Automatic carrying robot for three-dimensional warehouse

Abstract

The invention is applicable to the technical field of three-dimensional bins, and provides an automatic carrying robot for a three-dimensional bin, which comprises a lower base assembly: an upper base assembly is arranged at the top of the lower base assembly, a stretching assembly is arranged at the bottom of the upper base assembly, and a grabbing assembly is arranged at the top end of the stretching assembly; wherein the grabbing assembly comprises a main disc piece, and a plurality of grabbing mechanisms are arranged at the bottom of the main disc piece; the main hanging scaffold part comprises a main hanging scaffold, a connecting box shell is arranged at the top of the main hanging scaffold, and center computing control equipment is arranged on the inner wall of the connecting box shell; through the arrangement and cooperative use of the position measuring probe and the center calculation control equipment, goods placed below the main disc piece or goods on a goods shelf can be monitored in multiple directions, so that the shape of an external package of the goods to be clamped is judged, and the use direction is adjusted in cooperation with the stretching assembly; and the clamping angle of the grabbing mechanism is adjusted and controlled according to the form of the external package of the goods to clamp the goods.

Description

Technical Field

[0001] The invention belongs to the technical field of stereoscopic warehouses, and in particular relates to an automatic transport robot for stereoscopic warehouses. Background Art

[0002] High-bay warehouses are referred to as high-bay warehouses. Generally, they refer to warehouses that use shelves with several, dozens or even dozens of layers to store unit goods, and use corresponding material handling equipment to carry out goods warehousing and outbound operations. Since this type of warehouse can make full use of space to store goods, it is often figuratively called a "stereoscopic warehouse"; existing stereoscopic warehouses usually use robots or automatic positioning and handling equipment for storage and placement, and set the travel and grasping path for the robot according to the packaging size of the goods to achieve accurate grasping and handling of the goods. However, for goods with different packaging or packaging forms that are not normal, robot grasping is prone to problems, and may cause over-grasping or loose grasping, which may cause damage to the goods or cause the goods to fall.

[0003] In order to avoid the above situation, it is necessary to design an automatic handling robot for a stereoscopic warehouse with good grasping effect. Summary of the invention

[0004] The present invention provides an automatic handling robot for a three-dimensional warehouse, aiming to solve the problem that robots or automatic positioning and handling equipment are usually used for storage and placement in existing three-dimensional warehouses, and the travel and grasping path are set for the robot according to the packaging size of the goods, so as to achieve accurate grasping and handling of the goods. However, for goods with different packaging or packaging forms that are not normal, problems may easily arise in the robot's grasping, and excessive grasping or loose grasping may occur, thereby causing the goods to be clamped or dropped.

[0005] The present invention is implemented as follows: an automatic handling robot for a three-dimensional warehouse comprises a lower base assembly: an upper base assembly is arranged on the top of the lower base assembly, an extension assembly is arranged on the bottom of the upper base assembly, and a grabbing assembly is arranged on the top of the extension assembly;

[0006] Wherein, the grabbing assembly comprises a main plate, and a plurality of grabbing mechanisms are arranged at the bottom of the main plate;

[0007] The main tray comprises a main hanging tray, a connecting box shell is arranged on the top of the main hanging tray, a central computing and controlling device is arranged on the inner wall of the connecting box shell, an outer wall of the connecting box shell is fixedly connected to an outer wall of the extension component, and a positioning probe is arranged in a ring at the bottom of the main hanging tray; through the arrangement and coordinated use of the positioning probe and the central computing and controlling device, the goods placed under the main tray or the goods on the shelf can be monitored in all directions, so as to judge the shape of the external packaging of the goods to be clamped, and the use direction can be adjusted in coordination with the extension component, and the clamping angle of the grasping mechanism can be adjusted according to the shape of the external packaging of the goods to clamp the goods, so as to achieve a suitable clamping effect;

[0008] The gripping mechanism comprises an upper rotating motor fixedly arranged at the bottom of the main plate, the output shaft of the upper rotating motor is fixedly connected to a rotating rod via a coupling, and one end of the rotating rod is fixedly connected to a clamping claw; through the arrangement of the upper rotating motor and the clamping claw in the gripping mechanism, in use, the upper rotating motor is controlled to drive the clamping claw to rotate, and multiple upper rotating motors and clamping claws are used in coordination to achieve the gripping of goods.

