in a smart warehouse according to claim 1 is characterized in that: The electrically controlled flipping and translating wheel set (8) comprises a flipping adjustment arm (81) movably mounted on the side of the storage cabinet (1), a lateral extrusion support rod (82) for controlling one side of the flipping adjustment arm (81), and an electric drive wheel (83) mounted on the end of the flipping adjustment arm (81).

Images