Three-dimensional warehouse material carrying robot

Abstract

The invention provides a three-dimensional warehouse material carrying robot, and relates to the technical field of industrial robots, the three-dimensional warehouse material carrying robot comprises a rack component, a driver component, a movable platform component, an end effector component, a cable assembly and a control system are arranged in the rack component, and the rack component internally comprises a rack body. A stable and flexible structural system is formed through the rack body, the reinforcing piece, the fixing plate, the mounting plate, the driver base, the driving set bottom plate, the speed reducer mounting plate and the bearing seat, and the bearing capacity and impact resistance of the robot in the running process are effectively improved; through the arrangement of the first servo motor, the servo motor encoder, the first speed reducer, the output shaft, the rope winding roller, the rope pressing block and the bearing cover, accurate power transmission and rope control are achieved, the servo motor encoder feeds back the rotation angle of the motor in real time, closed-loop control over rotation of the motor is achieved, and accurate positioning and efficient operation in the carrying process are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a vertical warehouse material handling robot. Background Art

[0002] Industrial robots, as the main force in production automation and intelligent manufacturing, have become a key indicator of a country's technological innovation and manufacturing capabilities. The Chinese government aims to rank among the top ten in terms of industrial robot usage by 2020, with a density of 150 industrial robots per 10,000 workers. Furthermore, amidst fierce global competition, China's manufacturing industry faces the immense challenge of shifting to high-end manufacturing, undertaking international advanced manufacturing, and participating in the international division of labor. Accelerating the research and development and production of robotics technology is a crucial path and guarantee for China to meet these challenges and promote industrial transformation and upgrading. Industries such as food, pharmaceuticals, new energy, logistics, and consumer electronics require a large number of robots capable of high-speed product picking, sorting, and packaging. High-speed sorting robots, a crucial component of industrial robotics, have become a core component in the sorting and packaging sector, improving efficiency, reducing costs, and enhancing quality. Demand is high and widespread. Traditional high-bay warehouses rely on manual or forklift handling for goods movement, resulting in low efficiency and high costs. Recently emerging intelligent high-bay warehouses typically utilize rigid robotics for handling, resulting in limited speeds. Furthermore, the mobile platforms require motors, which are heavy and energy-intensive, necessitating improvements. Summary of the Invention

[0003] The purpose of the present invention is to solve the technical problems raised in the above background technology.

[0004] The present invention adopts the following technical solution: a vertical warehouse material handling robot, including a frame component, wherein a drive component, a moving platform component, an end effector component, a cable assembly and a control system are arranged inside the frame component, the frame component contains a frame body inside, the four corners of the frame body are fixedly connected with reinforcement members, the bottom of the frame body is fixedly installed with a fixing plate, and the surface of the frame body is fixedly installed with a mounting plate and a drive base.

[0005] Preferably, the driver assembly includes a drive group base plate and a first servo motor. A bearing seat and a reducer mounting plate are fixedly mounted on the surface of the drive group base plate. A servo motor encoder is fixedly mounted on the tail of the first servo motor. A first reducer is fixedly mounted on the output end of the first servo motor. An output shaft is fixedly mounted on the output end of the first reducer. A rope drum is fixedly mounted on the surface of the output shaft. A rope pressure block is fixedly mounted on the surface of the rope drum. A rope is fixedly mounted inside the rope pressure block. A bearing cap is fixedly mounted on the surface of the bearing seat. Here, the first reducer is fixed to the frame body via the driver base. By activating the first servo motor, the rope drum is driven to rotate, which drives the rope to move and cooperate with the fixed pulley, thereby achieving the lifting and lowering of the movable platform assembly.