[0009] Preferably, a central connecting seat is fixedly connected to the bottom of the main hanging plate, an inner wall of the central connecting seat is provided with a mounting groove, and the inner wall of the mounting groove is movably connected to the outer wall of the rotating rod and the clamping claw;

[0010] The outer wall of the clamp is fixedly connected with two insert sleeves, the top of the main hanging plate is provided with a lifting slide, the inner wall of the lifting slide is fitted and slidably connected with an upper slide, the inner wall of the upper slide is movably connected with an insert plate, and the bottom outer wall of the insert plate is inserted into the two insert sleeves;

[0011] A semicircular connecting seat is provided on the top of the plug plate, connecting pins are provided at the centers of both sides of the semicircular connecting seat, both sides of the semicircular connecting seat are movably connected with the upper slide through the connecting pins, a positioning hole is provided on the outer wall of the upper slide, and a plurality of positioning holes are provided in a circular pattern on the outer wall of the semicircular connecting seat;

[0012] Among them, the outer wall of the upper slide is fixedly connected with an upper small hydraulic rod, and one end of the upper small hydraulic rod is fixedly connected with a bent plug rod, and the upper small hydraulic rod and the bent plug rod can constitute a positioning mechanism; through the setting of the positioning mechanism, and in conjunction with the upper slide and the plug plate, when the upper rotating motor controls the clamping claw to grab the goods, the upper small hydraulic rod is started and controlled to move the position of the bent plug rod, and the bent plug rod penetrates the positioning holes in the upper slide and the semicircular connecting seat, thereby realizing the fixation of the relative position between the plug plate and the upper slide, thereby achieving the effect of auxiliary limit fixation of the clamping claw from the outside of the clamping claw.

[0013] Preferably, the gripping mechanism also includes a weighing frame fixedly arranged on the outer wall of the clamp, the top of the weighing frame is fixedly connected to a hanger, the outer wall of the hanger is fixedly connected to a pull rope, the bottom of the pull rope is connected to a gravity ball, the upper surface of the weighing frame is provided with a pressure sensor, and the gravity ball is arranged on the upper surface of the pressure sensor; by setting and cooperating with the weighing frame, the gravity ball and the pressure sensor, during use, the pressure sensor is used to sense whether the gravity ball is vertically arranged above the pressure sensor, so as to judge whether the use position of the clamp has reached the original position vertically, so as to facilitate the control of the working data of the upper rotating motor according to the working data of the upper rotating motor and through the central computing control device, so as to realize the precise adjustment of the clamping position of the clamp.

[0014] Preferably, the outer wall of the main hanging tray is provided with a plurality of light strips in a ring array; by providing a plurality of light strips in a ring array, the lighting effect can be improved when taking and placing goods, so as to achieve a better identification effect when used in conjunction with the positioning probe.

[0015] Preferably, the upper base assembly comprises a connecting shaft seat, the top of the connecting shaft seat is fixedly connected to the upper base, the outer wall of the upper base is fixedly connected to the limit seat, the outer wall of the upper base is fixedly connected to the protective sleeve shell, and the top of the upper base is fixedly connected to the large gear disk;

[0016] The lower base assembly includes a lower base, and a connecting shaft groove is opened on the top of the lower base, and the inner wall of the connecting shaft groove is fit and movably connected with the outer wall of the connecting shaft seat; through the setting of the fitting and movably connected arrangement of the inner wall of the connecting shaft groove and the outer wall of the connecting shaft seat, the upper base assembly and the lower base assembly can be relatively rotatably connected.

[0017] Preferably, a direction adjustment assembly is arranged between the upper base assembly and the lower base assembly, and the direction adjustment assembly includes a large positioning frame fixedly arranged on the outer wall of the lower base, the inner wall of the large positioning frame is fixedly connected to a lower small hydraulic cylinder, one end of the lower small hydraulic cylinder is fixedly connected to a tooth plate, the outer wall of the tooth plate is engaged with the outer wall of the large toothed disk, the number of the lower small hydraulic cylinders and the toothed plates is two, and the two lower small hydraulic cylinders and the toothed plates are symmetrically engaged with each other on the outer wall of the large toothed disk; through the setting of the direction adjustment assembly, in use, the two lower small hydraulic cylinders are reversely regulated by reverse stroke to realize the reverse movement of the two toothed plates, thereby driving the large toothed disk to rotate, and then driving the upper base assembly and the mechanism installed on the upper base assembly to rotate horizontally, so as to realize the horizontal adjustment of the use position of the grabbing mechanism.

