Rotary stacking robot for automatic stereoscopic warehouse

Abstract

The invention discloses a rotary palletizing robot for an automatic stereoscopic warehouse, relates to the technical field of goods in-out storage of the automatic stereoscopic warehouse for glasses, solves the problems of low goods picking efficiency and wrong goods picking caused by fatigue in a manual picking solution, and comprises a stand column mechanism, a clamping jaw mechanism and a rotary base, the stand column mechanism is installed on the rotating base, the rotating base is used for controlling the stand column mechanism to rotate around the central axis of the rotating base, the clamping jaw mechanism is installed on the stand column mechanism, the stand column mechanism is used for controlling the clamping jaw mechanism to move along the stand column mechanism, the clamping jaw mechanism is used for clamping and transferring the bin box, and the bin box is used for containing glasses. The rotary stacking robot is controlled and driven by a circuit to transfer the bin box, the glasses are quickly and orderly transferred, the efficiency of quality inspection, cargo allocation and warehouse-in and warehouse-out can be improved, the labor cost is reduced, errors are reduced, meanwhile, the safety is improved, manpower can be completely replaced by automation to achieve storage of the glasses, personnel occupation is reduced, and warehouse-in and warehouse-out work is completed.

Description

Technical Field

[0001] The invention relates to the technical field of goods entry and exit in an automated stereoscopic warehouse for glasses, and in particular to a rotary stacking robot used in an automated stereoscopic warehouse. Background Art

[0002] The basic warehousing process includes multiple links such as warehousing, shelving, picking, and outbound delivery. When picking express goods, warehouse operators need to accurately find the goods to be shipped from the shelves. However, in actual work scenarios, operators need to approach the shelf where the goods to be shipped are located, check the surface codes of each piece of goods on the shelf one by one (such as the codes on the express goods surface waybills) according to the codes of the goods on the outbound delivery order, and take out the goods with matching codes from the shelf. This manual picking solution has the problems of low picking efficiency and picking the wrong goods due to fatigue. Summary of the invention

[0003] In view of the problems of low picking efficiency and wrong picking of goods due to fatigue in the manual picking solution generated above, the object of the present invention is to provide a rotary stacking robot for an automated high-bay warehouse.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A rotary palletizing robot for an automated stereoscopic warehouse, comprising: a column mechanism 1, a gripper mechanism 2 and a rotating base 3, wherein the column mechanism 1 is mounted on the rotating base 3, the rotating base 3 is used to control the column mechanism 1 to rotate around the central axis of the rotating base 3, the gripper mechanism 2 is mounted on the column mechanism 1, the column mechanism 1 is used to control the gripper mechanism 2 to move along the column mechanism 1, the gripper mechanism 2 is used to grip and transfer a bin box 219, the bin box 219 is used to accommodate the glasses 231;

[0006] The rotating base 3 includes: a palletizing lifting support base 301 and an RV reducer assembly 302. The palletizing lifting support base 301 is rotatably mounted on the RV reducer assembly 302. The RV reducer assembly 302 is used to drive the palletizing lifting support base 301 to rotate around its central axis. The column mechanism 1 is mounted on the palletizing lifting support base 301.

[0007] The above-mentioned rotary palletizing robot for an automated stereoscopic warehouse, wherein the column mechanism 1 comprises: a column frame, a screw transmission mechanism and a kinetic energy transmission mechanism, and the screw transmission mechanism and the kinetic energy transmission mechanism are both mounted on the column frame;

[0008] The screw transmission mechanism includes: a first screw 113, a first screw support seat 114 and a second screw support seat 115, the lower end of the first screw 113 is rotatably mounted on the first screw support seat 114, the upper end of the first screw 113 is rotatably mounted on the second screw support seat 115, the first screw 113 is arranged at the front side of the column frame, and the first screw support seat 114 and the second screw support seat 115 are both installed in the column frame;

[0009] The kinetic energy transmission mechanism includes: a palletizing lifting motor 111 and a palletizing rotating motor 124. The palletizing lifting motor 111 is used to drive the first screw rod 113 to rotate around its central axis. The clamping mechanism 2 is installed on the first screw rod 113, and the clamping mechanism 2 is displaced along the first screw rod 113 by rotating the first screw rod 113; the palletizing rotating motor 124 is installed at the rear bottom of the column frame, and the output shaft of the palletizing rotating motor 124 is connected to the RV reducer assembly 302. The palletizing rotating motor 124 is used to drive the column mechanism 1 to rotate around the central axis of the output shaft of the palletizing rotating motor 124.

[0010] The above-mentioned rotary palletizing robot for an automated stereoscopic warehouse, wherein the column frame comprises: a first palletizing slide rail member 102, a second palletizing slide rail member 103 and a first slide rail 112, the first palletizing slide rail member 102 and the second palletizing slide rail member 103 are arranged in parallel, the front side of the first palletizing slide rail member 102 and the front side of the second palletizing slide rail member 103 are both installed with the first slide rail 112, the two first slide rails 112 are both parallel to the first screw rod 113, and the clamping mechanism 2 is slid along the two first slide rails 112 by rotating the first screw rod 113.

[0011] The above-mentioned rotary palletizing robot for an automated stereoscopic warehouse, wherein the kinetic energy transmission mechanism further includes: a first synchronous belt 116, a first synchronous pulley 125 and a second synchronous pulley 126, the palletizing lifting motor 111 is installed on the top of the rear side of the column frame, the first synchronous pulley 125 and the second synchronous pulley 126 are connected by the first synchronous belt 116, the second synchronous pulley 126 is installed at the output end of the palletizing lifting motor 111, and the first synchronous pulley 125 is installed at the upper end of the first screw rod 113.

