Storage carrying robot and using method thereof

Abstract

The invention relates to a storage carrying robot and a using method thereof, and belongs to the technical field of storage equipment, the storage carrying robot comprises an AGV robot base, a goods carrying frame and a goods temporary storage frame, a bearing support is fixedly mounted on the AGV robot base, two equipment grooves are formed in the bearing support, and driving motors are fixedly mounted on the inner walls of the two equipment grooves; and a ball screw is fixedly mounted at the driving end of the driving motor. According to the storage and transfer robot, the temporary storage rack provided with the multiple layers of conveying belts and the transfer assembly are arranged, after the storage and transfer robot takes down one goods, the goods can be temporarily stored at the temporary storage rack, and the storage and transfer robot can take the goods again, so that the storage and transfer robot can take the multiple goods at a time; when goods are stored, the goods can be temporarily placed through the temporary storage rack, the carrying assembly can store the goods in a one-to-one mode, the whole goods shelf type goods storage device is of a long-strip-shaped structure, and the goods shelf type goods storage device is suitable for goods shelf type goods storage warehouses with narrow space.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing equipment, and in particular to a warehousing and handling robot and a method for using the same. Background Art

[0002] AGV handling robots are transportation tools with automatic navigation capabilities, which can autonomously complete the handling, transfer and delivery of goods without human intervention. They are usually equipped with a variety of sensors, such as laser radar, visual sensors, ultrasonic sensors, etc., to sense the surrounding environment, avoid obstacles in real time and maintain stable operation.

[0003] In the field of logistics and warehousing, AGV handling robots play a vital role. From automatic sorting, item handling to distribution, they have greatly improved the operating efficiency of warehouses. AGV handling robots can quickly and accurately take items from shelves and deliver them to the destination or conveyor belt, saving a lot of time for pickers.

[0004] When the existing storage and handling robots are performing cargo handling operations, they usually take the cargo from a high place and transport it to the destination or a conveyor belt. In actual use, it is usually necessary to pick up multiple cargoes. In order to save the reciprocating time, the handling robot can pick up and place multiple cargoes on the same storage shelf. Now a storage and handling robot and a method for using the same are proposed. A temporary storage rack and a handling component with a multi-layer conveyor belt are provided. After the storage and handling robot is about to take down a cargo, it can be temporarily stored on the temporary storage rack, and the storage and handling robot can perform cargo picking work again, so that the storage and handling robot can pick up multiple cargoes at a time. When storing cargoes, the temporary storage rack can be used to temporarily place the cargoes, and the handling component can store the cargoes one by one. The overall arrangement is a long strip structure, which is suitable for shelf-type cargo storage warehouses with narrow space. Summary of the invention

[0005] The present invention provides a storage and handling robot and a method of using the same, which solves the problems raised by the above-mentioned prior art and is suitable for shelf-type cargo storage warehouses with narrow space. Multiple goods can be taken or stored at a time, so that when multiple goods need to be taken, there is no need for multiple reciprocating movements, thereby effectively improving work efficiency.

[0006] The solution of the present invention to solve the above technical problems is as follows: a storage and handling robot and a method of using the same, comprising an AGV robot base, a cargo handling rack, and a cargo temporary storage rack, wherein the AGV robot base is fixedly installed with a load-bearing bracket, the load-bearing bracket is provided with an equipment slot, two of the equipment slots are provided, the inner walls of the two equipment slots are fixedly installed with a driving motor, the driving end of the driving motor is fixedly installed with a ball screw, the outer wall of the ball screw is threadedly connected with a screw nut, the cargo handling rack is fixedly connected with the screw nut, the cargo handling rack is fixedly installed with an equipment box, the equipment box is fixedly installed with a hydraulic cylinder, the driving end of the hydraulic cylinder is fixedly installed with an electric suction cup, the cargo handling rack is provided with a No. 1 device slot, a No. 1 conveyor is provided in the No. 1 device slot, a plurality of cargo temporary storage racks are provided, the cargo temporary storage rack is fixedly connected with the load-bearing bracket, the cargo temporary storage rack is provided with a No. 2 device slot, a No. 2 conveyor is provided in the No. 2 device slot, and the cargo handling rack is provided with a discharge port and a storage port;

[0007] The method of use includes the following steps:

[0008] S1: When it is necessary to pick up and place goods, the load-bearing bracket is moved to a position close to the goods storage position through the AGV robot base, and the drive motors on both sides are started through the same stepper according to the height of the goods. The drive motor rotates the ball screw to drive the cargo handling rack to lift and lower the load-bearing bracket through the screw nut, so that the cargo handling rack can be moved to the cargo storage height;

[0009] S2: After the cargo handling rack moves to the position corresponding to the cargo on the shelf, the hydraulic cylinder in the equipment box can be started to drive the electric suction cup to extend. The electric suction cup is started after it fits the cargo, so that the electric suction cup can absorb the cargo. The hydraulic cylinder is started to contract to drive the cargo to the top of the No. 1 conveyor in the cargo handling rack. The No. 1 conveyor and the No. 2 conveyor at the corresponding height are started simultaneously, and the cargo can be driven to be transported through the storage port to the cargo temporary storage rack for temporary storage. The cargo handling rack can adjust its position again to take the cargo again;

[0010] S3: After the cargo picking task is completed, the AGV robot base can be started to move. When it moves to the shipping position or the conveyor belt, the cargo handling rack can be adjusted to the height of the cargo temporary storage rack for storing the goods in sequence. The No. 2 conveyor can be started to transport the goods to the cargo handling rack. When the cargo handling rack moves to the bottom, the No. 1 conveyor can be started to transfer the goods from the discharge port, so that multiple goods can be taken to the shipping point or the conveyor belt at one time;

[0011] S4: When goods need to be stored on the shelves, multiple goods can still be transported one by one to the temporary storage rack for storage. The AGV robot base then transports the load-bearing bracket to the shelf. The No. 2 conveyor transports the goods from the temporary storage rack to the cargo handling rack, where the electric suction cup can be used to absorb and position the goods. The hydraulic cylinder can be started to push the goods to the shelf for storage. The goods on the multi-layer temporary storage rack can be pushed to the shelf in turn, and multiple goods can be moved to the shelf for storage at one time.

[0012] Based on the above technical solution, the present invention can also be improved as follows.

[0013] Furthermore, the cargo handling rack is provided with a material guiding slope, and the material guiding slope is evenly rotatably connected with a material guiding roller, so that the cargo can be easily put in and out of the cargo handling rack.

[0014] Furthermore, the cargo handling rack is fixedly installed with a discharge slope, so that the cargo can be easily discharged from the discharge slope.

[0015] Furthermore, the two drive motors are both brake stepper motors, and the two drive motors are connected to the same stepper controller, so that the drive motors on both sides can be started and stopped synchronously, thereby adjusting the height of the cargo handling rack.

[0016] Furthermore, the bottom end of the ball screw is rotatably connected to the inner wall of the equipment slot, so that the ball screw can stably rotate on the inner wall of the equipment slot.

[0017] Furthermore, the load-bearing bracket is provided with a strip hole corresponding to the lead screw nut, and the lead screw nut passes through the strip hole and is fixedly connected to the cargo handling rack, so that the cargo handling rack can be lifted and lowered to adjust the height in accordance with the load-bearing bracket.

[0018] Furthermore, the load-bearing support is configured as a door-type frame structure.

[0019] The beneficial effects of the present invention are as follows: the present invention provides a storage and handling robot and a method for using the same, which have the following advantages:

[0020] 1. The AGV robot base can move the load-bearing bracket close to the cargo storage position. The driving motor rotates the ball screw to drive the cargo handling rack to move to the cargo storage height. After the cargo handling rack moves to the position corresponding to the cargo on the shelf, the hydraulic cylinder in the equipment box can be started to drive the electric suction cup to extend. The electric suction cup is started after it fits the cargo, so that the electric suction cup can absorb the cargo. The hydraulic cylinder is started to shrink and the cargo can be moved to the cargo handling rack, thereby quickly realizing the storage cargo handling;