[0018] Preferably, the extension component includes a main hydraulic cylinder fixedly arranged on the top of the upper base, the top of the main hydraulic cylinder is fixedly connected to a lower connecting seat, the top of the lower connecting seat is fixedly connected to a mechanical arm, the mechanical arm is a two-axis mechanical arm, and the tail end of the mechanical arm is fixedly connected to the top of the connecting box shell arranged on the top of the main lifting plate; through the setting of the extension component, in use, the main hydraulic cylinder and the mechanical arm are used in coordination and controlled by the central computing control device to realize the lifting and rotating adjustment of the use orientation of the grabbing mechanism, thereby achieving the purpose of retrieving and storing goods.

[0019] Preferably, the outer wall of the upper base is provided with a stocking table assembly, and the stocking table assembly includes a small positioning frame fixedly arranged on the upper base, a small transmission motor is fixedly connected to the bottom of the small positioning frame, and an output shaft of the small positioning frame is fixedly connected to a small gear through a coupling;

[0020] The inventory table assembly also includes an inventory table that is slidably connected to the inner wall of the limit seat, and the outer wall of the inventory table is provided with a plurality of teeth, and the outer wall of the teeth is meshingly connected with the outer wall of the pinion gear; through the setting of the inventory table assembly, during use, when goods are stored in the inventory table, the use position of the inventory table can be adjusted by controlling the small transmission motor through the pinion gear, so as to take and place the goods, and at the same time, the setting of the outer wall of the teeth meshingly connected with the outer wall of the pinion gear can maintain the stability of the position of the inventory table.

[0021] Preferably, the lower base assembly also includes a slide rail sleeve fixedly arranged at the bottom of the lower base, the inner wall of the slide rail sleeve is fitted and movably connected with the slide rail, and the outer wall of the slide rail is provided with a positioning installation hole; the slide rail and the slide rail sleeve are used in combination, firstly, the slide rail is fixedly installed on the ground between two rows of shelves through the positioning installation hole, and during use, the robot travels along the slide rail when picking up and placing goods, avoiding collision with the shelves on both sides, thereby improving the safety of the device.

[0022] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0023] Through the setting and coordinated use of the positioning probe and the central computing and control equipment, the goods placed under the main plate or the goods on the shelf can be monitored in all directions, so as to determine the shape of the external packaging of the goods to be clamped, and cooperate with the extension component to adjust the use direction, and adjust the clamping angle of the grasping mechanism according to the shape of the external packaging of the goods to clamp the goods, so as to achieve a suitable clamping effect; through the setting of the upper rotating motor and the clamping claw in the grasping mechanism, during use, the upper rotating motor is controlled to drive the clamping claw to rotate, and the upper rotating motor and the clamping claw are used in multiple directions to achieve the grasping of the goods; through the setting of the positioning mechanism, and in conjunction with the upper slide and the plug plate, when the upper rotating motor controls the clamping claw to grab the goods, the upper small hydraulic rod is started and controlled to move the position of the curved plug rod, and the curved plug rod passes through the positioning holes in the upper slide and the semicircular connecting seat, so as to achieve the fixation of the relative position between the plug plate and the upper slide, so as to achieve the effect of auxiliary limit fixation of the clamping claw from the outside of the clamping claw;

[0024] By setting and cooperating with the weighing frame, the gravity ball and the pressure sensor, during use, the pressure sensor is used to sense whether the gravity ball is vertically arranged above the pressure sensor, so as to judge whether the use position of the clamping jaw reaches the original position vertically, so as to facilitate the control of the working data of the upper rotating motor through the central computing control device according to the working data of the upper rotating motor, so as to realize the precise adjustment of the clamping position of the clamping jaw;

