A multi-load material box storage robot

Abstract

The present invention relates to the field of logistics warehousing technology, and discloses a multi-load material box storage robot, comprising a column, a loading platform, and a walking drive module. The loading platform for transporting goods is slidably assembled on the column, and the walking drive module is fixedly installed on the bottom of the column. Two or more groups of columns are arranged, and the loading platform is arranged between the two groups of columns. The tops of the two or more groups of columns are provided with upper beams, and an anti-sway device is fixedly installed on the upper beam. Two or more storage platforms for storing goods are also installed on one side of the column, and supporting columns are provided between the two or more storage platforms. The loading platform stores the stored and retrieved goods on the storage platform when working. In the task of continuous picking up, the storage robot can directly store the goods on the storage platform after picking up the goods, and the column does not need to move back and forth, which not only saves the robot's walking time, but also improves the efficiency of the entire storage and retrieval process, and optimizes the storage and outbound flow of goods.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics warehousing, and in particular to a multi-load box warehousing robot. Background Art

[0002] As the core equipment in the automated logistics system, the warehouse robot integrates advanced navigation technology, precision sensors and flexible robotic arms. It can autonomously perform a series of tasks including cargo handling, precise storage, efficient sorting and intelligent inventory in complex warehouse environments, significantly improving operational efficiency and greatly reducing labor costs, while ensuring the accuracy and safety of operations. Among them, the stacker is an important module of the warehouse robot. The stacker has the ability to operate accurately on the shelf tracks of the stereoscopic warehouse, automatically complete the storage and retrieval of goods, and accurately stack the goods in the designated location or take them out. With its high-speed operation, high-precision positioning and large load-bearing characteristics, it greatly enhances the storage density of the warehouse and accelerates the warehousing and warehousing process. It is an indispensable key technical equipment for achieving high-density storage and rapid logistics response in modern automated warehousing systems.

[0003] A stacker with built-in storage position is a new type of equipment in automated warehouses. It integrates storage and handling functions into one, significantly improving the efficiency and accuracy of warehouse management. For example, Chinese patent CN202110109387.4 proposes a stacker with built-in storage position, which includes a stacker seat, a stacker frame is provided on the stacker seat, a cargo platform is slidably connected to the stacker frame, and a cache area is provided on the stacker seat. The cache area includes multiple layers of independently bidirectionally driven cache conveyor belts, and the cache area is open at both ends of the cache conveyor belt in the conveying direction. However, after storing a large amount of goods, this type of stacker with its own storage position still needs a loading platform to move the goods to the assembly line layer by layer when unloading. At the same time, the loading platform also needs to place the goods on the storage position layer by layer during the picking process. Although this new type of stacker can improve its work efficiency, the use of this storage position cannot improve its work efficiency to the maximum extent. The loading platform still needs to transport the goods one by one when the stacker ships and stocks, and when the stacker moves at high speed, the goods placed on the storage position are prone to shaking, which can easily cause danger. Summary of the invention

[0004] (I) Technical problems to be solved: In view of the deficiencies in the prior art, the present invention provides a multi-load material box storage robot, which has the advantages of efficient storage, rapid delivery and high stability. It solves the problems of low delivery efficiency and unstable goods in the existing stacker with built-in storage positions.

[0005] (ii) Technical solution: In order to achieve the above-mentioned efficient storage, fast shipment and high stability, the present invention provides the following technical solution: a multi-load box storage robot, comprising a column, a loading platform and a walking drive module, the loading platform for transporting goods is slidably assembled on the column, the walking drive module is fixedly installed on the bottom of the column, the columns are arranged in two or more groups, the loading platform is arranged between the two groups of the columns, and the tops of the two or more groups of the columns are provided with upper beams, and an anti-sway device is fixedly installed on the upper beams, and two or more storage platforms for storing goods are also installed on one side of the column, and support columns are provided between the two or more storage platforms; when the loading platform is working, the stored and retrieved goods are stored on the storage platform.

[0006] Preferably, the loading platform includes a lifting mechanism, a sliding frame, and a clamping fork, the lifting mechanism is fixedly mounted on the column, one end of the sliding frame is slidably connected to the column, the other end of the sliding frame is rotatably mounted with the clamping fork, a rotary driving structure for driving the clamping fork to rotate is provided between the clamping fork and the sliding frame, a wire rope is provided between the lifting mechanism and the sliding frame, a drum is fixedly provided on the upper beam, and the wire rope is rotatably connected to the drum.