[0012] The above-mentioned rotary palletizing robot for automated stereoscopic warehouses, wherein the gripper mechanism 2 comprises: a palletizing lifting screw rod seat 201, an in-and-out piece base 202, a second slider 220, a third slide rail 221, a second screw rod 222, a third slider 227, a second nut 234, a first support seat 235 and a second support seat 236, the palletizing lifting screw rod seat 201 is mounted on the in-and-out piece base 202, the first support seat 235 and the second support seat 236 are respectively mounted at both ends of the in-and-out piece base 202, one end of the second screw rod 222 is rotatably connected to the first support seat 235, and the second screw rod 221 is rotatably connected to the first support seat 235. The other end of the rod 222 is rotatably connected to the second support seat 236, a third slide rail 221 is installed on the input and output piece base 202, the second slider 220 is slidably installed on the third slide rail 221, the third slider 227 is installed on the stacking lifting screw seat 201, the stacking lifting screw seat 201 is slidably connected to the first slide rail 112 through the third slider 227, the second nut 234 is installed on the input and output piece base 202, the second nut 234 is installed on the first screw rod 113, by rotating the first screw rod 113, the second nut 234 drives the input and output piece base 202 to move along the first screw rod 113.

[0013] The above-mentioned rotary palletizing robot for automated stereoscopic warehouses, wherein the gripper mechanism 2 also includes: a palletizing in-and-out motor seat 206, a first nut 223, a second synchronous belt 224, a motor 225, a first synchronous wheel 226 and a second synchronous wheel 233, the motor 225 is installed on the palletizing in-and-out motor seat 206, the palletizing in-and-out motor seat 206 is installed on the in-and-out piece base 202, one end of the second screw rod 222 is installed with the first synchronous wheel 226, the output end of the motor 225 is installed with the second synchronous wheel 233, the first synchronous wheel 226 and the second synchronous wheel 233 are connected by a second synchronous belt 224, one end of the second screw rod 222 is connected to the first synchronous wheel 226, and the first nut 223 is installed on the second screw rod 222.

[0014] The above-mentioned rotary palletizing robot for automated stereoscopic warehouse, wherein the clamp mechanism 2 further comprises: a first clamp base member 203, a clamp 204, a first clamp connection member 205, a second clamp connection member 211, a second tensioning block 212, a second clamp base member 213, a second slide rail 216, a first slider 217 and an electric clamp 218, the first nut 223 is installed in the first clamp base member 203, the first clamp base member 203 is installed at the bottom of the second clamp base member 213, the first clamp base member 203 is installed on the inlet and outlet base 202, and the electric clamp The claw 218 is installed on the second clamp base member 213, the second slide rail 216 is installed on the second clamp base member 213, two first sliders 217 are slidably installed on the second slide rail 216, one first slider 217 and a clamp 204 are connected through a first clamp connector 205, another first slider 217 and another clamp 204 are connected through a second clamp connector 211, the two clamps 204 are arranged opposite to each other, each clamp 204 is installed with a second tensioning block 212, and the electric clamp 218 drives the two clamps 204 to clamp the warehouse box 219.

[0015] The above-mentioned rotary palletizing robot for automated stereoscopic warehouse, wherein the gripper mechanism 2 further comprises: a first supporting sheet metal 207, an optical fiber amplifier supporting sheet metal 208, a cover plate 209, a second supporting sheet metal 210, a sensor bracket 214, a screw baffle 215, a second drag chain 228, an optical fiber amplifier 229, a reflective optical fiber sensor 230, a third drag chain 232, and a photoelectric switch 237, wherein the screw baffle 215 is mounted on the inlet and outlet base 202, and the screw baffle 215 is used to prevent lubricating oil from splashing, the optical fiber amplifier supporting sheet metal 208 is mounted on the electric gripper 218, and the optical fiber amplifier 229 is mounted On the optical fiber amplifier support sheet metal 208, a cover plate 209 is installed on the optical fiber amplifier support sheet metal 208, and the cover plate 209 is used to centrally fix the wiring harness. The first support sheet metal 207 is installed on the input and output piece base 202, and the second drag chain 228 and the third drag chain 232 are both installed on the first support sheet metal 207. The upper part of the second drag chain 228 and the second clamp base piece 213 are connected through the second support sheet metal 210. The sensor bracket 214 is installed on the input and output piece base 202, the reflective optical fiber sensor 230 is installed on the sensor bracket 214, and the photoelectric switch 237 is installed on the second clamp base piece 213.

[0016] The above-mentioned rotary palletizing robot for automated stereoscopic warehouses, wherein the column frame further includes: a palletizing lifting support vertical rod 101, a palletizer upper connecting piece 105, a drag chain frame 106, a reinforcing rib 109, a protective cover 110, a cylindrical pin 118, a pressing block 121 and a lifting eye screw 123, the inner side of the first palletizing slide rail 102 and the inner side of the second palletizing slide rail 103 are both installed with the palletizing lifting support vertical rod 101, the top of the first palletizing slide rail 102 and the top of the second palletizing slide rail 103 are both connected to the palletizer upper connecting piece 105, and the rear side of the first palletizing slide rail 102 and the rear side of the second palletizing slide rail 103 are both connected to the palletizer upper connecting piece 105. The drag chain frame 106 is connected, the outer side of the first stacking slide rail 102 and the outer side of the second stacking slide rail 103 are both installed with the reinforcing ribs 109, the protective cover 110 is installed on the drag chain frame 106, the bottom of the first stacking slide rail 102 and the bottom of the second stacking slide rail 103 are both connected to the rotating base 3 through a plurality of cylindrical pins 118, each of the first slide rails 112 is installed on the first stacking slide rail 102 or the second stacking slide rail 103 through a plurality of pressing blocks 121, and a plurality of eye screws 123 are installed on the first stacking slide rail 102 and the second stacking slide rail 103 to facilitate the overall suspension of the column mechanism 1.