[0021] 2. Both the cargo handling rack and the cargo temporary storage rack are equipped with conveyors. The No. 1 conveyor and the No. 2 conveyor of the corresponding height are started simultaneously to drive the cargo to be transported through the storage port to the cargo temporary storage rack for temporary storage. After the cargo retrieval task is completed, the AGV robot base can be started to move. When it moves to the shipping position or the conveyor belt, the cargo handling rack can be adjusted to the height of the cargo temporary storage rack for storing the cargo in turn. The No. 2 conveyor can be started to transport the cargo to the cargo handling rack. When the cargo handling rack moves to the bottom, the No. 1 conveyor can be started to transfer the cargo from the discharge port, so that multiple goods can be taken to the shipping point or the conveyor belt at one time;

[0022] 3. Such a storage and handling robot and its use method are provided with temporary storage racks and handling components with multi-layer conveyor belts. After the storage and handling robot is about to take down a cargo, it can be temporarily stored at the temporary storage rack, and the storage and handling robot can then pick up the cargo again, so that the storage and handling robot can pick up multiple cargoes at a time. When storing cargoes, the temporary storage racks can be used to temporarily place the cargoes, and the handling components can store the cargoes one by one. The overall arrangement is a long strip structure, which is suitable for shelf-type cargo storage warehouses with narrow space.

[0023] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. The specific implementation of the present invention is given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 A schematic diagram of the structure of a storage and handling robot and a method of using the same provided by an embodiment of the present invention;

[0026] Figure 2 A front view of a storage and handling robot and a method of using the same provided by one embodiment of the present invention;

[0027] Figure 3 A schematic diagram of the structure of a storage and handling robot and a method for using the same provided by an embodiment of the present invention from a side view;

[0028] Figure 4 A side view of a storage and handling robot and a method of using the same provided by an embodiment of the present invention;

[0029] Figure 5A schematic diagram of the structure of a device slot in a storage and handling robot and a method for using the same provided by an embodiment of the present invention;

[0030] Figure 6 A schematic diagram of the structure of a cargo handling rack and a cargo temporary storage rack from a top view in a warehouse handling robot and a method for using the same provided by one embodiment of the present invention.

[0031] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0032] 1. AGV robot base; 2. Load-bearing bracket; 3. Equipment slot; 4. Driving motor; 5. Ball screw; 6. Screw nut; 7. Cargo handling rack; 8. Equipment box; 9. Hydraulic cylinder; 10. Electric suction cup; 11. Material guide slope; 12. Material guide roller; 13. No. 1 device slot; 14. No. 1 conveyor; 15. Cargo temporary storage rack; 16. No. 2 device slot; 17. No. 2 conveyor; 18. Discharge port; 19. Storage port; 20. Discharge slope; 21. Strip hole. DETAILED DESCRIPTION

[0033] The following is combined with Figure 1-6 The principles and features of the present invention are described, and the examples are only used to explain the present invention and are not used to limit the scope of the present invention. In the following paragraphs, the present invention is described in more detail by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become clearer according to the following description and claims. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to facilitate and clearly assist in explaining the purpose of the embodiments of the present invention.

[0034] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0036] like Figure 1-6As shown, the present invention provides a storage and handling robot and a method of using the same, including an AGV robot base 1, a cargo handling rack 7, and a cargo temporary storage rack 15. The AGV robot base 1 is fixedly installed with a load-bearing bracket 2, and the load-bearing bracket 2 is provided with an equipment slot 3. There are two equipment slots 3. The inner walls of the two equipment slots 3 are fixedly installed with a driving motor 4. The driving end of the driving motor 4 is fixedly installed with a ball screw 5. The outer wall of the ball screw 5 is threadedly connected with a screw nut 6. The cargo handling rack 7 is fixedly connected with the screw nut 6. The cargo handling rack 7 is fixedly installed with an equipment box 8, the equipment box 8 is fixedly installed with a hydraulic cylinder 9, the driving end of the hydraulic cylinder 9 is fixedly installed with an electric suction cup 10, the cargo handling rack 7 is provided with a No. 1 device slot 13, the No. 1 device slot 13 is provided with a No. 1 conveyor 14, a plurality of cargo temporary storage racks 15 are provided, the cargo temporary storage rack 15 is fixedly connected to the load-bearing bracket 2, the cargo temporary storage rack 15 is provided with a No. 2 device slot 16, the No. 2 device slot 16 is provided with a No. 2 conveyor 17, and the cargo handling rack 7 is provided with a discharge port 18 and a storage port 19.