[0006] Preferably, the movable platform assembly includes a mobile platform frame, a cable-threading plate fixedly mounted on its outer surface, a tension sensor fixedly mounted on its surface, a cable-threading point fixedly mounted on its surface, and a telescopic cylinder fixedly mounted on its inner surface, a positioning electromagnet fixedly mounted on the end of the telescopic cylinder. Here, when the mobile platform frame is moved to a predetermined position by the traction of the rope, the telescopic cylinder temporarily attracts the electromagnet to the vertical warehouse, temporarily connecting the movable platform assembly to the vertical warehouse and ensuring stable handling. The tension sensor monitors the rope tension in real time, ensuring a safe and reliable handling process.

[0007] Preferably, the end effector assembly includes an upper fork support, a second servo motor fixedly mounted on the surface of the upper fork support, a second reducer fixedly mounted on the output end of the second servo motor, and a lower fork support slidably connected to the interior of the upper fork support. A rack and a clamping cylinder are fixedly mounted on the surface of the lower fork support, and a clamping claw is fixedly mounted on the output end of the clamping cylinder. Here, when the moving platform assembly reaches the predetermined position, the second servo motor drives the second reducer to cause the rack to drive the lower fork support to slide into the vertical warehouse. The clamping claw then opens or closes through the operation of the clamping cylinder, accurately grasping or releasing materials, ensuring efficient and accurate handling.

[0008] Preferably, the cable assembly includes a fixed pulley support, the fixed pulley support having a fixed pulley shaft rotatably connected thereto, and a fixed pulley fixedly mounted on the surface of the fixed pulley shaft. The fixed pulley cooperates with the cable to ensure that the cable remains stable during movement, preventing friction or jamming that could affect overall operating efficiency, further ensuring smooth and reliable material handling.

[0009] Preferably, the control system includes a user interface display screen, a switch button and an emergency stop button fixedly mounted on the surface of the control system, and a power distribution board and drive components are internally contained within the control system. Here, the user interface display screen displays the system status in real time, allowing the operator to conveniently operate the switch button and emergency stop button for rapid response and emergency braking. The power distribution board and drive components work together to ensure stable and efficient system operation, coordinated operation of all components, and enhanced intelligence and safety of the overall handling system.

[0010] Preferably, the driver base is fixedly mounted to the drive assembly bottom plate, and the mounting plate is fixedly mounted to the fixed wheel axle support. Here, through sophisticated structural design and a stable connection method, the connection between the driver base and the drive assembly bottom plate, and the mounting plate and the fixed wheel axle support is secure and reliable, effectively resisting vibration and impact during transportation, further improving the stability and durability of the entire system, and ensuring that performance is not degraded even under long-term, high-intensity operation.

[0011] Preferably, the rope is wrapped around the surface of a rope drum, rotatably connected to a fixed pulley, and one end of the rope is fixedly mounted between a rope anchor point. Here, the synergistic effect of the rope, the rope drum, and the fixed pulley ensures uniform tension during the stretching and retraction process, effectively preventing the rope from becoming loose or overtightened, and improving the stability and accuracy of the handling process.

[0012] Preferably, the reducer mounting plate is fixedly mounted to the first reducer, and the output shaft is rotationally connected to the bearing seat. The secure connection between the reducer mounting plate and the first reducer ensures smooth and unimpeded rotation between the output shaft and the bearing seat, effectively reducing transmission errors, improving mechanical operating accuracy, and ensuring efficient coordination of all components.

[0013] Compared with the prior art, the advantages and positive effects of the present invention are:

[0014] 1. In the present invention, a stable and flexible structural system is formed by the provision of a frame body, reinforcement, fixing plate, mounting plate, driver base, driver group bottom plate, reducer mounting plate, and bearing seat, which effectively improves the load-bearing capacity and impact resistance of the robot during operation. The first servo motor, servo motor encoder, first reducer, output shaft, rope winding drum, rope pressure block, and bearing cover are provided to achieve precise power transmission and rope control. The servo motor encoder provides real-time feedback on the motor rotation angle to achieve closed-loop control of the motor rotation, ensuring accurate positioning and efficient operation of the handling process.