[0007] Preferably, four or more groups of columns are provided, and the storage platform includes a transmission frame and a transmission roller, and two groups of transmission frames are provided in parallel, and the length of the transmission frame of each layer from top to bottom gradually increases, and the difference in length between the transmission frames of the lower layer and the upper layer is greater than the length of the goods, the two groups of transmission frames are slidably connected to the columns, the transmission rollers are arranged between the two groups of transmission frames, the transmission frame is provided with a slide groove, and a transmission rack is slidably arranged in the slide groove, the top of the support column is hinged to the transmission frame of the storage platform of the upper layer, and the bottom of the support column is inserted into the slide groove on the transmission frame of the storage platform of the lower layer and is hinged to the transmission rack. When the transmission rack moves, the support column is driven to move obliquely and the distance between the upper and lower layers of adjacent storage platforms is reduced. At the same time, the support column rotates relative to the upper and lower transmission frames and is embedded in the slide groove; the support column is a retractable piston structure.

[0008] Preferably, a conveyor belt is laid on the transmission roller, and a magnetic strip is embedded in the conveyor belt. The magnetic strips arranged in the conveyor belt of each layer of the storage table have the same magnetic poles, and a unloading plate which is initially tilted upward is rotatably installed at the rightmost end of the transmission frame, and a reset shaft is arranged between the unloading plate and the transmission frame, the unloading plate is an inclined surface, and a rotating magnet is arranged on the rear side of the unloading plate, the unloading plate is made of magnetic material and its magnetic poles are different from those of the magnetic strips, and the rotating magnet has the same magnetic poles as those of the magnetic strips, and when the upper conveyor belt approaches the lower conveyor belt, the rotating magnet is subjected to the upward repulsive force of the lower conveyor belt, and the unloading plate is subjected to the downward attractive force of the lower conveyor belt, thereby causing the unloading plate to rotate clockwise and attach its lower surface to the conveyor belt of the lower layer.

[0009] Preferably, two or more groups of adsorption magnetic blocks are arranged at the bottom of the cargo, the spacing size of the magnetic strips is equal to the spacing size of the adsorption magnetic blocks, and the magnetic poles of the adsorption magnetic blocks are different from the magnetic poles of the magnetic strips; the transmission roller is connected to a driving motor that drives it to rotate and drives the conveyor belt to move, and the driving motor is mounted on the transmission frame.

[0010] Preferably, a ground rail is slidably installed at the bottom of the walking drive module, and the walking drive module includes a walking frame and a driving wheel group, the walking frame is fixedly connected to the bottom of the column, the driving wheel group is fixedly installed at both ends of the walking frame, and a servo motor is installed on the driving wheel group; the anti-sway device is slidably installed with a ceiling rail.

[0011] Preferably, the transmission roller and the conveyor belt are meshed with teeth.

[0012] Preferably, the anti-sway device is linked with the travel drive module to control the movement of the column.

[0013] Preferably, the adsorption magnetic blocks are provided on the upper and lower end surfaces of the goods.

[0014] (III) Beneficial effects: Compared with the prior art, the present invention provides a multi-load material box storage robot with the following beneficial effects: 1. The multi-load material box storage robot, through the coordinated use of the loading platform structure and the storage platform structure, in the task of continuous picking, the storage robot can directly store the goods on the storage platform after picking up the goods through the rotation of the clamping fork, and the column does not need to move back and forth, which not only saves the robot's walking time, but also improves the efficiency of the entire storage and retrieval process. In addition, the multi-layer storage platform enables the robot to store more goods in a limited space, further improving the storage density, optimizing the storage and outbound process of goods, and reducing the reciprocating delivery efficiency of the equipment.

[0015] 2. The multi-type material box storage robot, through the coordinated use of the transmission frame structure and the support column structure, directly connects the bottom storage platform with the assembly line at the outbound end, which simplifies the delivery process and reduces the number and time of cargo transfers on the platform during the outbound process. The cargo on the upper storage platform can be transported to the lower storage platform layer by layer through the lifting and movement between the storage platforms, and finally shipped out from the assembly line end through the bottom storage platform. There is no need for the platform to transport the cargo back and forth, which greatly improves the delivery efficiency of the equipment.