[0025] Through the setting of the direction adjustment component, in use, the two lower small hydraulic cylinders are regulated by reverse stroke, so that the two tooth plates move in opposite directions, thereby driving the large tooth plate to rotate, and then driving the upper base component and the mechanism installed on the upper base component to rotate horizontally, so as to adjust the use position of the grabbing mechanism in the horizontal direction;

[0026] Through the setting of the extension component, in use, the main hydraulic cylinder and the mechanical arm are used in coordination and the central computing control device is used to adjust the use position of the grabbing mechanism by lifting and rotating, thereby achieving the purpose of taking and storing goods;

[0027] Through the setting of the inventory table assembly, when goods are stored in the inventory table, the small transmission motor can be controlled to adjust the use position of the inventory table through the small gear, so as to take and place the goods. At the same time, the outer wall of the tooth is meshed with the outer wall of the small gear, so as to maintain the stability of the position of the inventory table.

[0028] By using the slide rail and the slide rail sleeve together, first, the slide rail is fixed on the ground between two rows of shelves through the positioning installation hole. During use, the robot moves along the slide rail when picking up and placing goods, avoiding collision with the shelves on both sides, thereby improving the safe use of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is the front view of the present invention;

[0030] Figure 2 It is a schematic diagram of the structure of the grabbing assembly of the present invention;

[0031] Figure 3 It is a schematic diagram of the dispersed structure of the grabbing mechanism of the present invention;

[0032] Figure 4 It is a structural schematic diagram of the main disk component of the present invention;

[0033] Figure 5 It is a structural schematic diagram of the upper base assembly of the present invention;

[0034] Figure 6 is a schematic diagram of the structure of the extension assembly of the present invention;

[0035] Figure 7 It is a structural schematic diagram of the lower base assembly of the present invention;

[0036] Figure 8 It is a structural schematic diagram of the direction adjustment assembly of the present invention;

[0037] Fig. 9 It is a structural schematic diagram of the inventory table assembly of the present invention.

[0038] In the figure: 1, lower base assembly; 101, lower base; 102, connecting shaft groove; 103, slide rail sleeve; 2, grab assembly; 201, main plate; 2011, main hanging plate; 2012, light belt; 2013, positioning probe; 2014, hanging slide; 2015, center connecting seat; 202, grab mechanism; 2021, upper rotating motor; 2022, rotating rod; 2023, clamping claw; 2024, plug sleeve; 2025, plug plate; 2026, gravity ball; 2027, upper slide; 202 8. Upper small hydraulic rod; 2029. Weighing frame; 3. Upper base assembly; 301. Upper base; 302. Limit seat; 303. Protective cover; 304. Large toothed disc; 305. Connecting shaft seat; 4. Extension assembly; 401. Main hydraulic cylinder; 402. Lower connecting seat; 403. Mechanical arm; 5. Adjustment assembly; 501. Large positioning frame; 502. Lower small hydraulic cylinder; 503. Toothed plate; 6. Inventory table assembly; 601. Inventory table; 602. Small transmission motor; 603. Small positioning frame; 7. Slide rail. DETAILED DESCRIPTION

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0040] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0041] The embodiment of the present invention provides a stereoscopic warehouse automatic handling robot, comprising a lower base assembly 1: an upper base assembly 3 is arranged on the top of the lower base assembly 1, an extension assembly 4 is arranged on the bottom of the upper base assembly 3, and a grabbing assembly 2 is arranged on the top of the extension assembly 4;

[0042] The grabbing assembly 2 includes a main plate 201, and a plurality of grabbing mechanisms 202 are arranged at the bottom of the main plate 201;

[0043] The main plate 201 includes a main hanging plate 2011, a connecting box shell is arranged on the top of the main hanging plate 2011, a central computing control device is arranged on the inner wall of the connecting box shell, an outer wall of the connecting box shell is fixedly connected to the outer wall of the extension assembly 4, and a positioning probe 2013 is arranged in a ring at the bottom of the main hanging plate 2011;

[0044] The gripping mechanism 202 includes an upper rotating motor 2021 fixedly arranged at the bottom of the main plate 201, the output shaft of the upper rotating motor 2021 is fixedly connected to a rotating rod 2022 through a coupling, and one end of the rotating rod 2022 is fixedly connected to a clamping claw 2023;

