A storage robot for intelligent warehousing

Abstract

The present invention discloses a storage robot for intelligent warehousing, and the present invention relates to the field of robot technology. The storage robot for intelligent warehousing includes a robot base plate, a mechanical arm device, a clamping device and a moving device. The robot base plate serves as the basic part of the entire robot and provides stable support for other components. The mechanical arm device is like the arm of the robot, which can flexibly stretch and bend to reach different positions in the storage environment to perform various operation tasks. The clamping device is at the end of the mechanical arm, like a pair of dexterous hands, which can steadily grasp and carry goods, and can effectively handle both regular and irregular shaped goods. The moving device gives the robot the ability to move freely in the storage space, allowing it to quickly and accurately shuttle between the shelves, greatly improving the efficiency and intelligence of warehouse management.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a storage robot for intelligent warehousing. Background Art

[0002] Warehousing is an important link in the circulation of goods and an important pillar of logistics activities. It was born with the storage of materials and developed with the development of productivity. At present, with the rapid development of the logistics industry, the application of robotics technology has become one of the key factors for corporate competition and future development. Intelligent warehousing technology is an important part of modern logistics and supply chain management. It aims to improve the operational efficiency of warehouses, reduce costs and improve the accuracy of items through automation and robotics. With the development of modern science and technology and the progress of the intelligent era, intelligent warehousing robots have emerged. It can replace manual labor to complete the handling, storage, sorting and other tasks of goods, improve the efficiency and accuracy of warehousing operations, and reduce labor costs and labor intensity. At present, intelligent warehousing robots have been widely used in logistics, e-commerce, manufacturing and other industries.

[0003] Currently, robots have poor flexibility and are usually moved on tracks, which reduces their versatility. At the same time, there is a lack of corresponding cleaning devices during clamping, which may cause slippage during clamping. Summary of the invention

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: a storage robot for intelligent warehousing, comprising a robot base plate, a mechanical arm device is fixedly connected to the top of the robot base plate, a clamping device is fixedly connected to the movable end of the mechanical arm device, and a moving device is fixedly connected to the bottom of the robot base plate; Preferably, the robotic arm device includes a robotic arm bracket, the top of the robotic arm bracket is fixedly connected to the first rotating device, the driving end of the first rotating device is fixedly connected to the fixed end of the first telescopic rod, the movable end of the first telescopic rod is fixedly connected to the fixed end of the second rotating device, the driving end of the second rotating device is fixedly connected to the fixed end of the second telescopic rod, the movable end of the second telescopic rod is fixedly connected to the third rotating device, the side of the third rotating device is fixedly connected to the side of the clamping device, the bottom of the robotic arm bracket is fixedly connected to the top of the robot base plate, and the arrangement of the first telescopic rod and the second telescopic rod reduces the occupied space compared to the traditional fixed robotic arm, thereby improving the ease of use of the equipment and the flexibility of the equipment. The traditional robotic arm picks up deep objects by rotation, and the use of telescopic rods increases the depth of picking up, thereby improving the versatility of the equipment.

[0005] Preferably, the clamping device includes a first clamping base plate, a first bracket is fixedly connected to the side surface of the first clamping base plate, the top of the first bracket passes through and is rotatably connected to the input end of the worm, the first clamping base plate is fixedly connected to the side away from the first bracket with a first motor, a gear transmission mechanism is sleeved on and fixedly connected to the driving shaft of the first motor, the output end of the gear transmission mechanism is fixedly connected to the input end of the worm, the side center position of the fourth telescopic rod is rotatably connected to a worm wheel, the side surface of the worm gear is meshed with the side surface of the worm wheel, the output end of the worm wheel is fixedly connected to a rotating chassis, the side surface of the rotating chassis is fixedly connected to an adjusting device, and the side of the first clamping base plate away from the first bracket is fixedly connected to the side surface of the third rotating device Then, a rotating chassis is provided to rotate and drive the adjusting device to rotate, thereby realizing support for the adjusting device at different angles, thereby realizing support for taking objects at different angles, thereby improving the usability and versatility of the equipment, and at the same time, the setting of the worm gear mechanism makes the adjusting device enter a self-locking state after rotating to a specified angle, so as to perform stable clamping and taking, and the clamping mechanism slides on the side of the adjustment base plate so that the clamping mechanism can perform clamping operations in a relatively narrow place, and the third telescopic rod drives the clamping mechanism to move so that objects at different positions can be clamped, such as objects that are not easy to enter and take in normal states such as the top or bottom, thereby improving the versatility of warehouse storage and effectively taking objects such as the top.