[0016] 3. The multi-load material box storage robot uses a conveyor belt structure and a discharge plate structure. The discharge plate will rotate clockwise to release the blocking goods only when it approaches the lower conveyor belt. This design effectively avoids the risk of goods on the upper conveyor belt falling without limit when the upper conveyor belt is not close to the lower conveyor belt. In addition, the repulsive force of the magnetic strip on the rotating magnetic strip in the same conveyor belt and the attractive force on the discharge plate, plus the elastic force of the reset shaft, enable the discharge plate to limit the goods stably, which greatly reduces the damage rate of goods in the transportation process, and also reduces the safety hazards such as personal injury or equipment damage caused by falling goods. In addition, the passive trigger structure of the discharge plate does not require an active trigger device, and does not require additional energy to drive it to open or close, which reduces the energy consumption of the storage robot, simplifies the structural complexity of the robot, and reduces maintenance costs.

[0017] 4. The multi-load material box storage robot, through the coordinated use of the conveyor belt structure and the support column structure, the upper and lower conveyor belts can be matched according to the height of the goods, and the goods between the upper and lower conveyor belts can be clamped, which can ensure that the goods will not shake or tilt due to height mismatch during the transportation process. In addition, based on this part of the structure, since adsorption magnetic blocks are set on the upper and lower end surfaces of the goods, they can interact with the magnetic strips in the conveyor belt, further enhancing the stability of the goods on the conveyor belt. This dual fixing method (physical clamping and magnetic attraction) effectively reduces the shaking of the goods during movement, improves the stability of the overall system, reduces the collision and friction of the goods during the movement of the columns, and thus reduces the risk of damage to the goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural front view of the multi-loading material box storage robot in the present invention.

[0019] Figure 2 It is a front view of the storage table structure of the multi-loading material box storage robot in the present invention.

[0020] Figure 3 Schematic diagram of the walking drive module of the multi-load box storage robot in the present invention.

[0021] Figure 4It is a front view of the loading platform structure of the multi-loading material box storage robot in the present invention.

[0022] Figure 5 It is a top view of the loading platform structure of the loading box storage robot in the present invention.

[0023] Figure 6 It is a front view of the structure of embodiment 2 of the present invention.

[0024] Figure 7 This is a front view of the storage table structure according to the second embodiment of the present invention.

[0025] Figure 8 This is a schematic diagram of the three-dimensional structure of the storage table according to the second embodiment of the present invention.

[0026] Fig. 9 This is a front view of the structure after the adjacent storage platforms on both sides of the second embodiment of the present invention are lowered.

[0027] Fig.10 This is a schematic diagram of the rotation of the unloading plate after the storage platform is lowered in embodiment 2 of the present invention.

[0028] Fig.11 It is a schematic diagram of the adsorption matching between the magnetic strip and the adsorption magnetic block structure in the second embodiment of the present invention.

[0029] Fig.12 It is a schematic diagram of the movement of the support column when the storage platform is raised or lowered in the first embodiment of the present invention.

[0030] Fig.13 It is a schematic diagram of the three-dimensional structure of the magnetic stripe position in the second embodiment of the present invention.

[0031] Fig.14 This is a schematic diagram of the arrangement of the adsorption magnetic block in the second embodiment of the present invention.

[0032] In the figure: 1. column; 2. loading platform; 21. lifting mechanism; 22. sliding frame; 23. clamping fork; 24. rotary drive structure; 3. walking drive module; 31. walking frame; 32. driving wheel set; 4. upper beam; 41. reel; 42. anti-sway device; 5. storage table; 51. transmission frame; 511. slide; 512. transmission rack; 52. support column; 53. transmission roller; 54. conveyor belt; 541. magnetic strip; 55. unloading plate; 551. reset shaft; 552. rotating magnet; 6. cargo; 61. adsorption magnetic block. DETAILED DESCRIPTION

[0033] 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.