[0015] 2. In the present invention, by providing a telescopic cylinder and an electromagnet, after the mobile platform frame moves to the predetermined position of the vertical warehouse, the electromagnet with power applied to its output end can be adsorbed on the vertical warehouse by starting the telescopic cylinder, so that the mobile platform frame is temporarily connected to the vertical warehouse, and the picking and placing of goods are more stable. The tension sensor and the fixed rope point can be used to monitor the rope tension in real time to ensure the stability of the goods during the transportation process. By providing a second servo motor, a second reducer, a rack, a clamping cylinder, and a clamping claw, automatic control of the clamping and release of goods can be achieved, thereby improving the transportation efficiency.

[0016] 3. In the present invention, ropes, fixed wheel shaft supports, fixed wheel shafts, and fixed pulleys are provided to pull the movable platform assembly. The movable platform assembly has four directions of movement and is pulled by eight ropes. The ropes in the four directions will always remain taut to ensure that the movable platform assembly can be stably suspended at any position, avoiding imbalance caused by the slack of a single rope. The structure is simple, the equipment can be quickly assembled, the cost is low, and the replacement of wearing parts is easy. Compared with ordinary robotic arms, the use of rope drive uses fewer parts to achieve a larger working space, and the power consumption is lower than that of rigid robots, reducing factory energy consumption, and can be widely used in industrial manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The present invention proposes an overall schematic diagram of a vertical warehouse material handling robot;

[0018] Figure 2 The present invention proposes a schematic diagram of the positions of the various components in a vertical warehouse material handling robot;

[0019] Figure 3 The present invention proposes a schematic diagram of the drive components of a vertical warehouse material handling robot;

[0020] Figure 4 This is a schematic diagram of the middle moving platform components of a vertical warehouse material handling robot proposed by the present invention;

[0021] Figure 5 The present invention proposes a schematic diagram of the end effector components of a vertical warehouse material handling robot;

[0022] Figure 6 The present invention proposes a schematic diagram of the middle cable assembly of a vertical warehouse material handling robot;

[0023] Figure 7 The present invention proposes a schematic diagram of a control system for a vertical warehouse material handling robot.

[0024] Legend:

[0025] 1. Frame components; 2. Driver components; 3. Moving platform components; 4. End effector components; 5. Cable assembly; 6. Control system; 11. Frame body; 12. Reinforcement components; 13. Fixing plate; 14. Mounting plate; 15. Driver base; 21. Drive group bottom plate; 22. First servo motor; 23. Bearing seat; 24. Reducer mounting plate; 25. Servo motor encoder; 26. First reducer; 27. Output shaft; 28. Cable drum; 29. ​​Cable pressure block; 210. Cable Rope; 211, bearing cover; 31, mobile platform frame; 32, rope threading fixing plate; 33, tension sensor; 34, rope fixing point; 35, telescopic cylinder; 36, electromagnet; 41, upper fork support; 42, second servo motor; 43, second reducer; 44, lower fork support; 45, rack; 46, clamping cylinder; 47, clamping claw; 51, fixed wheel axle support; 52, fixed wheel rotating shaft; 53, fixed pulley; 61, user interface display; 62, switch button; 63, emergency stop button. DETAILED DESCRIPTION

[0026] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0027] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0028] Example 1