[0037] Preferably, the cargo handling rack 7 is provided with a material guiding slope 11 , and the material guiding slope 11 is evenly rotatably connected with a material guiding roller 12 , so that the cargo can be easily moved in and out of the cargo handling rack 7 .

[0038] Preferably, the cargo handling rack 7 is fixedly mounted with a discharge slope 20 , so that the cargo can be easily discharged from the discharge slope 20 .

[0039] Preferably, the two drive motors 4 are both brake stepper motors, and the two drive motors 4 are connected to the same stepper controller, so that the drive motors 4 on both sides can be started and stopped synchronously, thereby adjusting the height of the cargo handling rack 7.

[0040] Preferably, the bottom end of the ball screw 5 is rotatably connected to the inner wall of the equipment slot 3 , so that the ball screw 5 can stably rotate on the inner wall of the equipment slot 3 .

[0041] Preferably, the load-bearing bracket 2 is provided with a strip hole 21 corresponding to the lead screw nut 6, and the lead screw nut 6 passes through the strip hole 21 and is fixedly connected to the cargo handling rack 7. The cargo handling rack 7 can be attached to the load-bearing bracket 2 to adjust the height by lifting.

[0042] Preferably, the load-bearing support 2 is configured as a door-type frame structure.

[0043] The specific working principle and use method of the present invention are:

[0044] S1: When it is necessary to pick up and place goods, the load-bearing bracket 2 is moved to a position close to the goods storage position through the AGV robot base 1, and the driving motors 4 on both sides are started through the same stepper according to the height of the goods. The driving motor 4 rotates the ball screw 5 to drive the cargo handling frame 7 to lift and lower the load-bearing bracket 2 through the screw nut 6, so that the cargo handling frame 7 can be moved to the cargo storage height;

[0045] S2: After the cargo handling rack 7 moves to the position corresponding to the cargo on the shelf, the hydraulic cylinder 9 in the equipment box 8 can be started to drive the electric suction cup 10 to extend. The electric suction cup 10 is started after being attached to the cargo, so that the electric suction cup 10 can absorb the cargo. The hydraulic cylinder 9 is started to contract to drive the cargo to the top of the No. 1 conveyor 14 in the cargo handling rack 7. The No. 1 conveyor 14 and the No. 2 conveyor 17 of the corresponding height are started simultaneously, and the cargo can be driven to be transported through the storage port 19 to the cargo temporary storage rack 15 for temporary storage. The cargo handling rack 7 can adjust its position again for picking up the cargo again.

[0046] S3: After the cargo picking task is completed, the AGV robot base 1 can be started to move. When it moves to the shipping position or the conveyor belt, the cargo handling rack 7 can be adjusted to the height of the cargo temporary storage rack 15 for storing the cargo in sequence. The No. 2 conveyor 17 can be started to transport the cargo to the cargo handling rack 7. When the cargo handling rack 7 moves to the bottom, the No. 1 conveyor 14 can be started to transfer the cargo from the discharge port 18, so that multiple cargoes can be taken to the shipping point or the conveyor belt at one time;

[0047] S4: When it is necessary to store goods on the shelf, multiple goods can still be transported one by one to the cargo temporary storage rack 15 for storage. The AGV robot base 1 then transports the load-bearing bracket 2 to the shelf. The No. 2 conveyor 17 transports the goods from the cargo temporary storage rack 15 to the cargo handling rack 7, where the electric suction cup 10 can be used to absorb and position the goods. The hydraulic cylinder 9 can be started to push the goods to the shelf for storage. The goods on the multi-layer cargo temporary storage rack 15 can be pushed to the shelf in turn, and multiple goods can be moved to the shelf for storage at one time.

[0048] It should be noted that, in this document, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Contents not described in detail in this specification belong to the prior art known to professionals in the field.