[0034] Example 1: Please refer to Figure 1-5 A multi-load material box storage robot comprises a column 1, a loading platform 2, and a walking drive module 3. The loading platform 2 for carrying goods 6 is slidably assembled on the column 1. The storage robot can quickly adjust the height of the loading platform 2 according to the storage position of the goods 6, so as to accurately carry and store the goods 6. A walking drive module 3 is fixedly installed at the bottom of the column 1. The walking drive module 3 is used to provide the storage robot with the ability to move in the horizontal direction. The walking drive module 3 slides on the ground rail through the driving wheel group 32, so that the storage robot can move freely in the warehouse and reach the designated shelf position to pick up or put goods. Two or more groups of columns 1 are set, and the loading platform 2 is set between the two groups of columns 1. The purpose of designing two or more groups of columns 1 and setting the loading platform 2 between the two groups of columns 1 is to improve the stability and carrying capacity of the storage robot. Multiple groups of columns 1 can disperse the weight of the load, reduce the force on a single column 1, and thus extend the service life of the robot. At the same time, this design can also provide a larger support area for the loading platform 2 to ensure the stability of the goods 6 during the handling process. An upper beam 4 is arranged on the top of two or more groups of columns 1, and an anti-sway device 42 is fixedly installed on the upper beam 4. The anti-sway device 42 fixedly installed on the upper beam 4 can improve the stability of the storage robot. The anti-sway device 42 can reduce the shaking and vibration of the robot during movement. The anti-sway device 42 adopts a structure combining mechanical damping and active control, including an acceleration sensor, a hydraulic damper and a linear motor installed on the upper beam 4. When the sensor detects abnormal shaking of the column 1, the control system drives the hydraulic damper to generate a reverse damping force, and the linear motor applies a compensation torque. Through the linkage adjustment of the ceiling rail and the column 1, the horizontal swing is offset in real time to ensure the stability of the loading platform 2 and the goods 6. A storage platform 5 with two or more layers for storing goods 6 is also installed on one side of the column 1. A support column 52 is arranged between the two or more layers of storage platforms 5. The installation of two or more layers of storage platforms 5 on one side of the column 1 is to improve the storage density and operation efficiency of the storage robot. The multi-layer storage table 5 can accommodate more goods 6, reducing the number of round trips and operation time of the robot; when the loading platform 2 is working, the stored and retrieved goods 6 are stored on the storage table 5.

[0035] See also Figure 1-5The loading platform 2 includes a lifting mechanism 21, a sliding frame 22, and a clamping fork 23. The lifting mechanism 21 is fixedly installed on the column 1. The lifting mechanism 21 is fixedly installed on the column 1 to realize the lifting and lowering of the loading platform 2 in the vertical direction. One end of the sliding frame 22 is slidably connected to the column 1, and the other end of the sliding frame 22 is rotatably installed with a clamping fork 23. A rotary driving structure 24 for driving the clamping fork 23 to rotate is provided between the clamping fork 23 and the sliding frame 22. The rotary driving structure 24 for driving the clamping fork 23 to rotate is designed to realize the flexible rotation of the fork, so that the goods 6 can be placed on the storage platform 5 by rotating the clamping fork 23. A steel wire rope is provided between the lifting mechanism 21 and the sliding frame 22. The steel wire rope is provided between the lifting mechanism 21 and the sliding frame 22 to realize the stable lifting and lowering of the loading platform 2 in the vertical direction. The steel wire rope has the characteristics of high strength and wear resistance, and can withstand large tension and impact. A reel 41 is fixedly provided on the upper beam 4, and the steel wire rope is rotatably connected to the reel 41. The design of the reel 41 being fixedly provided on the upper beam 4 and the steel wire rope being rotatably connected to the reel 41 is to realize the retraction and release of the steel wire rope and the lifting and lowering of the loading platform 2. The reel 41 retracts and releases the steel wire rope by rotating, thereby controlling the height of the loading platform 2.

[0036] See also Figure 1-5, the bottom of the walking drive module 3 is slidably installed with a ground rail. The design of the bottom of the driving module being slidably installed with a ground rail is mainly to provide stable support and guidance. The ground rail can ensure that the driving module moves along a predetermined path during movement to prevent it from deviating or shaking unnecessary. In addition, the ground rail can also bear the weight of the driving module and the column 1, as well as the dynamic load generated during movement, thereby ensuring the stability and reliability of the entire storage robot. The walking drive module 3 includes a walking frame 31 and a driving wheel group 32. The walking frame 31 is fixedly connected to the bottom of the column 1. The walking frame 31 is fixedly connected to the bottom of the column 1 in order to firmly connect the column 1 and the driving module together to form an integral structure. This design can ensure that the column 1 keeps synchronization with the driving module during movement and prevent the column 1 from moving relative to each other or tilting. At the same time, the fixed connection can also improve the rigidity and stability of the entire structure, ensuring that the storage robot can maintain a precise position and posture during work. The driving wheel set 32 ​​is fixedly mounted at both ends of the walking frame 31. A servo motor is installed on the driving wheel set 32. The driving wheel set 32 ​​is composed of a servo motor, a reducer and a driving wheel. The servo motor drives the driving wheels on both sides to move precisely along the ground rail through the reducer. The surface of the driving wheel is coated with anti-skid rubber to enhance the friction. The driving wheel set 32 ​​is fixedly mounted at both ends of the walking frame 31 to provide sufficient driving force and stability. Installing the driving wheel set 32 ​​at both ends of the walking frame 31 can ensure that the load can be evenly distributed during the movement process, and prevent structural damage or performance degradation caused by excessive force on one side; the anti-sway device 42 is slidably mounted with a ceiling rail. The anti-sway device 42 is slidably mounted with a ceiling rail mainly to reduce the shaking and vibration of the storage robot during movement. The ceiling rail can provide additional support and guidance to ensure that the anti-sway device 42 can move along a predetermined path. At the same time, the ceiling rail can also cooperate with the ground rail to form a stable support system to further improve the stability of the storage robot. The anti-sway device 42 and the walking drive module 3 are linked to control the movement of the column 1. The anti-sway device 42 is designed to link with the travel drive module 3 to control the movement of the column 1 in order to achieve precise control and stable movement of the warehouse robot. Through linkage control, it can be ensured that the anti-sway device 42 and the travel drive module 3 maintain synchronization and coordination during the movement process. When the warehouse robot needs to move, the travel drive module 3 will drive the column 1 to move along the ground rail, and the anti-sway device 42 will move along the ceiling rail to provide additional support and stability.