[0006] The adjusting device comprises an adjusting base plate, a second bracket is fixedly connected to the top of the adjusting base plate, an air supply mechanism is fixedly connected to one side of the top of the second bracket, a fixed end of a third telescopic rod is penetrated and fixedly connected to the top of the second bracket at one side of the air supply mechanism, a clamping mechanism is fixedly connected to the movable end of the third telescopic rod, a first sliding bar is fixedly connected to the side of the adjusting base plate, a sliding groove matched with the first sliding bar is provided on the side of the clamping mechanism, the clamping mechanism is slidably connected to the adjusting base plate through the first sliding bar, and a side of the adjusting base plate away from the clamping mechanism is fixedly connected to the side of the rotating chassis.

[0007] The cam is provided with a second sliding groove, and the inner wall side of the second clamping base is provided with a second sliding groove, and the side surface of the sliding plate is fixedly connected with a sliding strip adapted for the second sliding groove, and the sliding plate is slidably connected to the second clamping base plate through the second sliding groove.

[0008] Preferably, the side of the adjustment base plate is fixedly connected with a sliding bar adapted to the first sliding groove, and the second clamping base plate is slidably connected to the side of the adjustment base plate through the first sliding groove, and an air supply mechanism is provided. The airflow provided by the air supply pipe enters the inside of the clamping plate along the air supply pipe and is sprayed along the air outlet, thereby realizing dust cleaning on the surface of the object to be picked up, thereby cleaning the surface of the object, thereby increasing the friction when picking up the object, making the picking up more stable. In the process of entering the zone, the bending design of the clamping plate enables the rubber block to effectively stick to the surface of the object, thereby achieving the clamping of the object in place, thereby achieving a more stable process of clamping, and is conducive to the pressure provided by the fourth telescopic rod acting on the surface of the clamped object. At the same time, the air supply pipe is fixed to the surface of the clamping plate through the groove provided in the clamping plate, thereby changing the shape of the clamping plate, so that the side of the clamping plate away from the clamping object forms a structure similar to a reinforcing rib, thereby enhancing the strength of the clamping plate and increasing the bearing capacity of the clamping plate.

[0009] Preferably, the moving device includes a fourth telescopic rod, a movable end of the fourth telescopic rod is fixedly connected to a moving bracket, an inner wall of the moving bracket is rotatably connected to a moving roller via a rotating shaft, a side of the moving bracket is fixedly connected to a second motor, a top portion of the moving bracket located on the side of the movable end of the fourth telescopic rod is fixedly connected to a brake assembly, a driving shaft of the second motor passes through the side of the moving bracket and is rotatably connected to the moving bracket, and the driving shaft of the second motor is fixedly connected to the rotating shaft of the moving roller.

[0010] Preferably, the brake assembly comprises a brake slider, a brake strip is fixedly connected to the bottom of the brake slider, a spring rod penetrates and is slidably connected to the side of the brake slider, and a magnetic seat is fixedly connected to the top of the brake slider.

[0011] Preferably, a sliding hole compatible with the magnetic suction seat is opened on the top of the mobile bracket, a sliding groove compatible with the brake slider is opened on the inner wall of the mobile bracket, the brake slider is slidably connected to the sliding groove opened on the inner wall of the mobile bracket, and the top of the spring rod is fixedly connected to the top of the inner wall of the mobile bracket.

[0012] Preferably, the brake assembly also includes a fixed bracket, the top of the fixed bracket is penetrated by and fixedly connected to an electromagnet, the bottom of the electromagnet is fixedly connected to an electromagnet suction cup, the electromagnet suction cup is arranged above the magnetic suction seat, the bottom of the fixed bracket is fixedly connected to the top of the movable bracket, and the input end is connected to the input end of the second motor through a wire.