[0049] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A storage and handling robot, comprising an AGV robot base (1), a cargo handling rack (7), and a cargo temporary storage rack (15), characterized in that: The AGV robot base (1) is fixedly installed with a load-bearing bracket (2), the load-bearing bracket (2) is provided with an equipment slot (3), two equipment slots (3) are provided, the inner walls of the two equipment slots (3) are fixedly installed with a driving motor (4), the driving end of the driving motor (4) is fixedly installed with a ball screw (5), the outer wall of the ball screw (5) is threadedly connected with a screw nut (6), the cargo handling frame (7) is fixedly connected with the screw nut (6), the cargo handling frame (7) is fixedly installed with an equipment box (8), and the equipment box (8) is fixedly installed with a hydraulic The hydraulic cylinder (9) is provided with an electric suction cup (10) fixedly mounted on the driving end of the hydraulic cylinder (9), the cargo handling rack (7) is provided with a No. 1 device slot (13), a No. 1 conveyor (14) is arranged in the No. 1 device slot (13), a plurality of cargo temporary storage racks (15) are arranged, the cargo temporary storage rack (15) is fixedly connected to the load-bearing bracket (2), the cargo temporary storage rack (15) is provided with a No. 2 device slot (16), a No. 2 conveyor (17) is arranged in the No. 2 device slot (16), and the cargo handling rack (7) is provided with a discharge port (18) and a storage port (19); The method of use includes the following steps: S1: When it is necessary to pick up and place goods, the load-bearing bracket (2) is moved to a position close to the goods storage position through the AGV robot base (1), and the driving motors (4) on both sides are started through the same stepper according to the height of the goods. The driving motor (4) rotates the ball screw (5) and can drive the goods handling frame (7) to be close to the load-bearing bracket (2) through the screw nut (6), so that the goods handling frame (7) can be moved to the goods storage height; S2: After the cargo handling rack (7) moves to the position corresponding to the cargo on the shelf, the hydraulic cylinder (9) in the equipment box (8) can be started to drive the electric suction cup (10) to extend, and the electric suction cup (10) can be started after it fits the cargo, so that the electric suction cup (10) can absorb the cargo, and the hydraulic cylinder (9) can be started to shrink to drive the cargo to the top of the No. 1 conveyor (14) in the cargo handling rack (7), and the No. 1 conveyor (14) and the No. 2 conveyor (17) of the corresponding height can be started simultaneously, so that the cargo can be driven to be transported through the storage port (19) to the cargo temporary storage rack (15) for temporary storage, and the cargo handling rack (7) can adjust its position again for taking the cargo again; S3: After the cargo picking task is completed, the AGV robot base (1) can be started to move. When it moves to the shipping position or the conveyor belt, the cargo handling rack (7) can be adjusted to the height of the cargo temporary storage rack (15) for storing the cargo in sequence. The No. 2 conveyor (17) can be started to transport the cargo to the cargo handling rack (7). When the cargo handling rack (7) moves to the bottom, the No. 1 conveyor (14) can be started to transfer the cargo from the discharge port (18), so that multiple cargoes can be taken to the shipping point or the conveyor belt at one time; S4: When it is necessary to store goods on the shelf, the multiple goods can still be transported one by one to the goods temporary storage rack (15) for storage. The AGV robot base (1) then transports the load-bearing bracket (2) to the shelf. The second conveyor (17) transports the goods from the goods temporary storage rack (15) to the goods handling rack (7). The electric suction cup (10) can be used to absorb and position the goods. The hydraulic cylinder (9) can be started to push the goods to the shelf for storage. The goods on the multi-layer goods temporary storage rack (15) are pushed to the shelf in turn, and multiple goods can be moved to the shelf at one time for storage.

2. A storage and handling robot according to claim 1, characterized in that: The cargo handling rack (7) is provided with a material guiding slope (11), and the material guiding slope (11) is evenly rotatably connected to a material guiding roller (12).

3. A storage and handling robot according to claim 1, characterized in that: The cargo handling frame (7) is fixedly mounted with a discharge slope (20).

4. A storage and handling robot according to claim 1, characterized in that: The two drive motors (4) are both brake stepping motors, and the two drive motors (4) are both connected to the same stepping controller.

5. A storage and handling robot according to claim 1, characterized in that: The bottom end of the ball screw (5) is rotatably connected to the inner wall of the equipment slot (3).

6. A storage and handling robot according to claim 1, characterized in that: The load-bearing bracket (2) is provided with a strip-shaped hole (21) corresponding to the lead screw nut (6), and the lead screw nut (6) passes through the strip-shaped hole (21) and is fixedly connected to the cargo handling rack (7).

7. A storage and handling robot according to claim 1, characterized in that: The load-bearing support (2) is configured as a door-type frame structure.

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