[0037] Example 2: Please refer to Figure 6 , Figure 7 , Figure 8 Fig. 9 and Fig.12, four or more groups of columns 1 are set, and the design of four or more groups of columns 1 is mainly to improve the stability and carrying capacity of the storage robot. Multiple groups of columns 1 can disperse the weight and load of the robot to prevent structural damage or deformation caused by excessive force on a single point. At the same time, multiple groups of columns 1 can also provide better support for the storage table 5. And the height of the storage table 5 on the bottom layer is the same as the height of the assembly line. The design of the height of the bottom layer storage table 5 is the same as the height of the assembly line in order to simplify the shipping process and improve the shipping efficiency. When the goods 6 need to be shipped out from the storage table 5, if the height of the bottom layer storage table 5 is the same as the height of the assembly line, then the goods 6 can be directly transported to the assembly line through the conveyor belt 54, without the need for additional handling or height adjustment. The storage platform 5 includes a transmission frame 51 and a transmission roller 53. The transmission frame 51 is arranged in two groups in parallel. The length of each layer of the transmission frame 51 from top to bottom gradually increases, and the difference in length between the lower layer and the upper layer of the transmission frame 51 is greater than the length of the goods 6. The two groups of transmission frames 51 are slidably connected to the column 1. The transmission roller 53 is arranged between the two groups of transmission frames 51. This design is mainly to improve the carrying capacity and stability of the storage platform 5. The two groups of transmission frames 51 arranged in parallel can disperse the weight of the goods 6. At the same time, the length of each layer of the transmission frame 51 from top to bottom gradually increases, and the difference in length between the lower layer and the upper layer of the transmission frame 51 is greater than the length of the goods 6, which can ensure that the goods 6 can be transported between adjacent storage platforms 5 during the transportation of the goods 6 by the storage platform 5. A chute 511 is provided on the transmission frame 51, and a transmission rack 512 is slidably arranged in the chute 511. The transmission rack 512 is driven by a linear drive module, and the linear drive module is fixedly assembled in the transmission frame 51. This design is to achieve the lifting and lowering movement between the storage platforms 5. By providing a chute 511 on the transmission frame 51 and slidingly setting a transmission rack 512 in the chute 511, it can be ensured that the transmission rack 512 can move smoothly along the chute 511. At the same time, by driving the transmission rack 512 to move through the linear drive module, the precise control of the lifting and lowering movement of the storage table 5 can be achieved. The top of the support column 52 is hinged with the transmission frame 51 of the upper storage table 5, and the bottom of the support column 52 is inserted into the chute 511 on the transmission frame 51 of the lower storage table 5 and is hinged with the transmission rack 512. By hingedly connecting the top of the support column 52 with the transmission frame 51 of the upper storage table 5, it can be ensured that the support column 52 can rotate smoothly during the lifting process. At the same time, by inserting the bottom of the support column 52 into the chute 511 on the transmission frame 51 of the lower storage table 5 and hinged with the transmission rack 512, the transmission rack 512 can be driven and supported to move during the movement, thereby realizing the lifting and lowering movement of the storage table 5. When the transmission rack 512 moves, it drives the support column 52 to move obliquely and reduces the distance between the upper and lower layers of adjacent storage platforms 5. At the same time, the support column 52 rotates relative to the upper and lower transmission frames 51 and is embedded in the slide groove 511; the support column 52 is a retractable piston structure, specifically a piston rod.The support column 52 is designed as a retractable piston structure mainly to achieve flexible adjustment between the storage platforms 5. By using the piston rod as the telescopic part of the support column 52, the height of the storage platform 5 can be accurately adjusted. At the same time, the piston rod has the advantages of simple structure, easy maintenance, strong bearing capacity, etc., which can meet the requirements of the warehouse robot for the reliability and durability of the support column 52.