[0013] The present invention provides a storage robot for intelligent storage, which has the following beneficial effects: 1. This intelligent warehousing storage robot is provided with a first telescopic rod and a second telescopic rod. Compared with a traditional fixed robotic arm, the arrangement reduces the occupied space, thereby improving the usability of the equipment and the flexibility of the equipment. The traditional robotic arm picks up deep objects by rotation, and the application of the telescopic rod increases the depth of picking up, thereby improving the versatility of the equipment.

[0014] 2. This intelligent warehousing storage robot is provided with an air supply mechanism for providing air flow output, and a clamping mechanism for clamping objects. The setting of the first slide bar enables the clamping mechanism to slide more smoothly on the side of the adjustment base plate. The clamping mechanism slides on the side of the adjustment base plate so that the clamping mechanism can perform clamping operations in a relatively narrow place, and the third telescopic rod drives the clamping mechanism to move so that objects in different positions can be clamped, such as objects that are not easy to enter and take in a normal state such as at the top or bottom, thereby improving the versatility of warehouse storage and effectively taking objects such as those at the top.

[0015] 3. This intelligent warehousing storage robot is provided with a bending design of the clamping plate so that the rubber block can be effectively attached to the surface of the object, thereby clamping the object in place, making the clamping process more stable, and facilitating the pressure provided by the fourth telescopic rod to act on the surface of the clamped object. At the same time, the air supply duct is fixed to the surface of the clamping plate through the groove opened on the clamping plate, thereby changing the shape of the clamping plate, so that the side of the clamping plate away from the clamped object forms a structure similar to a reinforcing rib, thereby enhancing the strength of the clamping plate and increasing the carrying capacity of the clamping plate.

[0016] 4. This intelligent warehousing storage robot is provided with an electromagnet suction cup to generate magnetism to attract the spring rod. The magnetic seat receives the upward attraction of the electromagnet suction cup and drives the brake slider to move upward. The brake slider moves upward and drives the brake strip to move upward. The brake strip moves upward from the position originally inserted on the side of the moving roller, thereby releasing the moving roller and rotating the moving roller. In the process of the brake slider moving upward, the brake slider moves upward and drives the spring rod to be compressed, so that pressure is generated inside the spring rod. When the second motor stops driving, the circuit is disconnected, the electromagnet loses the magnetic attraction to the magnetic seat, and the pressure inside the spring rod pushes the brake slider downward, thereby driving the brake slider to move downward, and the brake slider moves downward and drives the brake strip to move downward. The brake strip moves downward and is inserted into the groove opened on the side of the moving roller, thereby completing the braking of the moving roller. The brake is automatically released during transportation and the roller is automatically braked when it stops, thereby ensuring that the robot remains stable during transportation and preventing accidental sliding. The braking effect does not require external force intervention, and the material is used for braking, which improves reliability compared to the transmission mobile device using motor braking. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the front structure of the intelligent warehousing storage robot of the present invention; Figure 2 It is a schematic diagram of the structure of the mechanical arm device of the present invention; Figure 3 It is a schematic diagram of the structure of the clamping device of the present invention; Figure 4 This is a schematic diagram of the structure of the adjustment device of the present invention; Figure 5 It is a schematic diagram of the structure of the clamping mechanism of the present invention; Figure 6 This is a schematic diagram of the front structure of the clamping plate of the present invention; Figure 7 It is a schematic diagram of the local structure of the clamping plate of the present invention; Figure 8 It is a schematic diagram of the structure of the mobile device of the present invention; Fig. 9 It is a schematic diagram of the structure of the brake assembly of the present invention.

