A stereoscopic warehouse automatic handling robot

Abstract

This invention relates to the field of automated storage and retrieval systems (AS / RS) technology and provides an automated handling robot for AS / RS, comprising a lower base assembly: an upper base assembly is disposed on the top of the lower base assembly, an extension assembly is disposed at the bottom of the upper base assembly, and a gripping assembly is disposed at the top of the extension assembly; wherein, the gripping assembly includes a main pallet, and several gripping mechanisms are disposed at the bottom of the main pallet; the main pallet includes a main lifting platform, and a connecting shell is disposed on the top of the main lifting platform, and a central computing and control device is disposed on the inner wall of the connecting shell; by setting and using the positioning probe and the central computing and control device in conjunction, the robot can perform multi-directional monitoring of goods placed under the main pallet or goods on the shelf, thereby determining the shape of the outer packaging of the goods to be gripped, adjusting the usage direction in conjunction with the extension assembly, and adjusting the gripping angle of the gripping mechanism according to the shape of the outer packaging of the goods to grip the goods.

Description

Technical Field

[0001] This invention belongs to the field of automated storage and retrieval systems (AS / RS) technology, and particularly relates to an automated storage and retrieval system (AS / RS) automated handling robot. Background Technology

[0002] High-bay warehouses, also known as automated storage and retrieval systems (AS / RS), are warehouses that utilize racks several, dozens, or even hundreds of layers high to store goods, and employ corresponding material handling equipment for inbound and outbound operations. Because these warehouses make full use of space for storage, they are often figuratively called "automated storage and retrieval systems" (AS / RS). Existing AS / RS typically use robots or automated positioning and handling equipment for storage and retrieval. The robots are programmed with travel and gripping paths based on the packaging dimensions of the goods to accurately grasp and move them. However, for goods with different packaging or non-standard packaging shapes, robot gripping can encounter problems, potentially leading to over-gripping or insufficient gripping, resulting in damage or goods falling.

[0003] To avoid the above situation, it is necessary to design an automated handling robot for automated storage and retrieval systems with good gripping performance. Summary of the Invention

[0004] This invention provides an automated handling robot for automated warehouses, aiming to solve the problem that existing automated warehouses typically use robots or automated positioning and handling equipment for storage and retrieval. The robot is programmed with a stroke and gripping path based on the packaging size of the goods to accurately grasp and move them. However, for goods with different packaging or non-standard packaging shapes, the robot's gripping is prone to problems, such as over-gripping or insufficient gripping, which may cause damage to the goods or cause them to fall.

[0005] The present invention is implemented as follows: an automated transport robot for a three-dimensional warehouse includes a lower base assembly, an upper base assembly is provided on the top of the lower base assembly, an extension assembly is provided at the bottom of the upper base assembly, and a gripping assembly is provided at the top of the extension assembly.

[0006] The grasping component includes a main disk component, and several grasping mechanisms are provided at the bottom of the main disk component;

[0007] The main tray includes a main hanging tray, with a connecting housing on top. A central computing and control device is installed on the inner wall of the connecting housing. The outer wall of the connecting housing is fixedly connected to the outer wall of the extension assembly. Positioning probes are arranged in a ring around the bottom of the main hanging tray. By setting up and using the positioning probes and the central computing and control device in conjunction, the goods placed below the main tray or the goods on the shelf can be monitored from multiple angles to determine the shape of the outer packaging of the goods to be gripped. The extension assembly is used to adjust the direction of use, and the gripping angle of the gripping mechanism is adjusted according to the shape of the outer packaging of the goods to grip the goods, thereby achieving a suitable gripping effect.

[0008] The gripping mechanism includes an upper rotary motor fixedly mounted at the bottom of the main disc. The output shaft of the upper rotary motor is fixedly connected to a rotating rod via a coupling, and a gripper is fixedly connected to one end of the rotating rod. Through the configuration of the upper rotary motor and gripper in the gripping mechanism, during use, the upper rotary motor is controlled to drive the gripper to rotate. The multiple upper rotary motors and grippers work together to grip the goods.