[0038] See also Figure 9-10, a conveyor belt 54 is laid on the transmission roller 53. The conveyor belt 54 is designed to facilitate the transportation of the goods 6. The conveyor belt 54 can provide a continuous and stable transportation surface, so that the goods 6 can move along a predetermined path. The conveyor belt 54 is embedded with a magnetic strip 541, and the magnetic strip 541 adopts a flexible magnet. The design of the magnetic strip 541 embedded in the conveyor belt 54 is mainly to use magnetic force to fix and attract the goods 6. The use of flexible magnets enables the magnetic strip 541 to adapt to the bending and deformation of the conveyor belt 54 while maintaining a stable magnetic force. The magnetic strips 541 set in the conveyor belt 54 of each layer of the storage table 5 have the same magnetic poles. The magnetic strips 541 set in the conveyor belt 54 of each layer of the storage table 5 have the same magnetic poles, mainly to ensure that the direction of the magnetic force is consistent. When the goods 6 are placed on the conveyor belt 54, the adsorption magnetic block 61 below it will interact with the magnetic strip 541 in the conveyor belt 54 to generate a stable magnetic attraction. When the conveyor belts 54 of adjacent layers are close to each other, repulsion will also be generated. This repulsion can reduce the shaking between layers, thereby improving the stability of the conveyor belt 54. The rightmost end of the transmission frame 51 is rotatably installed with an unloading plate 55 that is initially tilted upward, mainly to provide a buffer and guide when the goods 6 are transferred from the upper conveyor belt 54 to the lower conveyor belt 54. At the same time, when rotating, it can also produce a fixed left and right for the goods 6 on the conveyor belt 54. A reset shaft 551 is provided between the unloading plate 55 and the transmission frame 51. A reset shaft 551 is provided between the unloading plate 55 and the transmission frame 51, mainly to enable the unloading plate 55 to automatically return to the initial state after unloading is completed. The reset shaft 551 has a certain elasticity and restoring force. When the unloading plate 55 is rotated by an external force, it will automatically return to its original position after the external force disappears. The unloading plate 55 is an inclined surface, and the design of the unloading plate 55 as an inclined surface is mainly to facilitate the sliding of the goods 6. When the unloading plate 55 is attracted by the magnetic strip 541 of the lower conveyor belt 54 and rotates clockwise, its inclined surface portion will form an angle with the lower conveyor belt 54. This angle can guide the goods 6 to slide smoothly along the inclined surface onto the lower conveyor belt 54, avoiding bumps or collisions of the goods 6 during the sliding process. A rotating magnet 552 is arranged at the rear side of the unloading plate 55. The rotating magnet 552 is arranged at the rear side of the unloading plate 55, mainly to interact with the magnetic strip 541 in the lower conveyor belt 54. The unloading plate 55 is made of magnetic material and the magnetic pole is different from the magnetic pole of the magnetic strip 541. The magnetic material is a magnet. The unloading plate 55 is made of magnetic material and the magnetic pole is different from the magnetic pole of the magnetic strip 541, mainly to use magnetic force to change the position of the unloading plate 55. When the unloading plate 55 is in the initial state, its magnetic material portion will interact with the magnetic strip 541 in the conveyor belt 54, generating a certain magnetic attraction. This attraction can ensure that the unloading plate 55 can maintain a stable position when not subjected to external force. When the upper conveyor belt 54 is close to the lower conveyor belt 54, the unloading plate 55 can be rotated by the attraction of the magnetic strip 541 of the lower conveyor belt 54.The magnetic poles of the rotating magnet 552 are the same as those of the magnetic strip 541. When the upper conveyor belt 54 approaches the lower conveyor belt 54, the rotating magnet 552 is subjected to the upward repulsive force of the lower conveyor belt 54, while the unloading plate 55 is subjected to the downward attractive force of the lower conveyor belt 54, thereby causing the unloading plate 55 to rotate clockwise and make its lower surface adhere to the lower conveyor belt 54.