[0018] In the figure: 1, mechanical arm device; 2, clamping device; 3, moving device; 4, robot base plate; 101, mechanical arm bracket; 102, first rotating device; 103, first telescopic rod; 104, second rotating device; 105, second telescopic rod; 106, third rotating device; 201, clamping base plate; 202, first bracket; 203, worm; 204, first motor; 205, gear transmission mechanism; 206, rotating chassis; 207, adjustment device; 208, worm gear; 2071, adjustment base plate; 2072, second bracket; 2073, air supply mechanism; 2074, third telescopic rod; 2075, first slide bar; 2 076, clamping mechanism; 20761, second clamping base plate; 20762, fourth telescopic rod; 20763, sliding plate; 20764, clamping plate; 20765, rubber block; 20766, air outlet; 20767, air supply pipe; 20768, first slide groove; 20769, second slide groove; 301, fifth telescopic rod; 303, moving bracket; 304, moving roller; 305, second motor; 306, brake assembly; 3061, brake slider; 3062, brake strip; 3063, spring rod; 3064, fixed bracket; 3065, electromagnet; 3066, electromagnet suction cup; 3067, magnetic suction seat. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Embodiment 1: See also Figure 1-Figure 2 The present invention provides a technical solution: a storage robot for intelligent storage. It includes a robot base plate 4, a mechanical arm device 1 is fixedly connected to the top of the robot base plate 4, a clamping device 2 is fixedly connected to the movable end of the mechanical arm device 1, and a moving device 3 is fixedly connected to the bottom of the robot base plate 4; The robotic arm device 1 includes a robotic arm support 101, the top of the robotic arm support 101 is fixedly connected to a first rotating device 102, the driving end of the first rotating device 102 is fixedly connected to a fixed end of a first telescopic rod 103, the movable end of the first telescopic rod 103 is fixedly connected to a fixed end of a second rotating device 104, the driving end of the second rotating device 104 is fixedly connected to a fixed end of a second telescopic rod 105, the movable end of the second telescopic rod 105 is fixedly connected to a third rotating device 106, the side of the third rotating device 106 is fixedly connected to the side of the clamping device 2, and the bottom of the robotic arm support 101 is fixedly connected to the top of the robot base plate 4.

[0021] Working principle: the first rotating device 102 drives the first telescopic rod 103 to rotate, the movable end of the first telescopic rod 103 performs reciprocating motion to drive the second rotating device 104 to perform reciprocating motion, the second rotating device 104 rotates to drive the second telescopic rod 105 to rotate, the movable end of the second telescopic rod 105 drives the third rotating device 106 to move, the rotation of the third rotating device 106 drives the clamping device 2 to rotate, thereby achieving clamping of objects at different angles. The setting of the first telescopic rod 103 and the second telescopic rod 105 reduces the occupied space compared to the traditional fixed robotic arm, thereby improving the usability of the equipment and the flexibility of the equipment. The traditional robotic arm picks up deep objects by rotation, and the application of telescopic rods increases the depth of picking up, thereby improving the versatility of the equipment.

[0022] Embodiment 2: See also Figure 1-Figure 7 On the basis of the first embodiment, the present invention provides a technical solution: the clamping device 2 includes a first clamping base plate 201, a first bracket 202 is fixedly connected to the side of the first clamping base plate 201, the top of the first bracket 202 penetrates and is rotatably connected to the input end of the worm 203, a first motor 204 is fixedly connected to the side of the first clamping base plate 201 away from the first bracket 202, a gear transmission mechanism 205 is sleeved and fixedly connected to the driving shaft of the first motor 204, the output end of the gear transmission mechanism 205 is fixedly connected to the input end of the worm 203, a worm wheel 208 is rotatably connected to the center position of the side of the first clamping base plate 201, the side of the worm 203 is meshed with the side of the worm wheel 208, the output end of the worm wheel 208 is fixedly connected to a rotating chassis 206, the side of the rotating chassis 206 is fixedly connected to an adjusting device 207, and the side of the first clamping base plate 201 away from the first bracket 202 is fixedly connected to the side of the third rotating device 106.

[0023] Working principle: The driving shaft of the first motor 204 rotates to drive the worm 203, the gear transmission mechanism 205 rotates to drive the worm 203 to rotate, the worm 203 rotates to drive the worm wheel 208 to rotate, the worm wheel 208 rotates to drive the rotating chassis 206 to rotate, the rotating chassis 206 rotates to drive the adjusting device 207 to rotate, thereby achieving support for the adjusting device 207 at different angles, thereby achieving support for object picking at different angles, thereby improving the usability and versatility of the equipment, and at the same time, the meshing setting between the worm 203 and the worm wheel 208 enables the adjusting device 207 to enter a self-locking state after rotating to a specified angle, thereby achieving stable clamping and picking.