[0045] The bottom of the main hanging plate 2011 is fixedly connected with a central connecting seat 2015, the inner wall of the central connecting seat 2015 is provided with a mounting groove, and the inner wall of the mounting groove is movably connected with the outer wall of the rotating rod 2022 and the clamping claw 2023;

[0046] The outer wall of the clamping jaw 2023 is fixedly connected with two insert sleeves 2024, the top of the main hanging plate 2011 is provided with a lifting slide 2014, the inner wall of the lifting slide 2014 is fitted and slidably connected with an upper slide 2027, the inner wall of the upper slide 2027 is movably connected with an insert plate 2025, and the bottom outer wall of the insert plate 2025 is inserted into the two insert sleeves 2024;

[0047] A semicircular connecting seat is provided on the top of the plug plate 2025, and connecting pins are provided at the centers of both sides of the semicircular connecting seat. Both sides of the semicircular connecting seat are movably connected to the upper slide 2027 through the connecting pins. A positioning hole is provided on the outer wall of the upper slide 2027, and a plurality of positioning holes are provided in a circle on the outer wall of the semicircular connecting seat.

[0048] Among them, the outer wall of the upper slide 2027 is fixedly connected with an upper small hydraulic rod 2028, and one end of the upper small hydraulic rod 2028 is fixedly connected with a curved plug rod. The upper small hydraulic rod 2028 and the curved plug rod can constitute a positioning mechanism.

[0049] It should be noted that, since existing three-dimensional warehouses usually use robots or automatic positioning and handling equipment for storage, retrieval and placement, and the travel and grasping path are set for the robot according to the packaging size of the goods, so as to achieve accurate grasping and handling of the goods. However, for goods with different packaging or packaging shapes that are not normal, robot grasping is prone to problems, and may cause over-grasping or loose grasping, which may cause damage to the goods or cause the goods to fall.

[0050] Specifically, in this embodiment, this scheme is mainly achieved through the coordinated use of the grabbing component 2, the stretching component 4, the upper base component 3, the lower base component 1, the inventory table component 6, the adjustment component 5 and the slide rail 7. In use, first, the slide rail 7 is fixedly installed on the ground between the two rows of shelves through the positioning installation hole. In use, the robot travels along the slide rail 7 when picking up and placing goods to avoid collision with the shelves on both sides. According to the approximate position of picking up or delivering goods, the position of the adjustment component 5 and the stretching component 4 is coordinated and adjusted through the central computing and control equipment, and the positioning probe 2013 and the central computing and control equipment are set and used in coordination to perform multi-directional monitoring of the goods placed under the main plate 201 or the goods on the shelf, so as to determine the shape of the external packaging of the goods to be clamped, and cooperate with the extension component 4 to adjust the use direction, and adjust the clamping angle of the grabbing mechanism 202 according to the shape of the external packaging of the goods to clamp the goods, and transport the goods to the destination.

[0051] In this embodiment, the positioning probe 2013 and the central computing and control device are set up and used in coordination, so as to perform multi-directional monitoring on the goods placed under the main plate 201 or the goods on the shelf, so as to determine the shape of the outer packaging of the goods to be clamped, and cooperate with the extension component 4 to adjust the use direction, and adjust the clamping angle of the grasping mechanism 202 according to the shape of the outer packaging of the goods to clamp the goods, so as to achieve a suitable clamping effect;

[0052] In this embodiment, through the arrangement of the upper rotating motor 2021 and the clamping claw 2023 in the grabbing mechanism 202, during use, the upper rotating motor 2021 is controlled to drive the clamping claw 2023 to rotate, and the upper rotating motor 2021 and the clamping claw 2023 are used in combination to achieve the grabbing of goods;

[0053] In this embodiment, by setting up the positioning mechanism and cooperating with the upper slide 2027 and the plug plate 2025, when the upper rotating motor 2021 controls the clamping jaw 2023 to grab the goods, the upper small hydraulic rod 2028 is started and controlled to move the position of the curved plug rod, and the curved plug rod passes through the upper slide 2027 and the positioning holes in the semicircular connecting seat, so as to achieve the fixation of the relative position between the plug plate 2025 and the upper slide 2027, thereby achieving the effect of auxiliary limiting and fixing the clamping jaw 2023 from the outside of the clamping jaw 2023.