[0039] See also Fig.11 and Fig.13 , two or more groups of magnetic stripes 541 embedded in the conveyor belt 54 are arranged equidistantly along the direction perpendicular to the movement of the conveyor belt 54, and two or more groups of adsorption magnetic blocks 61 are arranged at the bottom of the goods 6, and the interval size of the two or more groups of magnetic stripes 541 is equal to the interval size of the two or more groups of adsorption magnetic blocks 61, and the magnetic poles of the adsorption magnetic blocks 61 and the magnetic stripes 541 are different. This design is to ensure that the goods 6 can be firmly adsorbed on the conveyor belt 54. The adsorption magnetic blocks 61 at the bottom of the goods 6 and the magnetic stripes 541 in the conveyor belt 54 have opposite magnetic poles, so a strong magnetic attraction is generated between them; the transmission roller 53 is connected to a driving motor that drives it to rotate and drives the conveyor belt 54 to move, and the driving motor is assembled on the transmission frame 51. The transmission roller 53 and the conveyor belt 54 are meshed with teeth.

[0040] The upper and lower end surfaces of the cargo 6 are provided with adsorption magnetic blocks 61. The purpose of providing the upper and lower end surfaces of the cargo 6 with adsorption magnetic blocks 61 is to enhance the stability of the cargo 6 on the conveyor belt 54. When the cargo 6 is placed on the conveyor belt 54, the adsorption magnetic blocks 61 at the upper and lower ends thereof interact with the magnetic strips 541 in the conveyor belt 54 to generate a strong magnetic attraction. This attraction helps to fix the position of the cargo 6 and prevent it from sliding or deflecting during the conveying process. Fig.14 shown.

[0041] Working principle: During the use of the storage robot, the column 1 and the loading platform 2 are first moved horizontally and vertically to move the loading platform 2 to the designated position of the shelf, and the clamping fork 23 is used to pick up the goods. Then, the rotary drive structure 24 provided at the bottom of the clamping fork 23 enables the clamping fork 23 to rotate 90 degrees relative to the sliding frame 22 to place the goods 6 on the storage platform 5. This avoids the need to place the goods 6 at the end of the shelf for each time the storage robot picks up the goods, saves the time of the storage robot walking back and forth, and improves the working efficiency of the equipment.

[0042] When a multi-layer storage platform 5 is used, each layer can accommodate more goods 6, so the efficiency of reciprocating shipment of the equipment can be reduced. At the same time, during the shipment process, the bottom storage platform 5 can be connected to the assembly line at the outbound end, and the goods 6 on the storage platform 5 can be directly shipped out, and the goods 6 on the upper storage platform 5 can also be driven to rise and fall by the support column 52 structure, so that the goods 6 are transported between the layers of the storage platform 5 and finally shipped out through the bottom storage platform 5, which greatly improves the efficiency of equipment shipment and purchase. When the goods 6 located on the upper storage platform 5 need to be taken out of the warehouse, the transmission rack 512 in the transmission frame 51 is first used to drive the support column 52 to move. Since the top of the support column 52 is fixedly hinged to the upper transmission frame 51, and the bottom of the support column 52 moves and rotates relative to the transmission rack 512, the support column 52 will gradually tilt, and the distance between the upper and lower storage platforms 5 will be reduced until the upper storage platform 5 moves to a position close to the lower storage platform 5. At this time, the unloading plate 55 on the upper storage platform 5 will be attracted by the magnetic strip 541 in the conveyor belt 54 of the lower storage platform 5, and the rotating magnetic strip 541 will be repelled by the magnetic strip 541 in the lower conveyor belt 54, and the unloading plate 55 will rotate clockwise, so that the bottom surface of the unloading plate 55 is attached to the lower conveyor belt 54, and then the upper conveyor belt 54 rotates to transport the goods 6 to the lower transfer belt. When the upper storage platform 5 is restored, the movement process is opposite to the above one, and during the recovery process of the unloading plate 55, the attraction of the magnetic stripe 541 of the lower conveyor belt 54 gradually decreases, and while the attraction of the rotating magnetic stripe 541 below is reduced, it is also repelled by the magnetic stripe 541 of the left conveyor belt 54, allowing it to quickly return to its initial position. The reset shaft 551 also plays the same reset function.

[0043] And during the reciprocating motion of the column 1, the distance between the upper and lower storage platforms 5 is controlled by the upward and downward extension and contraction of the support column 52 and the transmission rack 512, so that the upper and lower storage platforms 5 can clamp the goods 6 therebetween, further improving the stability of the goods 6 on the storage platform 5; and when the upper and lower end surfaces of the goods 6 are provided with adsorption magnetic blocks 61, the stability of the goods 6 between each layer of the storage platform 5 can be greatly improved. At this time, the goods 6 are not only subject to the clamping force of the upper and lower conveyor belts 54, but also subject to the attraction of the magnetic strip 541, thereby greatly reducing the shaking of the goods 6 caused by the movement of the column 1.