[0009] Preferably, a central connecting seat is fixedly connected to the bottom of the main lifting platform, and an installation groove is provided on the inner wall of the central connecting seat. The inner wall of the installation groove is movably connected to the outer wall of the rotating rod and the gripper.

[0010] The outer wall of the gripper is fixedly connected to two inserts. The top of the main lifting plate is provided with a lifting slide groove. The inner wall of the lifting slide groove is slidably connected to an upper slide frame. The inner wall of the upper slide frame is movably connected to an insert plate. The bottom outer wall of the insert plate is inserted into the two inserts.

[0011] The top of the insert plate is provided with a semi-circular connecting seat, and connecting pins are provided at the center of both sides of the semi-circular connecting seat. The two sides of the semi-circular connecting seat are movably connected to the upper slide frame through the connecting pins. A positioning hole is opened on the outer wall of the upper slide frame, and several positioning holes are arranged in a ring on the outer wall of the semi-circular connecting seat.

[0012] The upper slide is fixedly connected to a small hydraulic rod on its outer wall, and a curved insert rod is fixedly connected to one end of the small hydraulic rod. The small hydraulic rod and the curved insert rod constitute a positioning mechanism. With the positioning mechanism and in conjunction with the upper slide and the insert plate, when the upper rotary motor controls the gripper to grab the goods, the small hydraulic rod is activated and controlled to move the position of the curved insert rod. The curved insert rod passes through the positioning hole in the upper slide and the semi-circular connecting seat, thereby fixing the relative position between the insert plate and the upper slide. This achieves the effect of auxiliary limiting and fixing of the gripper from the outside.

[0013] Preferably, the gripping mechanism further includes a weighing frame fixedly mounted on the outer wall of the gripper. A hanger is fixedly connected to the top of the weighing frame, and a pull rope is fixedly connected to the outer wall of the hanger. A gravity ball is connected to the bottom of the pull rope. A pressure sensor is provided on the upper surface of the weighing frame, and the gravity ball is located on the upper surface of the pressure sensor. By setting and using the weighing frame, gravity ball, and pressure sensor together, during use, the pressure sensor detects whether the gravity ball is vertically positioned above the pressure sensor, thereby determining whether the gripper's position is vertically aligned with its original position. This facilitates the control of the upper rotary motor's operating data through a central computing and control device based on the data from the upper rotary motor's operation, thereby achieving precise control of the gripper's gripping position.

[0014] Preferably, the outer wall of the main lifting platform is provided with several light strips arranged in a ring; by arranging several light strips in a ring, the lighting effect can be improved when picking up and putting down goods, so as to achieve a better identification effect when used in conjunction with the positioning probe.

[0015] Preferably, the upper base assembly includes a connecting shaft seat, an upper base is fixedly connected to the top of the connecting shaft seat, a limiting seat is fixedly connected to the outer wall of the upper base, a protective sleeve is fixedly connected to the outer wall of the upper base, and a large gear plate is fixedly connected to the top of the upper base.

[0016] The lower base assembly includes a lower base, the top of which has a connecting shaft groove. The inner wall of the connecting shaft groove is movably connected to the outer wall of the connecting shaft seat. The movable connection between the inner wall of the connecting shaft groove and the outer wall of the connecting shaft seat allows the upper base assembly and the lower base assembly to be rotatably connected relative to each other.

[0017] Preferably, a directional adjustment component is provided between the upper base assembly and the lower base assembly. The directional adjustment component includes a large positioning frame fixedly mounted on the outer wall of the lower base. A small lower hydraulic cylinder is fixedly connected to the inner wall of the large positioning frame. A toothed plate is fixedly connected to one end of the small lower hydraulic cylinder. The outer wall of the toothed plate meshes with the outer wall of the large gear disc. There are two small lower hydraulic cylinders and toothed plates, and the two small lower hydraulic cylinders and toothed plates are symmetrically meshed on the outer wall of the large gear disc. By setting up the directional adjustment component, in use, the two small lower hydraulic cylinders are adjusted by reverse stroke, thereby realizing the reverse movement of the two toothed plates, thereby driving the large gear disc to rotate, and then driving the upper base assembly and the mechanism mounted on the upper base assembly to rotate horizontally, so as to realize the horizontal adjustment of the use position of the gripping mechanism.