[0054] In a further preferred embodiment of the present invention, the gripping mechanism 202 further comprises a weighing frame 2029 fixedly arranged on the outer wall of the clamping jaw 2023, the top of the weighing frame 2029 is fixedly connected to a hanger, the outer wall of the hanger is fixedly connected to a pull rope, the bottom of the pull rope is connected to a gravity ball 2026, the upper surface of the weighing frame 2029 is provided with a pressure sensor, and the gravity ball 2026 is provided on the upper surface of the pressure sensor;

[0055] A plurality of light strips 2012 are arranged in a circle around the outer wall of the main hanging plate 2011 .

[0056] In this embodiment, the weighing frame 2029, the gravity ball 2026 and the pressure sensor are arranged and used in coordination. During use, the pressure sensor is used to sense whether the gravity ball 2026 is vertically arranged above the pressure sensor, so as to judge whether the use position of the clamping jaw 2023 reaches the original position vertically, so as to facilitate the control of the working data of the upper rotating motor 2021 by the central computing control device according to the working data of the upper rotating motor 2021, so as to realize the precise adjustment of the clamping position of the clamping jaw 2023;

[0057] In this embodiment, by arranging a plurality of light strips 2012 in a circle, the lighting effect can be improved when picking up and placing goods, so as to achieve a better identification effect when used in conjunction with the positioning probe 2013.

[0058] In a further preferred embodiment of the present invention, the upper base assembly 3 includes a connecting shaft seat 305, the top of the connecting shaft seat 305 is fixedly connected to the upper base 301, the outer wall of the upper base 301 is fixedly connected to the limited seat 302, the outer wall of the upper base 301 is fixedly connected to the protective shell 303, and the top of the upper base 301 is fixedly connected to the large toothed disc 304;

[0059] The lower base assembly 1 includes a lower base 101. A connecting shaft groove 102 is formed on the top of the lower base 101. The inner wall of the connecting shaft groove 102 is movably connected to the outer wall of the connecting shaft seat 305.

[0060] A direction adjustment component 5 is arranged between the upper base component 3 and the lower base component 1, and the direction adjustment component 5 includes a large positioning frame 501 fixedly arranged on the outer wall of the lower base 101, a lower small hydraulic cylinder 502 is fixedly connected to the inner wall of the large positioning frame 501, a tooth plate 503 is fixedly connected to one end of the lower small hydraulic cylinder 502, and the outer wall of the tooth plate 503 is engaged with the outer wall of the large toothed disc 304, and the number of the lower small hydraulic cylinder 502 and the tooth plate 503 is two, and the two lower small hydraulic cylinders 502 and the tooth plates 503 are symmetrically engaged with the outer wall of the large toothed disc 304;

[0061] In this embodiment, the inner wall of the connecting shaft groove 102 and the outer wall of the connecting shaft seat 305 are engaged and movably connected, so that the upper base assembly 3 and the lower base assembly 1 can be relatively rotatably connected;

[0062] In this embodiment, through the setting of the direction adjustment component 5, during use, the two lower small hydraulic cylinders 502 are reversely regulated to achieve the reverse movement of the two tooth plates 503, thereby driving the large tooth plate 304 to rotate, and then driving the upper base component 3 and the mechanism installed on the upper base component 3 to rotate horizontally, so as to achieve the horizontal adjustment of the use position of the grabbing mechanism 202.

[0063] In a further preferred embodiment of the present invention, the extension component 4 includes a main hydraulic cylinder 401 fixedly arranged on the top of the upper base 301, the top of the main hydraulic cylinder 401 is fixedly connected to a lower connecting seat 402, the top of the lower connecting seat 402 is fixedly connected to a mechanical arm 403, the mechanical arm 403 is a two-axis mechanical arm, and the tail end of the mechanical arm 403 is fixedly connected to the top of the connecting box shell arranged on the top of the main lifting plate 2011.

[0064] In this embodiment, through the setting of the extension component 4, during use, the main hydraulic cylinder 401 and the mechanical arm 403 are used in coordination and regulated by the central computing control device to realize the lifting and rotation adjustment of the use orientation of the grasping mechanism 202, thereby achieving the purpose of retrieving and storing goods.