[0017] The above-mentioned rotary palletizing robot for automated stereoscopic warehouse, wherein the kinetic energy transmission mechanism further comprises: a motor seat 104, an electric control board 107, a drag chain sheet metal 108, a first drag chain 117, a first driver 119, a second driver 120 and a first tensioning block 122, wherein the motor seat 104 is mounted on the column frame, the palletizing lifting motor 111 is mounted on the motor seat 104, the electric control board 107 and the first driver 119 are both mounted on the column frame, and the first driver 119 and the second driver 120 are both connected to the electric control board 10 7 are connected by lines, the first driver 119 is used to control the operation of the stacking lifting motor 111, the drag chain sheet metal 108 and the first drag chain 117, the drag chain sheet metal 108 is installed on the outside of the first stacking slide rail 102, the first drag chain 117 is installed on the drag chain sheet metal 108, the second driver 120 is installed on the drag chain sheet metal 108, the second driver 120 is used to control the operation of the stacking rotating motor 124, and the first tensioning block 122 is installed on the column frame, and the first tensioning block 122 is used to maintain the tension of the first synchronous belt 116.

[0018] Due to the adoption of the above technology, the present invention has the following positive effects compared with the prior art:

[0019] (1) In the present invention, the rotating palletizing robot is driven by circuit control to transfer the bin box, so as to realize the rapid and orderly transfer of glasses, thereby improving the efficiency of quality inspection, distribution and warehousing, reducing labor costs, reducing errors, and improving safety;

[0020] (2) In the present invention, automation can be completely used to replace manual labor to achieve the storage of glasses, reduce the occupation of personnel, and complete the storage and retrieval work. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The present invention is a structural schematic diagram of a rotary palletizing robot for an automated stereoscopic warehouse.

[0022] Figure 2 The present invention is a schematic structural diagram of a column mechanism of a rotary palletizing robot used in an automated stereoscopic warehouse.

[0023] Figure 3 yes Figure 2 A partial enlarged view of the side view.

[0024] Figure 4 yes Figure 2 A partial enlarged view of the top.

[0025] Figure 5 yes Figure 2 Rear view of.

[0026] Figure 6 The present invention is a schematic structural diagram of a gripper mechanism of a rotary palletizing robot for an automated stereoscopic warehouse.

[0027] Figure 7 yes Figure 6 Assembly diagram from the first perspective.

[0028] Figure 8 yes Figure 7 The first partial enlargement.

[0029] Fig. 9 yes Figure 7 The second partial enlargement of .

[0030] Fig.10 yes Figure 7 The third partial enlarged view.

[0031] Fig.11 yes Figure 6 Assembly diagram from the second perspective.

[0032] Fig.12 yes Fig.11 The first partial enlargement.

[0033] Fig.13 yes Fig.11The second partial enlargement of .

[0034] Fig.14 yes Fig.11 The third partial enlarged view.

[0035] Fig.15 The present invention is a schematic structural diagram of an electric gripper of a rotary palletizing robot for an automated stereoscopic warehouse.

[0036] Fig.16 The present invention is a schematic diagram of the assembly of a rotating base of a rotating palletizing robot for an automated high-bay warehouse.

[0037] In the attached drawings: 1, column mechanism; 101, stacking lifting support vertical rod; 102, first stacking slide rail; 103, second stacking slide rail; 104, motor seat; 105, palletizer upper connecting piece; 106, drag chain frame; 107, electric control board; 108, drag chain sheet metal; 109, reinforcing ribs; 110, protective cover; 111, stacking lifting motor; 112, first slide rail; 113, first screw rod; 114, first screw rod support seat; 115, second screw rod support seat; 116, first a synchronous belt; 117, a first drag chain; 118, a cylindrical pin; 119, a first driver; 120, a second driver; 121, a pressure block; 122, a first tensioning block; 123, a lifting eye screw; 124, a palletizing rotating motor; 125, a first synchronous pulley; 126, a second synchronous pulley; 2, a clamping mechanism; 201, a palletizing lifting screw seat; 202, an in-and-out base; 203, a first clamp base member; 204, a clamp; 205, a first clamping connection member; 206, a palletizing in-and-out base member; Output motor base; 207, first support sheet metal; 208, optical fiber amplifier support sheet metal; 209, cover plate; 210, second support sheet metal; 211, second clamping claw connecting piece; 212, second tensioning block; 213, second clamping base piece; 214, sensor bracket; 215, screw rod baffle; 216, second slide rail; 217, first slider; 218, electric clamp; 219, magazine box; 220, second slider; 221, third slide rail; 222, second screw rod; 223, first A nut; 224, a second synchronous belt; 225, a motor; 226, a first synchronous wheel; 227, a third slider; 228, a second drag chain; 229, an optical fiber amplifier; 230, a reflective optical fiber sensor; 231, glasses; 232, a third drag chain; 233, a second synchronous wheel; 234, a second nut; 235, a first support seat; 236, a second support seat; 237, a photoelectric switch; 3, a rotating base; 301, a palletizing lifting support base; 302, an RV reducer assembly. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0039] Please refer to Figures 1 to 16 As shown, a rotary palletizing robot for an automated stereoscopic warehouse is shown, which includes: a column mechanism 1, a gripper mechanism 2 and a rotating base 3, wherein the column mechanism 1 is mounted on the rotating base 3, the rotating base 3 is used to control the column mechanism 1 to rotate around the central axis of the rotating base 3, the gripper mechanism 2 is mounted on the column mechanism 1, the column mechanism 1 is used to control the gripper mechanism 2 to move along the column mechanism 1, the gripper mechanism 2 is used to grip and transfer a bin box 219, and the bin box 219 is used to accommodate glasses 231;

[0040] The rotating base 3 includes: a palletizing lifting support base 301 and an RV reducer assembly 302. The palletizing lifting support base 301 is rotatably mounted on the RV reducer assembly 302. The RV reducer assembly 302 is used to drive the palletizing lifting support base 301 to rotate around its central axis. The column mechanism 1 is mounted on the palletizing lifting support base 301.