[0024] The adjusting device 207 includes an adjusting base plate 2071, the top of the adjusting base plate 2071 is fixedly connected to a second bracket 2072, a top side of the second bracket 2072 is fixedly connected to an air supply mechanism 2073, the top of the second bracket 2072 is located on one side of the air supply mechanism 2073 and is penetrated and fixedly connected to a fixed end of a third telescopic rod 2074, the movable end of the third telescopic rod 2074 is fixedly connected to a clamping mechanism 2076, the side of the adjusting base plate 2071 is fixedly connected to a first slide bar 2075, the side of the clamping mechanism 2076 is provided with a slide groove matched with the first slide bar 2075, the clamping mechanism 2076 is slidably connected to the adjusting base plate 2071 through the first slide bar 2075, and the side of the adjusting base plate 2071 away from the clamping mechanism 2076 is fixedly connected to the side of the rotating chassis 206.

[0025] Working principle: The reciprocating motion of the movable end of the third telescopic rod 2074 drives the clamping mechanism 2076 to move back and forth, the air supply mechanism 2073 is used to provide airflow output, and the clamping mechanism 2076 is used to clamp objects. The setting of the first slide bar 2075 makes the clamping mechanism 2076 slide more smoothly on the side of the adjustment base plate 2071, and the clamping mechanism 2076 slides on the side of the adjustment base plate 2071 so that the clamping mechanism 2076 can perform clamping operations in a relatively narrow place, and the third telescopic rod 2074 drives the clamping mechanism 2076 to move so that objects in different positions can be clamped, such as objects that are not easy to enter and take in normal states such as the top or bottom, thereby improving the versatility of warehouse storage and effectively taking objects at the top.

[0026] The clamping mechanism 2076 includes a second clamping base plate 20761, the top of the second clamping base plate 20761 penetrates and is fixedly connected to the fixed end of the fourth telescopic rod 20762, the movable end of the fourth telescopic rod 20762 is fixedly connected to the sliding plate 20763, the sides of the second clamping base plate 20761 and the sliding plate 20763 are both fixedly connected to the clamping plates 20764, the sides of the clamping plates 20764 are fixedly connected to the rubber blocks 20765, the rubber blocks 20765 are provided with air outlet holes 20766, the side of the clamping plates 20764 away from the rubber blocks 20765 penetrates and is fixedly connected to the air supply pipe 20767, and the clamping plates 20764 are fixedly connected to the rubber blocks 20765. A groove matched with the air supply pipe 20767 is provided on the side of 0764 away from the rubber block 20765, and the air supply pipe 20767 is connected with the air outlet 20766. One end of the air supply pipe 20767 away from the air outlet 20766 is connected with the output end of the air supply mechanism 2073, a first slide groove 20768 is provided on the side of the second clamping base plate 20761, a second slide groove 20769 is provided on the inner wall side of the second clamping base plate 20761, a sliding bar matched with the second slide groove 20769 is fixedly connected to the side of the sliding plate 20763, and the sliding plate 20763 is slidably connected to the second clamping base plate 20761 through the second slide groove 20769.

[0027] A slide bar matched with the first slide groove 20768 is fixedly connected to the side of the adjustment base plate 2071 , and the second clamping base plate 20761 is slidably connected to the side of the adjustment base plate 2071 through the first slide groove 20768 .