[0065] In a further preferred embodiment of the present invention, the outer wall of the upper base 301 is provided with a stocking table assembly 6, the stocking table assembly 6 includes a small positioning frame 603 fixedly arranged on the upper base 301, the bottom of the small positioning frame 603 is fixedly connected with a small transmission motor 602, and the output shaft of the small positioning frame 603 is fixedly connected with a small gear through a coupling;

[0066] The inventory table assembly 6 also includes an inventory table 601 that is slidably connected to the inner wall of the limiting seat 302. The outer wall of the inventory table 601 is provided with a plurality of teeth, and the outer wall of the teeth is meshed and connected with the outer wall of the pinion.

[0067] In this embodiment, through the setting of the inventory table assembly 6, during use, when goods are stored in the inventory table 601, the use position of the inventory table 601 can be adjusted by controlling the small transmission motor 602 through the small gear, so as to take and place the goods. At the same time, the setting of the outer wall of the tooth meshing with the outer wall of the small gear can maintain the stability of the position of the inventory table 601.

[0068] In a further preferred embodiment of the present invention, the lower base assembly 1 further comprises a slide rail sleeve 103 fixedly arranged at the bottom of the lower base 101, the inner wall of the slide rail sleeve 103 is movably connected with the slide rail 7, and the outer wall of the slide rail 7 is provided with a positioning installation hole.

[0069] In this embodiment, the slide rail 7 and the slide rail sleeve 103 are used in combination. First, the slide rail 7 is fixedly installed on the ground between two rows of shelves through the positioning installation holes. During use, the robot travels along the slide rail 7 when picking up and placing goods, avoiding collision with the shelves on both sides, thereby improving the safe use of the device.

[0070] It should be noted that, for the above-mentioned embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described order of actions, because according to the present invention, some steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0071] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely schematic, such as the division of the above-mentioned units. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be in the form of telecommunication or other forms.

[0072] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0073] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the present invention according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the present invention in essence, and these technical solutions also belong to the scope of protection of the present invention.

Claims

1. A three-dimensional warehouse automatic handling robot, characterized in that: It comprises a lower base assembly (1): an upper base assembly (3) is arranged on the top of the lower base assembly (1), an extension assembly (4) is arranged on the bottom of the upper base assembly (3), and a grabbing assembly (2) is arranged on the top of the extension assembly (4); The grabbing assembly (2) comprises a main plate (201), and a plurality of grabbing mechanisms (202) are arranged at the bottom of the main plate (201); The main plate component (201) comprises a main hanging plate (2011), a connecting box shell is arranged on the top of the main hanging plate (2011), a central computing control device is arranged on the inner wall of the connecting box shell, an outer wall of the connecting box shell is fixedly connected to the outer wall of the extension component (4), and a positioning probe (2013) is arranged in a ring at the bottom of the main hanging plate (2011); The gripping mechanism (202) comprises an upper rotating motor (2021) fixedly arranged at the bottom of the main disk member (201), the output shaft of the upper rotating motor (2021) being fixedly connected to a rotating rod (2022) via a coupling, and one end of the rotating rod (2022) being fixedly connected to a clamping claw (2023).

2. The automatic handling robot for a three-dimensional warehouse according to claim 1, characterized in that: The bottom of the main hanging plate (2011) is fixedly connected with a central connecting seat (2015), the inner wall of the central connecting seat (2015) is provided with a mounting groove, and the inner wall of the mounting groove is movably connected with the outer wall of the rotating rod (2022) and the clamping claw (2023); The outer wall of the clamping claw (2023) is fixedly connected to two insert sleeves (2024); the top of the main hanging plate (2011) is provided with a lifting slide groove (2014); the inner wall of the lifting slide groove (2014) is slidably connected to an upper slide (2027); the inner wall of the upper slide (2027) is movably connected to an insert plate (2025); the bottom outer wall of the insert plate (2025) is inserted into the two insert sleeves (2024); A semicircular connecting seat is arranged on the top of the plug plate (2025), connecting pins are arranged at the centers of two sides of the semicircular connecting seat, and the two sides of the semicircular connecting seat are movably connected to the upper slide (2027) through the connecting pins, a positioning hole is opened on the outer wall of the upper slide (2027), and a plurality of positioning holes are opened in a circle on the outer wall of the semicircular connecting seat; The outer wall of the upper slide (2027) is fixedly connected with an upper small hydraulic rod (2028), one end of the upper small hydraulic rod (2028) is fixedly connected with a bent-shaped insertion rod, and the upper small hydraulic rod (2028) and the bent-shaped insertion rod can constitute a positioning mechanism.