[0041] Further, in a preferred embodiment, the column mechanism 1 comprises: a column frame, a screw transmission mechanism and a kinetic energy transmission mechanism, and the screw transmission mechanism and the kinetic energy transmission mechanism are both mounted on the column frame;

[0042] The screw transmission mechanism includes: a first screw 113, a first screw support seat 114 and a second screw support seat 115, the lower end of the first screw 113 is rotatably mounted on the first screw support seat 114, the upper end of the first screw 113 is rotatably mounted on the second screw support seat 115, the first screw 113 is arranged on the front side of the column frame, and the first screw support seat 114 and the second screw support seat 115 are both installed in the column frame;

[0043] The kinetic energy transmission mechanism includes: a palletizing lifting motor 111 and a palletizing rotating motor 124. The palletizing lifting motor 111 is used to drive the first screw rod 113 to rotate around its central axis. The clamping mechanism 2 is installed on the first screw rod 113. The clamping mechanism 2 is displaced along the first screw rod 113 by rotating the first screw rod 113; the palletizing rotating motor 124 is installed at the rear bottom of the column frame, and the output shaft of the palletizing rotating motor 124 is connected to the RV reducer assembly 302. The palletizing rotating motor 124 is used to drive the column mechanism 1 to rotate around the central axis of the output shaft of the palletizing rotating motor 124.

[0044] Furthermore, in a preferred embodiment, the column frame includes: a first stacking slide member 102, a second stacking slide member 103 and a first slide rail 112, the first stacking slide member 102 and the second stacking slide member 103 are arranged in parallel, the front side of the first stacking slide member 102 and the front side of the second stacking slide member 103 are both installed with the first slide rail 112, the two first slide rails 112 are both parallel to the first screw rod 113, and the clamping mechanism 2 is slid along the two first slide rails 112 by rotating the first screw rod 113.

[0045] Furthermore, in a preferred embodiment, the kinetic energy transmission mechanism also includes: a first synchronous belt 116, a first synchronous pulley 125 and a second synchronous pulley 126, the stacking lifting motor 111 is installed on the rear top of the column frame, the first synchronous pulley 125 and the second synchronous pulley 126 are connected through the first synchronous belt 116 transmission, the second synchronous pulley 126 is installed at the output end of the stacking lifting motor 111, and the first synchronous pulley 125 is installed at the upper end of the first screw rod 113.

[0046] Further, in a preferred embodiment, the clamping mechanism 2 includes: a stacking lifting screw rod seat 201, an in-and-out piece base 202, a second slider 220, a third slide rail 221, a second screw rod 222, a third slider 227, a second nut 234, a first support seat 235 and a second support seat 236, the stacking lifting screw rod seat 201 is installed on the in-and-out piece base 202, the first support seat 235 and the second support seat 236 are respectively installed at both ends of the in-and-out piece base 202, one end of the second screw rod 222 is rotatably connected to the first support seat 235, and the other end of the second screw rod 222 is rotatably connected to the first support seat 235. One end is rotatably connected to the second support seat 236, a third slide rail 221 is installed on the in-and-out piece base 202, the second slider 220 is slidably installed on the third slide rail 221, the third slider 227 is installed on the stacking lifting screw seat 201, the stacking lifting screw seat 201 is slidably connected to the first slide rail 112 through the third slider 227, the second nut 234 is installed on the in-and-out piece base 202, the second nut 234 is installed on the first screw rod 113, and by rotating the first screw rod 113, the second nut 234 drives the in-and-out piece base 202 to move along the first screw rod 113.

[0047] Further, in a preferred embodiment, the clamping mechanism 2 also includes: a palletizing in-and-out motor seat 206, a first nut 223, a second synchronous belt 224, a motor 225, a first synchronous wheel 226 and a second synchronous wheel 233. The motor 225 is installed on the palletizing in-and-out motor seat 206, and the palletizing in-and-out motor seat 206 is installed on the in-and-out base 202. The first synchronous wheel 226 is installed at one end of the second screw rod 222, and the second synchronous wheel 233 is installed at the output end of the motor 225. The first synchronous wheel 226 and the second synchronous wheel 233 are connected by the second synchronous belt 224. One end of the second screw rod 222 is connected to the first synchronous wheel 226, and the first nut 223 is installed on the second screw rod 222.

[0048] Further, in a preferred embodiment, the clamp mechanism 2 further comprises: a first clamp base member 203, a clamp 204, a first clamp connection member 205, a second clamp connection member 211, a second tensioning block 212, a second clamp base member 213, a second slide rail 216, a first slider 217 and an electric clamp 218, the first nut 223 is installed in the first clamp base member 203, the first clamp base member 203 is installed at the bottom of the second clamp base member 213, the first clamp base member 203 is installed on the inlet and outlet member base 202, and the electric clamp 218 is installed. On the second clamp base member 213, the second slide rail 216 is installed on the second clamp base member 213, and two first sliders 217 are slidably installed on the second slide rail 216. One first slider 217 and a clamp 204 are connected through a first clamping jaw connecting member 205, and another first slider 217 and another clamp 204 are connected through a second clamping jaw connecting member 211. The two clamps 204 are arranged opposite to each other, and each clamp 204 is installed with a second tensioning block 212. The electric clamp 218 drives the two clamps 204 to clamp the warehouse box 219.