[0018] Preferably, the extension assembly includes a main hydraulic cylinder fixedly mounted on the top of the upper base, a lower connecting seat fixedly connected to the top of the main hydraulic cylinder, and a robotic arm fixedly connected to the top of the lower connecting seat. The robotic arm is a two-axis robotic arm, and the tail end of the robotic arm is fixedly connected to the top of the connecting housing mounted on the top of the main lifting platform. Through the extension assembly, in use, the main hydraulic cylinder and the robotic arm work together and are controlled by a central computing and control device to achieve the lifting and rotation adjustment of the gripping mechanism's orientation, thereby achieving the purpose of retrieving and storing goods.

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

[0020] The storage platform assembly also includes a storage platform that is slidably connected to the inner wall of the limiting seat. The outer wall of the storage platform is provided with several teeth, and the outer wall of the teeth meshes with the outer wall of the pinion. With the storage platform assembly, when goods are stored in the storage platform, the position of the storage platform can be adjusted by controlling the small transmission motor through the pinion to facilitate the retrieval and placement of goods. At the same time, the meshing connection between the outer wall of the teeth and the outer wall of the pinion can maintain the stability of the storage platform position.

[0021] Preferably, the lower base assembly further includes a slide rail sleeve fixedly disposed at the bottom of the lower base. The inner wall of the slide rail sleeve is movably connected to a slide rail, and the outer wall of the slide rail is provided with a positioning mounting hole. By using the slide rail and the slide rail sleeve together, the slide rail is first fixedly installed on the ground between the two rows of shelves through the positioning mounting hole. In use, this allows the robot to travel along the slide rail when picking up and placing goods, avoiding collisions with the shelves on both sides, thus improving the safe use of the device.

[0022] Compared with the prior art, the embodiments of this application have the following main advantages:

[0023] By using a positioning probe and a central computing control device, multi-directional monitoring of goods placed under the main tray or on the shelf is achieved. This allows for the determination of the shape of the outer packaging of the goods to be gripped. The extension component is used to adjust the direction of use, and the gripping angle of the gripping mechanism is adjusted according to the shape of the outer packaging to achieve a suitable gripping effect. The gripping mechanism incorporates an upper rotary motor and grippers. During use, the upper rotary motor drives the grippers to rotate, and the combined operation of the upper rotary motor and grippers enables the gripping of goods. A positioning mechanism, used in conjunction with an upper slide and insert plate, allows the upper small hydraulic rod to move the position of the curved insert rod after the upper rotary motor controls the grippers to grip the goods. The curved insert rod passes through the positioning hole in the upper slide and the semi-circular connecting seat, thus fixing the relative position between the insert plate and the upper slide. This provides auxiliary limiting and fixing of the grippers from the outside.

[0024] By setting up and using a weighing frame, a gravity ball, and a pressure sensor, the gravity ball is vertically positioned above the pressure sensor to determine whether the gripper is in its original vertical position. This allows the gripper to be precisely controlled based on the data from the upper rotary motor and the central computing control device.

[0025] By setting the directional component, during use, the two lower small hydraulic cylinders are controlled by reverse stroke, thereby realizing the reverse movement of the two toothed plates, which drives the large toothed disc to rotate, and then drives the upper base assembly and the mechanism mounted on the upper base assembly to rotate horizontally, so as to realize the horizontal adjustment of the gripping mechanism's position.

[0026] By setting up the extension component, during use, the lifting and rotating of the gripping mechanism can be adjusted by the main hydraulic cylinder and the robotic arm, and controlled by the central computing and control equipment, so as to achieve the purpose of picking up and storing goods.

[0027] With the storage platform component, when goods are stored in the storage platform, the position of the storage platform can be adjusted by controlling the small transmission motor through the small gear to retrieve and place goods. At the same time, the meshing connection between the outer wall of the teeth and the outer wall of the small gear can maintain the stability of the storage platform position.