3. The automatic handling robot for a three-dimensional warehouse according to claim 1, characterized in that: The gripping mechanism (202) further comprises a weighing frame (2029) fixedly arranged on the outer wall of the clamping jaw (2023); the top of the weighing frame (2029) is fixedly connected to a hanger; the outer wall of the hanger is fixedly connected to a pull rope; the bottom of the pull rope is connected to a gravity ball (2026); a pressure sensor is arranged on the upper surface of the weighing frame (2029), and the gravity ball (2026) is arranged on the upper surface of the pressure sensor.

4. The automatic handling robot for a three-dimensional warehouse according to claim 1, characterized in that: The outer wall of the main hanging plate (2011) is provided with a plurality of light strips (2012) in a circular arrangement.

5. The automatic handling robot for a three-dimensional warehouse according to claim 1, characterized in that: The upper base assembly (3) comprises a connecting shaft seat (305), the top of the connecting shaft seat (305) is fixedly connected to the upper base (301), the outer wall of the upper base (301) is fixedly connected to the limit seat (302), the outer wall of the upper base (301) is fixedly connected to the protective sleeve (303), and the top of the upper base (301) is fixedly connected to the large toothed disc (304); The lower base assembly (1) comprises a lower base (101), a connecting shaft groove (102) is provided on the top of the lower base (101), and the inner wall of the connecting shaft groove (102) is movably connected to the outer wall of the connecting shaft seat (305).

6. The automatic handling robot for a three-dimensional warehouse as claimed in claim 5, characterized in that: A direction adjustment component (5) is arranged between the upper base component (3) and the lower base component (1), and the direction adjustment component (5) comprises a large positioning frame (501) fixedly arranged on the outer wall of the lower base (101), the inner wall of the large positioning frame (501) is fixedly connected to a lower small hydraulic cylinder (502), one end of the lower small hydraulic cylinder (502) is fixedly connected to a tooth plate (503), the outer wall of the tooth plate (503) is engaged with the outer wall of the large toothed disc (304), the number of the lower small hydraulic cylinder (502) and the tooth plate (503) is two, and the two lower small hydraulic cylinders (502) and the tooth plates (503) are symmetrically engaged with the outer wall of the large toothed disc (304).

7. The automatic handling robot for a three-dimensional warehouse as claimed in claim 5, characterized in that: The extension assembly (4) includes a main hydraulic cylinder (401) fixedly arranged on the top of the upper base (301), the top of the main hydraulic cylinder (401) is fixedly connected to a lower connecting seat (402), the top of the lower connecting seat (402) is fixedly connected to a mechanical arm (403), the mechanical arm (403) is a two-axis mechanical arm, and the tail end of the mechanical arm (403) is fixedly connected to the top of a connecting box shell arranged on the top of the main hanging plate (2011).

8. The automatic handling robot for a three-dimensional warehouse as claimed in claim 5, characterized in that: The outer wall of the upper base (301) is provided with a stocking table assembly (6), and the stocking table assembly (6) includes a small positioning frame (603) fixedly arranged on the upper base (301), a small transmission motor (602) is fixedly connected to the bottom of the small positioning frame (603), and an output shaft of the small positioning frame (603) is fixedly connected to a small gear via a coupling; The inventory table assembly (6) also includes an inventory table (601) that is slidably connected to the inner wall of the limiting seat (302), and the outer wall of the inventory table (601) is provided with a plurality of teeth, and the outer wall of the teeth is meshed and connected with the outer wall of the pinion.

9. The automatic handling robot for a three-dimensional warehouse as claimed in claim 5, characterized in that: The lower base assembly (1) further comprises a slide rail sleeve (103) fixedly arranged at the bottom of the lower base (101); the inner wall of the slide rail sleeve (103) is movably connected with a slide rail (7); and the outer wall of the slide rail (7) is provided with a positioning installation hole.

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