[0049] Further, in a preferred embodiment, the clamping mechanism 2 also includes: a first supporting sheet metal 207, an optical fiber amplifier supporting sheet metal 208, a cover plate 209, a second supporting sheet metal 210, a sensor bracket 214, a screw baffle 215, a second drag chain 228, an optical fiber amplifier 229, a reflective optical fiber sensor 230, a third drag chain 232, and a photoelectric switch 237. The screw baffle 215 is installed on the inlet and outlet base 202, and the screw baffle 215 is used to prevent the lubricating oil from splashing. The optical fiber amplifier supporting sheet metal 208 is installed on the electric clamping jaw 218, and the optical fiber amplifier 229 is installed on the optical fiber amplifier. The device is mounted on the support sheet metal 208, the cover plate 209 is mounted on the optical fiber amplifier support sheet metal 208, the cover plate 209 is used to centrally fix the wiring harness, the first support sheet metal 207 is mounted on the input and output piece base 202, the second drag chain 228 and the third drag chain 232 are both mounted on the first support sheet metal 207, the upper part of the second drag chain 228 and the second clamp base piece 213 are connected through the second support sheet metal 210, the sensor bracket 214 is mounted on the input and output piece base 202, the reflective optical fiber sensor 230 is mounted on the sensor bracket 214, and the photoelectric switch 237 is mounted on the second clamp base piece 213.

[0050] Further, in a preferred embodiment, the column frame also includes: a stacking lifting support vertical rod 101, a palletizer upper connecting piece 105, a drag chain frame 106, a reinforcing rib 109, a protective cover 110, a cylindrical pin 118, a pressure block 121 and a lifting eye screw 123, the inner side of the first stacking slide rail 102 and the inner side of the second stacking slide rail 103 are both installed with a stacking lifting support vertical rod 101, the top of the first stacking slide rail 102 and the top of the second stacking slide rail 103 are both connected to the palletizer upper connecting piece 105, and the rear side of the first stacking slide rail 102 and the rear side of the second stacking slide rail 103 are both connected to the drag chain The first stacking slide member 102 and the second stacking slide member 103 are connected to the frame 106, the outer side of the first stacking slide member 102 and the outer side of the second stacking slide member 103 are both installed with reinforcing ribs 109, the protective cover 110 is installed on the drag chain frame 106, the bottom of the first stacking slide member 102 and the bottom of the second stacking slide member 103 are both connected to the rotating base 3 through a plurality of cylindrical pins 118, each first slide rail 112 is installed on the first stacking slide member 102 or the second stacking slide member 103 through a plurality of pressing blocks 121, and a plurality of eye screws 123 are installed on the first stacking slide member 102 and the second stacking slide member 103 to facilitate the overall suspension of the column mechanism 1.

[0051] Further, in a preferred embodiment, the kinetic energy transmission mechanism also includes: a motor base 104, an electric control board 107, a drag chain sheet metal 108, a first drag chain 117, a first driver 119, a second driver 120 and a first tensioning block 122, the motor base 104 is mounted on the column frame, the stacking lifting motor 111 is mounted on the motor base 104, the electric control board 107 and the first driver 119 are both mounted on the column frame, and the first driver 119 and the second driver 120 are both connected to the electric control board 107 through a line. Next, the first driver 119 is used to control the operation of the palletizing lifting motor 111, the drag chain sheet metal 108 and the first drag chain 117, the drag chain sheet metal 108 is installed on the outside of the first palletizing slide rail 102, the first drag chain 117 is installed on the drag chain sheet metal 108, the second driver 120 is installed on the drag chain sheet metal 108, the second driver 120 is used to control the operation of the palletizing rotating motor 124, and the first tensioning block 122 is installed on the column frame, and the first tensioning block 122 is used to maintain the tension of the first synchronous belt 116.

[0052] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation and protection scope of the present invention.

[0053] The present invention also has the following implementation modes based on the above:

[0054] In a further embodiment of the present invention, the present invention discloses a rotary palletizing robot for a stereoscopic warehouse, which is used in the field of automatic stereoscopic warehouse for glasses. The robot includes a column mechanism 1, a gripper mechanism 2, and a rotary base 3. The invention structure is summarized as follows: Figure 1 As shown. The 360-degree gripping of the palletizer robot is achieved through the rotating base 3, wherein the clamping mechanism 2 is used to realize the gripping and placing of the stored items, the column mechanism 1 is used to realize the Y-axis movement of the clamping mechanism 2, the mobile input and output base 202 realizes the X-axis movement, and the rotating palletizing lifting support base 301 realizes 360-degree gripping. The rotating palletizing robot is installed as a whole on the slide rail moving device, and the clamping mechanism 2 is rotated when the mobile palletizer robot reaches the specified position, and the item can be gripped when it reaches the specified position, eliminating the cumbersome steps of moving the clamping mechanism 2 to grip the item after the palletizing robot reaches the specified position. The overall equipment adopts the method of driving the screw rod by the motor to drive the synchronous wheel and the synchronous belt to transmit, which can realize the rapid rotation of the clamp while ensuring the operation accuracy;

[0055] In a further embodiment of the present invention, part of the column mechanism 1 is shown in the figure, including a stacking lifting support vertical rod 101, a first stacking slide rail member 102, a second stacking slide rail member 103, a motor seat 104, a palletizer upper connecting member 105, a drag chain frame 106, an electric control board 107, a drag chain sheet metal 108, a reinforcing rib 109, a protective cover 110, a stacking lifting motor 111, a first slide rail 112, a first screw rod 113, a first screw support seat 114, a second screw support seat 115, a first synchronous belt 116, a first drag chain 117, a cylindrical pin 118, a first driver 119, a second driver 120, a pressure block 121, a first tensioning block 122, a lifting eye screw 123, a stacking rotating motor 124, a first synchronous pulley 125, and a second synchronous pulley 126.