[0028] Working principle: The reciprocating motion of the movable end of the fourth telescopic rod 20762 drives the sliding plate 20763 to move, and the movement of the sliding plate 20763 drives the clamping plate 20764 to move, and the movement of the clamping plate 20764 increases or decreases the distance between the clamping plates 20764, thereby realizing the picking up and putting down of objects. The setting of the rubber block 20765 increases the friction between the clamping plate 20764 and the object, thereby enhancing the picking up ability of the clamping plate 20764. At the same time, the air flow provided by the air supply mechanism 2073 enters the interior of the clamping plate 20764 along the air supply pipe 20767 and is sprayed along the air outlet 20766, thereby realizing the dust cleaning treatment on the surface of the picked up object, thereby cleaning the surface of the object. The lifting increases the friction when picking up objects, making the picking up more stable. During the picking up process, the bending design of the clamping plate 20764 allows the rubber block 20765 to effectively stick to the surface of the object, so that the object is clamped in place, thereby achieving a more stable clamping process, and is beneficial for the pressure provided by the fourth telescopic rod 20762 to act on the surface of the clamped object. At the same time, the air supply pipe 20767 is fixed to the surface of the clamping plate 20764 through the groove opened on the clamping plate 20764, thereby changing the shape of the clamping plate 20764, and forming a structure similar to a reinforcing rib on the side of the clamping plate 20764 away from the clamped object, thereby enhancing the strength of the clamping plate 20764 and increasing the carrying capacity of the clamping plate 20764.

[0029] Embodiment three: See also Figure 1-Figure 9 On the basis of Embodiment 1 and Embodiment 2, the present invention provides a technical solution: the mobile device 3 includes a fifth telescopic rod 301, the movable end of the fifth telescopic rod 301 is fixedly connected to a mobile bracket 303, the inner wall of the mobile bracket 303 is rotatably connected to a mobile roller 304 via a rotating shaft, the side of the mobile bracket 303 is fixedly connected to a second motor 305, the top of the mobile bracket 303 located on the side of the movable end of the fifth telescopic rod 301 is fixedly connected to a brake assembly 306, the driving shaft of the second motor 305 passes through the side of the mobile bracket 303 and is rotatably connected to the mobile bracket 303, and the driving shaft of the second motor 305 is fixedly connected to the rotating shaft of the mobile roller 304.

[0030] Working principle: The operator starts the second motor 305, the driving shaft of the second motor 305 rotates to drive the moving roller 304 to rotate, the moving roller 304 rotates to drive the moving bracket 303 to move, the moving bracket 303 moves to drive the fifth telescopic rod 301 to move, the fifth telescopic rod 301 moves to drive the robot base plate 4 to move, the setting of the fifth telescopic rod 301 can automatically adjust the height according to the shape of the ground, so that multiple groups of moving rollers 304 can contact the ground when they contact the ground to avoid a wheel slipping on the uneven ground. Automatic adjustment of the height of uneven roads is achieved, the passability of the equipment is enhanced, and it is conducive to the movement of the equipment.

[0031] Embodiment 4: See also Figure 1-Figure 9 On the basis of Embodiment 1 and Embodiment 2, the present invention provides a technical solution: the brake assembly 306 includes a brake slider 3061, the bottom of the brake slider 3061 is fixedly connected to a brake strip 3062, the side of the brake slider 3061 is penetrated and slidably connected to a spring rod 3063, and the top of the brake slider 3061 is fixedly connected to a magnetic seat 3067.

[0032] The top of the mobile bracket 303 is provided with a sliding hole compatible with the magnetic seat 3067, the inner wall of the mobile bracket 303 is provided with a sliding groove compatible with the brake slider 3061, the brake slider 3061 is slidably connected to the sliding groove opened on the inner wall of the mobile bracket 303, and the top of the spring rod 3063 is fixedly connected to the top of the inner wall of the mobile bracket 303.

[0033] The brake assembly 306 also includes a fixed bracket 3064, the top of the fixed bracket 3064 is penetrated by and fixedly connected with an electromagnet 3065, the bottom of the electromagnet 3065 is fixedly connected with an electromagnet suction cup 3066, and the electromagnet suction cup 3066 is arranged above the magnetic suction seat 3067. The bottom of the fixed bracket 3064 is fixedly connected to the top of the movable bracket 303, and the input end of the electromagnet 3065 is connected to the input end of the second motor 305 through a wire.