[0028] By using the slide rail and slide rail sleeve together, the slide rail is first fixedly installed on the ground between two rows of shelves through the positioning mounting holes. In use, the robot moves along the slide rail when picking up and placing goods, avoiding collisions with the shelves on both sides, thus improving the safety of the device. Attached Figure Description

[0029] Figure 1 This is the main view of the present invention;

[0030] Figure 2 This is a schematic diagram of the gripping component of the present invention;

[0031] Figure 3 This is a schematic diagram of the distributed structure of the gripping mechanism of the present invention;

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

[0033] Figure 5 This is a schematic diagram of the structure of the base assembly of the present invention;

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

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

[0036] Figure 8 This is a schematic diagram of the orientation component of the present invention;

[0037] Figure 9 This is a schematic diagram of the structure of the storage platform component of the present invention.

[0038] In the diagram: 1. Lower base assembly; 101. Lower base; 102. Connecting shaft groove; 103. Slide rail sleeve; 2. Gripping assembly; 201. Main disc; 2011. Main lifting plate; 2012. Light strip; 2013. Positioning probe; 2014. Lifting slide; 2015. Central connecting seat; 202. Gripping mechanism; 2021. Upper rotary motor; 2022. Rotating rod; 2023. Gripper; 2024. Insert sleeve; 2025. Insert 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 sleeve; 304. Large gear plate; 305. Connecting shaft seat; 4. Extension assembly; 401. Main hydraulic cylinder; 402. Lower connecting seat; 403. Robotic arm; 5. Orientation assembly; 501. Large positioning frame; 502. Lower small hydraulic cylinder; 503. Gear plate; 6. Storage platform assembly; 601. Storage platform; 602. Small drive motor; 603. Small positioning frame; 7. Slide rail. Detailed Implementation

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0040] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0041] This invention provides an automated transport robot for a three-dimensional warehouse, including a lower base assembly 1, an upper base assembly 3 on the top of the lower base assembly 1, an extension assembly 4 at the bottom of the upper base assembly 3, and a gripping assembly 2 at the top of the extension assembly 4.

[0042] The gripping component 2 includes a main disk component 201, and several gripping mechanisms 202 are provided at the bottom of the main disk component 201.

[0043] The main plate component 201 includes a main hanging plate 2011. A connecting housing is provided on the top of the main hanging plate 2011. A central calculation and control device is provided on the inner wall of the connecting housing. The outer wall of the connecting housing is fixedly connected to the outer wall of the extension component 4. Positioning probes 2013 are arranged in a ring at the bottom of the main hanging plate 2011.

[0044] The gripping mechanism 202 includes an upper rotary motor 2021 fixedly installed at the bottom of the main disk 201. The output shaft of the upper rotary motor 2021 is fixedly connected to a rotating rod 2022 via a coupling. One end of the rotating rod 2022 is fixedly connected to a gripper 2023.

[0045] The bottom of the main hanging plate 2011 is fixedly connected to a central connecting seat 2015. The inner wall of the central connecting seat 2015 is provided with an installation groove, and the inner wall of the installation groove is movably connected to the outer wall of the rotating rod 2022 and the gripper 2023.

[0046] Two insert sleeves 2024 are fixedly connected to the outer wall of the gripper 2023. The top of the main lifting plate 2011 is provided with a lifting slide 2014. The inner wall of the lifting slide 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.

[0047] The top of the insert plate 2025 is provided with a semi-circular connecting seat, and connecting pins are provided at the center of both sides of the semi-circular connecting seat. The two sides of the semi-circular 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 several positioning holes are opened in a ring on the outer wall of the semi-circular connecting seat.

[0048] The upper slide 2027 has an upper small hydraulic rod 2028 fixedly connected to its outer wall. One end of the upper small hydraulic rod 2028 is fixedly connected to a curved insert rod. The upper small hydraulic rod 2028 and the curved insert rod can form a positioning mechanism.

[0049] It should be noted that existing automated warehouses typically use robots or automated positioning and handling equipment for storage and retrieval. The robots are programmed with travel and gripping paths based on the packaging size of the goods to accurately grasp and move them. However, for goods with different packaging or non-standard packaging shapes, robot gripping can easily encounter problems, such as over-gripping or insufficient gripping, which may cause damage to the goods or cause them to fall.