[0056] In a further embodiment of the present invention, the overall skeleton of the column mechanism 1 is composed of a stacking lifting support vertical rod 101, a first stacking slide rail member 102, a second stacking slide rail member 103 and a palletizer upper connecting member 105. The first screw rod 113 is fixed by a first screw rod support seat 114 and a second screw rod support seat 115. The stacking lifting motor 111 is fixed by a motor seat 104, and the electric control board 107 controls the first driver 119 as a master control device. The first driver 119 is an independent control device, and the first driver 119 controls the operation of the stacking lifting motor 111. The first synchronous pulley 125 and the second synchronous pulley 126 are connected by the first synchronous belt 116. When the stacking lifting motor 111 rotates, power is transmitted through the first synchronous pulley 125 and the second synchronous pulley 126 to drive the first screw rod 113 to rotate, thereby driving the clamping mechanism 2 connected to the first slide rail 112 to move in the Y-axis direction. The first drag chain 117 is supported and fixed by the drag chain sheet metal 108. The reinforcing rib 109 is used to enhance the stability of the column mechanism 1. The pressure block 121 is used to fix and clamp the first slide rail 112 to ensure that it maintains a stable position during movement or vibration to ensure the normal operation and performance of the mechanical device. The first tensioning block 122 is used to maintain the tension of the device to simplify the installation and adjustment process. The design of the eye screw 123 makes the entire mechanism easy to move and carry. The column mechanism 1 is connected to the rotating base 3 through the cylindrical pin 118, and the stacking rotation motor 124 driven by the second driver 120 drives the entire column mechanism 1 to achieve 360-degree rotation.

[0057] In a further embodiment of the present invention, the clamping mechanism 2 is composed of the following parts: a stacking lifting screw rod seat 201, an in-and-out member base 202, a first clamp base member 203, a clamp 204, a first clamping jaw connecting member 205, a stacking in-and-out motor seat 206, a first supporting sheet metal 207, an optical fiber amplifier supporting sheet metal 208, a cover plate 209, a second supporting sheet metal 210, a second clamping jaw connecting member 211, a second tensioning block 212, a second clamp base member 213, a sensor bracket 214, a screw rod baffle 215, a second slide Rail 216, first slider 217, electric clamp 218, magazine box 219, second slider 220, third slide rail 221, second screw rod 222, first nut 223, second synchronous belt 224, motor 225, first synchronous wheel 226, third slider 227, second drag chain 228, optical fiber amplifier 229, reflective optical fiber sensor 230, glasses 231, third drag chain 232, second synchronous wheel 233, second nut 234, first support seat 235, second support seat 236, photoelectric switch 237.

[0058] In a further embodiment of the present invention, the clamp mechanism is connected to the first slide rail 112 of the column mechanism 1 through the third slider 227 on the stacking lifting screw rod seat 201, and the second nut 234 is connected to the first screw rod 113 of the column mechanism 1, so as to realize the up and down movement of the entire clamp mechanism 2. The in-and-out member base 202 is used to support and assemble the entire clamp in-and-out mechanism. The clamp 204 is connected to the second clamp connector 211 and the first slider 217 through the first clamp connector 205, and the first slider 217 is connected to the second slide rail 216. The first slider 217 is controlled by the electric clamp 218 to drive the clamp 204 to move to realize the clamping and placing operation of the bin box 219. The first clamp base member 203 supports, fixes and stabilizes the electric clamp 218, ensuring that the electric clamp 218 can effectively clamp the workpiece and provide a stable working environment. The cover plate 209 is used to centrally fix the wiring harness. The second drag chain 228 and the third drag chain 232 are used to manage and protect the wiring harness, and the bottom thereof is supported and fixed by the first support sheet metal 207, and the upper part of the second drag chain 228 is connected and fixed to the second clamp base member 213 through the second support sheet metal 210. The sensor bracket 214 is used to fix and support the reflective optical fiber sensor 230. The screw baffle 215 is used to prevent the splash of lubricating oil to ensure that the clamping claw platform is clean and tidy. The motor 225 drives the second synchronous wheel 233 to rotate, and the first synchronous wheel 226 and the second synchronous wheel 233 are connected through the second synchronous belt 224 to realize transmission. The second screw rod 222 is supported and fixed by the first support seat 235 and the second support seat 236, and is connected to the first synchronous wheel 226 through the first nut 223. The second screw rod 222 is rotated by the rotation of the motor 225 and the transmission of the second synchronous belt 224, thereby driving the second slider 220 on the third slide rail 221 to move forward and backward to realize the clamping claw in and out operation. The fiber amplifier support sheet metal 208 provides stable support for the fiber amplifier 229. The reflective fiber sensor 230 and the photoelectric switch 237 monitor whether the clamping of the bin box 219 is completed, and the signal collected by the fiber amplifier 229 is transmitted to the PLC for monitoring and control.

[0059] In a further embodiment of the present invention, the rotating base 3 is composed of a palletizing lifting support base 301 and an RV reducer assembly 302. The palletizing lifting support base 301 is connected to the column mechanism 1 through a cylindrical pin 118, and the palletizing rotating motor 124 at the bottom of the column mechanism 1 is connected to the RV reducer assembly 302. The RV reducer assembly 302 is used to achieve precise control of the rotation angle and speed of the palletizer.

[0060] In a further embodiment of the present invention, the clamping mechanism 2 is used to clamp and transfer the magazine 219, and the reflective optical fiber sensor 230 is used to detect whether the magazine 219 is located on the clamping mechanism 2 and simultaneously detect the position of the magazine 219 on the clamping mechanism 2, thereby improving the accuracy of the transfer process.

[0061] In a further embodiment of the present invention, the palletizing rotating motor 124 is used to drive the column mechanism 1 to rotate, and the rotating base 3 can realize the rotation of the palletizing lifting support base 301. The output shaft of the palletizing rotating motor 124 is parallel to the axis of the palletizing lifting support base 301.