[0034] Working principle: When the second motor 305 is connected to the circuit, the second motor 305 drives the moving roller 304 to rotate, thereby driving the robot base plate 4 to move. When the second motor 305 is connected to the circuit, the electromagnet 3065 is connected to the circuit at the same time to generate a magnetic field to generate magnetism to the electromagnet suction cup 3066. The electromagnet suction cup 3066 generates magnetism to generate attraction to the spring rod 3063. The magnetic seat 3067 receives the upward attraction of the electromagnet suction cup 3066 and drives the brake slider 3061 to move upward. The brake slider 3061 moves upward and drives the brake bar 3062 to move upward. The brake bar 3062 moves upward from the position originally inserted on the side of the moving roller 304, thereby moving the moving roller 304. After the release is completed, the moving roller 304 rotates. During the upward movement of the brake slider 3061, the brake slider 3061 moves upward, driving the spring rod 3063 to be compressed, generating pressure inside the spring rod 3063. When the second motor 305 stops driving, the circuit is disconnected, the electromagnet 3065 loses the magnetic attraction to the magnetic seat 3067, and the pressure inside the spring rod 3063 pushes the brake slider 3061 downward, thereby driving the brake slider 3061 to move downward. The brake slider 3061 moves downward, driving the brake bar 3062 to move downward, and the brake bar 3062 moves downward and inserts into the groove opened on the side of the moving roller 304, thereby completing the braking of the moving roller 304. The automatic release of the brake during transportation and the automatic braking of the roller when stopping are achieved, thereby ensuring that the robot remains stable during transportation and preventing accidental sliding. The braking effect does not require external force intervention, and the material is used for braking, which improves reliability compared to the transmission mobile device using motor braking.

[0035] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A storage robot for intelligent warehousing, characterized in that: It comprises a robot base plate (4), the top of the robot base plate (4) being fixedly connected to a robot arm device (1), the movable end of the robot arm device (1) being fixedly connected to a clamping device (2), and the bottom of the robot base plate (4) being fixedly connected to a moving device (3); The robot arm device (1) comprises a robot arm support (101), the top of the robot arm support (101) is fixedly connected to a first rotating device (102), the driving end of the first rotating device (102) is fixedly connected to a fixed end of a first telescopic rod (103), the movable end of the first telescopic rod (103) is fixedly connected to a fixed end of a second rotating device (104), the driving end of the second rotating device (104) is fixedly connected to a fixed end of a second telescopic rod (105), the movable end of the second telescopic rod (105) is fixedly connected to a third rotating device (106), the side of the third rotating device (106) is fixedly connected to the side of a clamping device (2), and the bottom of the robot arm support (101) is fixedly connected to the top of a robot base plate (4).

2. The intelligent warehousing storage robot according to claim 1, characterized in that: The clamping device (2) comprises a first clamping base plate (201), a first bracket (202) being fixedly connected to a side surface of the first clamping base plate (201), an input end of a worm (203) penetrating through and rotatably connected to the top of the first bracket (202), a first motor (204) being fixedly connected to a side of the first clamping base plate (201) away from the first bracket (202), a gear transmission mechanism (205) being sleeved on and fixedly connected to a drive shaft of the first motor (204), and an output end of the gear transmission mechanism (205) being connected to a drive shaft of the first motor (204). The output end is fixedly connected to the input end of the worm (203); a worm wheel (208) is rotatably connected to the center position of the side of the first clamping base plate (201); the side of the worm (203) is meshed with the side of the worm wheel (208); the output end of the worm wheel (208) is fixedly connected to a rotating chassis (206); the side of the rotating chassis (206) is fixedly connected to an adjustment device (207); and a side of the first clamping base plate (201) away from the first bracket (202) is fixedly connected to the side of the third rotating device (106).

3. The intelligent warehousing robot according to claim 2, characterized in that: The adjustment device (207) comprises an adjustment base plate (2071), the top of the adjustment base plate (2071) is fixedly connected to a second bracket (2072), one side of the top of the second bracket (2072) is fixedly connected to an air supply mechanism (2073), the top of the second bracket (2072) is located on one side of the air supply mechanism (2073) and is penetrated and fixedly connected to a fixed end of a third telescopic rod (2074), and the movable end of the third telescopic rod (2074) is fixedly connected to A clamping mechanism (2076) is connected, a first slide bar (2075) is fixedly connected to the side of the adjustment base plate (2071), a slide groove matching the first slide bar (2075) is opened on the side of the clamping mechanism (2076), the clamping mechanism (2076) is slidably connected to the adjustment base plate (2071) via the first slide bar (2075), and a side of the adjustment base plate (2071) away from the clamping mechanism (2076) is fixedly connected to the side of the rotating chassis (206).