[0050] Specifically, in this embodiment, the solution mainly utilizes the combined use of the gripping component 2, the extension component 4, the upper base component 3, the lower base component 1, the storage platform component 6, the steering component 5, and the slide rail 7. In use, the slide rail 7 is first fixedly installed on the ground between two rows of shelves via positioning mounting holes. During use, the robot moves along the slide rail 7 when picking up or placing goods, avoiding collisions with the shelves on both sides. Based on the approximate location of the goods to be picked up or delivered, the central computing control device coordinates and adjusts the positions of the steering component 5 and the extension component 4. Through the positioning probe 2013 and the central computing control device, multi-directional monitoring of the goods placed under the main tray 201 or the goods on the shelves is performed to determine the shape of the outer packaging of the goods to be gripped. The extension component 4 is then used to adjust the direction of use, and the gripping angle of the gripping mechanism 202 is adjusted according to the shape of the outer packaging to grip the goods and transport them to their destination.

[0051] In this embodiment, by setting up and cooperating with the positioning probe 2013 and the central computing and control device, the goods placed under the main tray 201 or the goods on the shelf are monitored from multiple angles to determine the shape of the outer packaging of the goods to be gripped. The extension component 4 is used to adjust the direction of use, and the gripping angle of the gripping mechanism 202 is adjusted according to the shape of the outer packaging of the goods to grip the goods, thereby achieving a suitable gripping effect.

[0052] In this embodiment, by setting up the upper rotary motor 2021 and the gripper 2023 in the gripping mechanism 202, during use, by controlling the upper rotary motor 2021 to drive the gripper 2023 to rotate, the upper rotary motor 2021 and the gripper 2023 work together to grip the goods.

[0053] In this embodiment, by setting up a positioning mechanism and using it in conjunction with the upper slide 2027 and the insert plate 2025, when the upper rotary motor 2021 controls the gripper 2023 to grab the goods, the upper small hydraulic rod 2028 is activated and controlled to move the position of the curved insert rod. The curved insert rod passes through the positioning hole in the upper slide 2027 and the semi-circular connecting seat, thereby fixing the relative position between the insert plate 2025 and the upper slide 2027. This achieves the effect of auxiliary limiting and fixing of the gripper 2023 from the outside.

[0054] In a further preferred embodiment of the present invention, the gripping mechanism 202 further includes a weighing frame 2029 fixedly disposed on the outer wall of the gripper 2023. A hanger is fixedly connected to the top of the weighing frame 2029, a pull rope is fixedly connected to the outer wall of the hanger, a gravity ball 2026 is connected to the bottom of the pull rope, a pressure sensor is disposed on the upper surface of the weighing frame 2029, and the gravity ball 2026 is disposed on the upper surface of the pressure sensor.

[0055] Several light strips 2012 are arranged in a ring 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 set up and used in conjunction. During use, the pressure sensor senses whether the gravity ball 2026 is vertically positioned above the pressure sensor, thereby determining whether the gripper 2023 has reached its original position vertically. This facilitates the control of the upper rotary motor 2021's working data through the central computing and control device, based on the data from the upper rotary motor 2021's operation, to achieve precise control of the gripper 2023's clamping position.

[0057] In this embodiment, by arranging several light strips 2012 in a ring, the lighting effect can be improved when picking up and putting down 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, an upper base 301 is fixedly connected to the top of the connecting shaft seat 305, a limiting seat 302 is fixedly connected to the outer wall of the upper base 301, a protective sleeve 303 is fixedly connected to the outer wall of the upper base 301, and a large gear plate 304 is fixedly connected to the top of the upper base 301.

[0059] The lower base assembly 1 includes a lower base 101, and a connecting shaft groove 102 is provided on the top of the lower base 101. The inner wall of the connecting shaft groove 102 is in a fit and movable connection with the outer wall of the connecting shaft seat 305.

[0060] An adjusting component 5 is provided between the upper base assembly 3 and the lower base assembly 1. The adjusting component 5 includes a large positioning frame 501 fixedly installed 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 toothed plate 503 is fixedly connected to one end of the lower small hydraulic cylinder 502. The outer wall of the toothed plate 503 is engaged with the outer wall of the large toothed plate 304. There are two lower small hydraulic cylinders 502 and toothed plates 503, and the two lower small hydraulic cylinders 502 and toothed plates 503 are symmetrically engaged on the outer wall of the large toothed plate 304.