[0044] It should be noted that, in this article, 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 such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-cargo box storage robot, comprising a column, a loading platform, and a walking drive module, wherein the loading platform for carrying goods is slidably mounted on the column, and the walking drive module is fixedly mounted on the bottom of the column, and the columns are provided with two or more groups, the loading platform is provided between the two groups of the columns, and the tops of the two or more groups of the columns are provided with upper beams, characterized in that: An anti-sway device is fixedly installed on the upper beam, and a storage platform with two or more layers for storing goods is also installed on one side of the column, and a supporting column is arranged between the two or more layers of the storage platforms; when the loading platform is working, the stored and retrieved goods are stored on the storage platform; The uprights are provided with four or more groups, and the storage platform includes a transmission frame and a transmission roller, and the transmission frame is provided with two groups in parallel, and the length of the transmission frame of each layer from top to bottom is gradually lengthened, and the difference in length between the transmission frames of the lower layer and the upper layer is greater than the length of the goods, the two groups of transmission frames are slidably connected with the uprights, the transmission rollers are arranged between the two groups of transmission frames, a slide groove is provided on the transmission frame, and a transmission rack is slidably arranged in the slide groove, the top of the support column is hinged with the transmission frame of the storage platform of the upper layer, and the bottom of the support column is inserted into the slide groove on the transmission frame of the storage platform of the lower layer and is hinged with the transmission rack. When the transmission rack moves, the support column is driven to move obliquely and the distance between the upper and lower layers of the adjacent storage platforms is reduced. At the same time, the support column rotates relative to the upper and lower transmission frames and is embedded in the slide groove; the support column is a retractable piston structure; A conveyor belt is laid on the transmission roller, and a magnetic strip is embedded in the conveyor belt. The magnetic strips arranged in the conveyor belt of each layer of the storage table have the same magnetic poles, and a discharge plate which is initially tilted upward is rotatably installed at the rightmost end of the transmission frame, and a reset shaft is arranged between the discharge plate and the transmission frame, the discharge plate is an inclined surface, and a rotating magnet is arranged on the rear side of the discharge plate, the discharge plate is made of magnetic material, and the magnetic poles are different from those of the magnetic strips, and the magnetic poles of the rotating magnet are the same as those of the magnetic strips, and when the upper conveyor belt approaches the lower conveyor belt, the rotating magnet is subjected to the upward repulsive force of the lower conveyor belt, and the discharge plate is subjected to the downward attractive force of the lower conveyor belt, thereby causing the discharge plate to rotate clockwise and attach its lower surface to the lower conveyor belt.

2. A multi-loading material box storage robot according to claim 1, characterized in that: The loading platform includes a lifting mechanism, a sliding frame, and a clamping fork. The lifting mechanism is fixedly installed on the column, one end of the sliding frame is slidably connected to the column, and the clamping fork is rotatably installed on the other end of the sliding frame. A rotary driving structure for driving the clamping fork to rotate is provided between the clamping fork and the sliding frame, a steel wire rope is provided between the lifting mechanism and the sliding frame, a drum is fixedly provided on the upper beam, and the steel wire rope is rotatably connected to the drum.

3. The multi-loading material box storage robot according to claim 1, characterized in that: Two or more groups of adsorption magnetic blocks are arranged at the bottom of the cargo, the spacing size of the magnetic strips is equal to the spacing size of the adsorption magnetic blocks, and the magnetic poles of the adsorption magnetic blocks are different from the magnetic poles of the magnetic strips; the transmission roller is connected to a driving motor that drives it to rotate and drives the conveyor belt to move, and the driving motor is assembled on the transmission frame.

4. The multi-loading material box storage robot according to claim 1, characterized in that: A ground rail is slidably installed at the bottom of the walking drive module, and the walking drive module includes a walking frame and a driving wheel group. The walking frame is fixedly connected to the bottom of the column, the driving wheel group is fixedly installed at both ends of the walking frame, and a servo motor is installed on the driving wheel group; a ceiling rail is slidably installed on the anti-sway device.

5. The multi-loading material box storage robot according to claim 3, characterized in that: The transmission roller is meshed with the conveyor belt through teeth.

6. The multi-loading material box storage robot according to claim 1, characterized in that: The anti-sway device is linked with the travel drive module to control the movement of the column.

7. The multi-loading material box storage robot according to claim 3, characterized in that: The upper and lower end surfaces of the goods are both provided with the adsorption magnetic blocks.

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