4. The intelligent warehousing robot according to claim 3, characterized in that: The clamping mechanism (2076) comprises a second clamping base plate (20761), the top of the second clamping base plate (20761) penetrates and is fixedly connected to the fixed end of the fourth telescopic rod (20762), the movable end of the fourth telescopic rod (20762) is fixedly connected to the sliding plate (20763), the sides of the second clamping base plate (20761) and the sliding plate (20763) are both fixedly connected to the clamping plates (20764), the sides of the clamping plates (20764) are fixedly connected to the rubber blocks (20765), the rubber blocks (20765) are provided with air outlet holes (20766), the side of the clamping plates (20764) away from the rubber blocks (20765) penetrates and is fixedly connected to the air supply pipe (20767), the clamping plates (20764) 0764) is provided with a groove matched with an air supply pipe (20767) on a side away from the rubber block (20765), the air supply pipe (20767) is connected with the air outlet (20766), and one end of the air supply pipe (20767) away from the air outlet (20766) is connected with the output end of the air supply mechanism (2073), a first slide groove (20768) is provided on the side of the second clamping base plate (20761), a second slide groove (20769) is provided on the inner wall side of the second clamping base plate (20761), a slide bar matched with the second slide groove (20769) is fixedly connected to the side of the sliding plate (20763), and the sliding plate (20763) is slidably connected to the second clamping base plate (20761) through the second slide groove (20769).

5. The intelligent warehousing storage robot according to claim 4, characterized in that: A slide bar matched with the first slide groove (20768) is fixedly connected to the side surface of the adjustment base plate (2071), and the second clamping base plate (20761) is slidably connected to the side surface of the adjustment base plate (2071) via the first slide groove (20768).

6. The intelligent warehousing storage robot according to claim 1, characterized in that: The moving device (3) comprises a fifth telescopic rod (301), the movable end of the fifth telescopic rod (301) is fixedly connected to a moving bracket (303), the inner wall of the moving bracket (303) is rotatably connected to a moving roller (304) via a rotating shaft, a second motor (305) is fixedly connected to a side of the moving bracket (303), a brake assembly (306) is fixedly connected to a top portion of the moving bracket (303) located on a side of the movable end of the fifth telescopic rod (301), a driving shaft of the second motor (305) passes through a side of the moving bracket (303) and is rotatably connected to the moving bracket (303), and the driving shaft of the second motor (305) is fixedly connected to a rotating shaft of the moving roller (304).

7. The intelligent warehousing storage robot according to claim 6, characterized in that: The brake assembly (306) comprises a brake slider (3061), the bottom of the brake slider (3061) is fixedly connected to a brake strip (3062), the side of the brake slider (3061) is penetrated by and slidably connected to a spring rod (3063), and the top of the brake slider (3061) is fixedly connected to a magnetic seat (3067).

8. The intelligent warehousing storage robot according to claim 7, characterized in that: The top of the movable bracket (303) is provided with a sliding hole adapted to the magnetic seat (3067); the inner wall of the movable bracket (303) is provided with a sliding groove adapted to the braking slider (3061); the braking slider (3061) is slidably connected to the sliding groove provided on the inner wall of the movable bracket (303); and the top of the spring rod (3063) is fixedly connected to the top of the inner wall of the movable bracket (303).

9. The intelligent warehousing storage robot according to claim 8, characterized in that: The brake assembly (306) further comprises a fixed bracket (3064), the top of the fixed bracket (3064) being penetrated by and fixedly connected to an electromagnet (3065), the bottom of the electromagnet (3065) being fixedly connected to an electromagnet suction cup (3066), the electromagnet suction cup (3066) being arranged above a magnetic suction seat (3067), the bottom of the fixed bracket (3064) being fixedly connected to the top of the movable bracket (303), and the input end of the electromagnet (3065) being connected to the input end of the second motor (305) via a wire.

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