[0062] In a further embodiment of the present invention, the stacking lifting motor 111 drives the first screw rod 113 to rotate through a belt transmission drive mechanism, thereby realizing the lifting and lowering of the clamping mechanism 2, and the motor 225 drives the second screw rod 222 to rotate through a belt transmission drive mechanism, thereby realizing the movement of the electric clamping jaw 218 along the second screw rod 222, so that the clamping jaw mechanism 2 can clamp and transfer the warehouse box 219, and the electric clamping jaw 218 drives the two clamps 204 to open and close, so as to clamp or place the warehouse box 219.

[0063] In a further embodiment of the present invention, the rotating palletizing robot is driven by circuit control to transfer the bin box 219, so as to realize the rapid and orderly transfer of the glasses 231, which can improve the efficiency of quality inspection, distribution and warehousing, reduce labor costs, reduce errors, and improve safety.

[0064] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A rotary palletizing robot for an automated high-bay warehouse, characterized in that: include: A column mechanism (1), a clamping mechanism (2) and a rotating base (3), wherein the column mechanism (1) is mounted on the rotating base (3), and the rotating base (3) is used to control the column mechanism (1) to rotate around the central axis of the rotating base (3); the clamping mechanism (2) is mounted on the column mechanism (1), and the column mechanism (1) is used to control the clamping mechanism (2) to move along the column mechanism (1); the clamping mechanism (2) is used to clamp and transfer a bin box (219), and the bin box (219) is used to accommodate the glasses (231); The rotating base (3) comprises: a palletizing lifting support base (301) and an RV reducer assembly (302); the palletizing lifting support base (301) is rotatably mounted on the RV reducer assembly (302); the RV reducer assembly (302) is used to drive the palletizing lifting support base (301) to rotate around its central axis; and the column mechanism (1) is mounted on the palletizing lifting support base (301).

2. The rotary palletizing robot for an automated high-bay warehouse according to claim 1, characterized in that: The column mechanism (1) comprises: a column frame, a screw transmission mechanism and a kinetic energy transmission mechanism, wherein the screw transmission mechanism and the kinetic energy transmission mechanism are both mounted on the column frame; The screw transmission mechanism comprises: a first screw (113), a first screw support seat (114) and a second screw support seat (115), the lower end of the first screw (113) is rotatably mounted on the first screw support seat (114), the upper end of the first screw (113) is rotatably mounted on the second screw support seat (115), the first screw (113) is arranged on the front side of the column frame, and the first screw support seat (114) and the second screw support seat (115) are both mounted in the column frame; The kinetic energy transmission mechanism comprises: a palletizing lifting motor (111) and a palletizing rotating motor (124); the palletizing lifting motor (111) is used to drive the first screw rod (113) to rotate around its central axis; the clamping mechanism (2) is mounted on the first screw rod (113); the clamping mechanism (2) is displaced along the first screw rod (113) by rotating the first screw rod (113); the palletizing rotating motor (124) is mounted on the rear bottom of the column frame; the output shaft of the palletizing rotating motor (124) is connected to the RV reducer assembly (302); the palletizing rotating motor (124) is used to drive the column mechanism (1) to rotate around the central axis of the output shaft of the palletizing rotating motor (124).

3. The rotary palletizing robot for an automated high-bay warehouse according to claim 2, characterized in that: The column frame comprises: a first stacking slide rail component (102), a second stacking slide rail component (103) and a first slide rail (112); the first stacking slide rail component (102) and the second stacking slide rail component (103) are arranged in parallel; the front side of the first stacking slide rail component (102) and the front side of the second stacking slide rail component (103) are both installed with the first slide rail (112); the two first slide rails (112) are both parallel to the first screw rod (113); and the clamping mechanism (2) slides along the two first slide rails (112) by rotating the first screw rod (113).

4. The rotary palletizing robot for an automated high-bay warehouse according to claim 3, characterized in that: The kinetic energy transmission mechanism further comprises: a first synchronous belt (116), a first synchronous pulley (125) and a second synchronous pulley (126); the stacking lifting motor (111) is mounted on the top of the rear side of the column frame; the first synchronous pulley (125) and the second synchronous pulley (126) are connected by transmission via the first synchronous belt (116); the second synchronous pulley (126) is mounted on the output end of the stacking lifting motor (111); and the first synchronous pulley (125) is mounted on the upper end of the first screw rod (113).

5. The rotary palletizing robot for an automated high-bay warehouse according to claim 3, characterized in that: The clamping mechanism (2) comprises: a stacking lifting screw rod seat (201), an in-and-out piece base (202), a second slider (220), a third slide rail (221), a second screw rod (222), a third slider (227), a second nut (234), a first support seat (235) and a second support seat (236); the stacking lifting screw rod seat (201) is mounted on the in-and-out piece base (202); the first support seat (235) and the second support seat (236) are respectively mounted at two ends of the in-and-out piece base (202); one end of the second screw rod (222) is rotatably connected to the first support seat (235); the other end of the second screw rod (222) is rotatably connected to the second support seat (235); and the second screw rod (222) is rotatably connected to the second support seat (236). The support seat (236) is rotatably connected, a third slide rail (221) is installed on the in-and-out piece base (202), the second slider (220) is slidably installed on the third slide rail (221), the third slider (227) is installed on the stacking lifting screw rod seat (201), the stacking lifting screw rod seat (201) is slidably connected to the first slide rail (112) through the third slider (227), the second nut (234) is installed on the in-and-out piece base (202), the second nut (234) is installed on the first screw rod (113), and by rotating the first screw rod (113), the second nut (234) drives the in-and-out piece base (202) to move along the first screw rod (113).