[0061] In this embodiment, the upper base assembly 3 and the lower base assembly 1 are movably connected by the inner wall of the connecting shaft groove 102 and the outer wall of the connecting shaft seat 305, so that the upper base assembly 3 and the lower base assembly 1 can be rotatably connected relative to each other.

[0062] In this embodiment, by setting the directional component 5, during use, the two lower small hydraulic cylinders 502 are controlled by reverse stroke, thereby realizing the reverse movement of the two toothed plates 503, thereby driving the large toothed disc 304 to rotate, and then driving the upper base component 3 and the mechanism mounted on the upper base component 3 to rotate horizontally, so as to realize the horizontal adjustment of the use position of the gripping mechanism 202.

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

[0064] In this embodiment, by setting the extension component 4, during use, the main hydraulic cylinder 401 and the robotic arm 403 work together and are controlled by the central computing control equipment to realize the lifting and rotation adjustment of the gripping mechanism 202 to achieve the purpose of retrieving and storing goods.

[0065] In a further preferred embodiment of the present invention, a storage platform assembly 6 is provided on the outer wall of the upper base 301. The storage platform assembly 6 includes a small positioning frame 603 fixedly mounted on the upper base 301. A small transmission motor 602 is fixedly connected to the bottom of the small positioning frame 603. The output shaft of the small transmission motor 603 is fixedly connected to a small gear through a coupling.

[0066] The storage platform assembly 6 also includes a storage platform 601 that is slidably connected to the inner wall of the limit seat 302. The outer wall of the storage platform 601 is provided with several teeth, and the outer wall of the teeth meshes with the outer wall of the pinion.

[0067] In this embodiment, by setting up the storage platform component 6, when goods are stored in the storage platform 601, the position of the storage platform 601 can be adjusted by controlling the small transmission motor 602 through the pinion gear, so as to pick up and place goods. At the same time, the meshing connection between the outer wall of the teeth and the outer wall of the pinion gear can maintain the stability of the position of the storage platform 601.

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

[0069] In this embodiment, the slide rail 7 and slide rail sleeve 103 are used together. First, the slide rail 7 is fixedly installed on the ground between two rows of shelves through the positioning mounting holes. In use, the robot moves along the slide rail 7 when picking up and placing goods, avoiding collisions with the shelves on both sides, thus improving the safety of the device.

[0070] It should be noted that, for the sake of simplicity, the foregoing embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to the present invention. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0071] It should be understood that the disclosed apparatus can be implemented in other ways, given the several embodiments provided in this application. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units described above may be implemented in other ways in practice. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or communication connections shown or discussed may be through some interfaces; indirect coupling or communication connections between devices or units may be telecommunications or other forms.

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

[0073] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative effort 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, those skilled in the art can still combine, add, delete, or otherwise adjust the features of the various embodiments of the present invention according to the circumstances without conflict or creative effort, thereby obtaining different technical solutions that do not fundamentally depart from the concept of the present invention. These technical solutions also fall within the scope of protection of the present invention.