6. The rotary palletizing robot for an automated high-bay warehouse according to claim 5, characterized in that: The clamping mechanism (2) further comprises: a palletizing in-and-out motor seat (206), a first nut (223), a second synchronous belt (224), a motor (225), a first synchronous wheel (226) and a second synchronous wheel (233); the motor (225) is mounted on the palletizing in-and-out motor seat (206); the palletizing in-and-out motor seat (206) is mounted on the in-and-out piece base (202); one end of the second screw rod (222) is mounted with the first synchronous wheel (226); the output end of the motor (225) is mounted with the second synchronous wheel (233); the first synchronous wheel (226) and the second synchronous wheel (233) are connected by a second synchronous belt (224); one end of the second screw rod (222) is connected to the first synchronous wheel (226); and the first nut (223) is mounted on the second screw rod (222).

7. The rotary palletizing robot for an automated high-bay warehouse according to claim 6, characterized in that: The clamp mechanism (2) further comprises: a first clamp base member (203), a clamp (204), a first clamp connection member (205), a second clamp connection member (211), a second tensioning block (212), a second clamp base member (213), a second slide rail (216), a first slider (217) and an electric clamp (218), wherein the first nut (223) is installed in the first clamp base member (203), the first clamp base member (203) is installed at the bottom of the second clamp base member (213), the first clamp base member (203) is installed on the inlet and outlet member base (202), and the electric clamp (218) is installed at the bottom of the second clamp base member (218). The seat member (213) is provided with a second slide rail (216) mounted on the second clamp seat member (213). Two first sliders (217) are slidably mounted on the second slide rail (216). One first slider (217) is connected to a clamp (204) via a first clamping jaw connecting member (205). Another first slider (217) is connected to another clamp (204) via a second clamping jaw connecting member (211). The two clamps (204) are arranged opposite to each other. A second tensioning block (212) is mounted on each clamp (204). The electric clamp (218) drives the two clamps (204) to clamp the storage box (219).

8. The rotary palletizing robot for an automated high-bay warehouse according to claim 7, characterized in that: The clamping mechanism (2) further comprises: a first supporting sheet metal (207), an optical fiber amplifier supporting sheet metal (208), a cover plate (209), a second supporting sheet metal (210), a sensor bracket (214), a screw baffle (215), a second drag chain (228), an optical fiber amplifier (229), a reflective optical fiber sensor (230), a third drag chain (232), and a photoelectric switch (237); the screw baffle (215) is mounted on the inlet and outlet base (202); the screw baffle (215) is used to prevent lubricating oil from splashing; the optical fiber amplifier supporting sheet metal (208) is mounted on the electric clamping jaw (218); the optical fiber amplifier (229) is mounted on the optical fiber amplifier supporting sheet metal (2 08), a cover plate (209) is mounted on the optical fiber amplifier supporting sheet metal (208), the cover plate (209) is used to centrally fix the wiring harness, the first supporting sheet metal (207) is mounted on the inlet and outlet base (202), the second drag chain (228) and the third drag chain (232) are both mounted on the first supporting sheet metal (207), the upper part of the second drag chain (228) and the second clamp base member (213) are connected via the second supporting sheet metal (210), the sensor bracket (214) is mounted on the inlet and outlet base (202), the reflective optical fiber sensor (230) is mounted on the sensor bracket (214), and the photoelectric switch (237) is mounted on the second clamp base member (213).

9. The rotary palletizing robot for an automated high-bay warehouse according to claim 3, characterized in that: The column frame also includes: a stacking lifting support vertical rod (101), a connection piece (105) on the stacking machine, a drag chain frame (106), a reinforcing rib (109), a protective cover (110), a cylindrical pin (118), a pressure block (121) and a lifting eye screw (123); the stacking lifting support vertical rod (101) is installed on the inner side of the first stacking slide rail (102) and the inner side of the second stacking slide rail (103); the top of the first stacking slide rail (102) and the top of the second stacking slide rail (103) are connected to the connection piece (105) on the stacking machine; the rear side of the first stacking slide rail (102) and the rear side of the second stacking slide rail (103) are connected to the drag chain frame (106); The reinforcing ribs (109) are installed on the outer sides of the first stacking slide rail (102) and the second stacking slide rail (103); the protective cover (110) is installed on the drag chain frame (106); the bottom of the first stacking slide rail (102) and the bottom of the second stacking slide rail (103) are connected to the rotating base (3) through a plurality of cylindrical pins (118); each of the first slide rails (112) is installed on the first stacking slide rail (102) or the second stacking slide rail (103) through a plurality of pressing blocks (121); and a plurality of eye screws (123) are installed on the first stacking slide rail (102) and the second stacking slide rail (103) to facilitate the overall suspension of the column mechanism (1).

10. The rotary palletizing robot for an automated high-bay warehouse according to claim 3, characterized in that: The kinetic energy transmission mechanism further comprises: a motor seat (104), an electric control board (107), a drag chain sheet metal (108), a first drag chain (117), a first driver (119), a second driver (120) and a first tensioning block (122); the motor seat (104) is mounted on the column frame; the stacking lifting motor (111) is mounted on the motor seat (104); the electric control board (107) and the first driver (119) are both mounted on the column frame; the first driver (119) and the second driver (120) are both connected to the electric control board (107) via a line; the first The driver (119) is used to control the operation of the palletizing lifting motor (111), the drag chain sheet metal (108) and the first drag chain (117), the drag chain sheet metal (108) is installed on the outside of the first palletizing slide rail (102), the first drag chain (117) is installed on the drag chain sheet metal (108), the second driver (120) is installed on the drag chain sheet metal (108), the second driver (120) is used to control the operation of the palletizing rotating motor (124), and the first tensioning block (122) is installed on the column frame, and the first tensioning block (122) is used to maintain the tension of the first synchronous belt (116).

Images