Claims

1. A three-dimensional bin automated handling robot, characterized by, The utility model provides a kind of grabbing device, including lower base assembly (1), the top of the lower base assembly (1) is provided with upper base assembly (3), the bottom of the upper base assembly (3) is provided with stretch component (4), the top of the stretch component (4) is provided with grabbing component (2); Wherein, the grabbing component (2) includes main disc piece (201), and the bottom of the main disc piece (201) is provided with a plurality of grabbing mechanisms (202); The main disc piece (201) includes main hanging disc (2011), and the top of the main hanging disc (2011) is provided with a connection box shell, the inner wall of the connection box shell is provided with a central computing control device, the outer wall of the connection box shell is fixedly connected with the outer wall of the stretch component (4), and the bottom of the main hanging disc (2011) is annularly provided with a position detection probe (2013); The grabbing mechanism (202) includes an upper rotary motor (2021) fixedly arranged at the bottom of the main disc piece (201), and the output shaft of the upper rotary motor (2021) is fixedly connected with a rotating rod (2022) through a shaft coupling; one end of the rotating rod (2022) is fixedly connected with a clamping jaw (2023); The bottom of the main hanging disc (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 jaw (2023); The outer wall of the clamping jaw (2023) is fixedly connected with two plug sleeves (2024), the top of the main hanging disc (2011) is provided with a hoisting sliding groove (2014), the inner wall of the hoisting sliding groove (2014) is slidingly connected with an upper sliding frame (2027), the inner wall of the upper sliding frame (2027) is movably connected with a plug plate (2025), and the bottom outer wall of the plug plate (2025) is inserted into the two plug sleeves (2024); The top of the plug plate (2025) is provided with a semicircular connecting seat, connecting pins are arranged at the centers of the two sides of the semicircular connecting seat, the two sides of the semicircular connecting seat are movably connected with the upper sliding frame (2027) through the connecting pins, a positioning hole is formed in the outer wall of the upper sliding frame (2027), and a plurality of positioning holes are formed in the outer wall of the semicircular connecting seat; Wherein, the outer wall of the upper sliding frame (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 plug rod, and the upper small hydraulic rod (2028) and the bent plug rod can constitute a positioning mechanism; The grabbing mechanism (202) further includes a weight measuring frame (2029) fixedly arranged on the outer wall of the clamping jaw (2023), a hanging bracket is fixedly connected to the top of the weight measuring frame (2029), a pull rope is fixedly connected to the outer wall of the hanging bracket, a gravity ball (2026) is connected to the bottom of the pull rope, a pressure sensor is arranged on the upper surface of the weight measuring frame (2029), and the gravity ball (2026) is arranged on the upper surface of the pressure sensor.

2. A three-dimensional bin automated handling robot as claimed in claim 1, characterized in that A plurality of lamp strips (2012) are annularly arranged on the outer wall of the main hanging disc (2011).

3. A three-dimensional bin automated handling robot as claimed in 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 with an upper base (301), the outer wall of the upper base (301) is fixedly connected with a limiting seat (302), the outer wall of the upper base (301) is fixedly connected with a protective sleeve (303), and the top of the upper base (301) is fixedly connected with a large gear plate (304). The lower base assembly (1) comprises a lower base (101), the top of the lower base (101) is provided with a connecting shaft groove (102), and the inner wall of the connecting shaft groove (102) is movably connected with the outer wall of the connecting shaft seat (305).

4. A three-dimensional bin automated handling robot as claimed in claim 3, characterized in that The upper base assembly (3) and the lower base assembly (1) are provided with a direction adjusting assembly (5), the direction adjusting assembly (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 with a lower small hydraulic cylinder (502), one end of the lower small hydraulic cylinder (502) is fixedly connected with a gear plate (503), the outer wall of the gear plate (503) is hingedly connected with the outer wall of the large gear plate (304), the number of the lower small hydraulic cylinder (502) and the gear plate (503) is two, and the two lower small hydraulic cylinders (502) and the gear plate (503) are symmetrically hingedly arranged on the outer wall of the large gear plate (304).

5. A three-dimensional bin automated handling robot as claimed in claim 3, characterized in that, The stretching assembly (4) comprises 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 with a lower connecting seat (402), the top of the lower connecting seat (402) is fixedly connected with 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 with the top of the connecting box shell arranged on the top of the main lifting plate (2011).

6. A three-dimensional bin automated handling robot as claimed in claim 3, characterized in that The outer wall of the upper base (301) is provided with a storage platform assembly (6), the storage platform assembly (6) comprises 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 transmission motor (602) is fixedly connected with a small gear through a shaft coupling; The storage platform assembly (6) further comprises a storage platform (601) which is slidingly connected with the inner wall of the limiting seat (302), the outer wall of the storage platform (601) is provided with a plurality of teeth, and the outer wall of the teeth is hingedly connected with the outer wall of the small gear.

7. A three-dimensional bin automated handling robot as claimed in claim 3, characterized in that The lower base assembly (1) further comprises a slide rail sleeve (103) fixedly arranged on 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 mounting hole.

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