[0029] See also Figure 3 、 Figure 6The present invention provides a technical solution: a vertical warehouse material handling robot, including a frame component 1, a drive component 2, a dynamic platform component 3, an end effector component 4, a cable assembly 5 and a control system 6 are arranged inside the frame component 1, the frame component 1 contains a frame body 11, the four corners of the frame body 11 are fixedly connected with reinforcements 12, the bottom of the frame body 11 is fixedly installed with a fixing plate 13, the surface of the frame body 11 is fixedly installed with a mounting plate 14 and a drive base 15, the drive component 2 includes a drive group bottom plate 21 and a first servo motor 22, the surface of the drive group bottom plate 21 is fixedly installed with a bearing seat 23 and a reducer mounting plate 24, the first servo motor 22 A servo motor encoder 25 is fixedly installed at the tail, a first reducer 26 is fixedly installed at the output end of the first servo motor 22, an output shaft 27 is fixedly installed at the output end of the first reducer 26, a rope winding drum 28 is fixedly installed on the surface of the output shaft 27, a rope pressing block 29 is fixedly installed on the surface of the rope winding drum 28, a rope 210 is fixedly installed inside the rope pressing block 29, a bearing cover 211 is fixedly installed on the surface of the bearing seat 23, the first reducer 26 is fixed to the frame body 11 through the driver base 15, and by starting the first servo motor 22, the rope winding drum 28 is driven to rotate and the rope 210 moves to cooperate with the fixed pulley 53, thereby realizing the lifting and lowering of the movable platform component 3.

[0030] Example 2

[0031] See also Figure 4-5 The moving platform component 3 includes a moving platform frame 31. A cable fixing plate 32 is fixedly installed on the outer surface of the moving platform frame 31. A tension sensor 33 is fixedly installed on the surface of the cable fixing plate 32. A cable fixing point 34 is fixedly installed on the surface of the tension sensor 33. A telescopic cylinder 35 is fixedly installed on the inner surface of the moving platform frame 31. A positioning electromagnet 36 is fixedly installed on the end of the telescopic cylinder 35. When the moving platform frame 31 is moved to a predetermined position by the traction of the rope 210, the telescopic cylinder 35 will temporarily adsorb the electromagnet 36 on the vertical warehouse, so that the moving platform assembly can be temporarily connected to the vertical warehouse to ensure stable transportation. The tension sensor 33 monitors the tension of the rope 210 in real time to ensure a safe and reliable transportation process. The end effector component 4 includes an upper fork support 41, on the surface of which a second servo motor 42 is fixedly mounted, and a second reducer 43 is fixedly mounted on the output end of the second servo motor 42. The interior of the upper fork support 41 is slidably connected to the lower fork support 44, and a rack 45 and a clamping cylinder 46 are fixedly mounted on the surface of the lower fork support 44, and a clamping claw 47 is fixedly mounted on the output end of the clamping cylinder 46. When the moving platform assembly reaches the predetermined position, the second servo motor 42 drives the second reducer 43 to make the rack 45 drive the lower fork support 44 to slide into the interior of the vertical warehouse, and then the clamping claw 47 will open or close through the operation of the clamping cylinder 46 to accurately grab or release materials, ensuring that the handling process is efficient and accurate.

[0032] Example 3

[0033] See also Figure 1-7 The rope assembly 5 includes a fixed wheel shaft support 51, and the internal rotation of the fixed wheel shaft support 51 is connected to the fixed wheel shaft 52. The surface of the fixed wheel shaft 52 is fixedly installed with a fixed pulley 53. The fixed pulley 53 cooperates with the rope 210 to ensure that the rope 210 always remains stable during the movement, avoiding the overall operation efficiency affected by friction or jamming, and further ensuring the stability and reliability of material handling. The surface of the control system 6 includes a user interface display 61, and the surface of the control system 6 is fixedly installed with a switch button 62 and an emergency stop button 63. The interior of the control system 6 includes a distribution board and drive components. The system status is displayed in real time through the user interface display 61. The operator can conveniently operate the switch button 62 and the emergency stop button 63 to achieve rapid response and emergency braking. The distribution board and the drive components work together to ensure stable and efficient operation of the system, and the various components are coordinated to enhance the intelligence and safety of the overall handling system. The drive base 15 is fixedly installed between the drive group bottom plate 21, and the mounting plate 14 is fixedly installed between the fixed wheel shaft support 51. Through precise structural design and The stable connection method ensures that the connection between the driver base 15 and the drive group bottom plate 21, and the mounting plate 14 and the fixed wheel shaft support 51 is firm and reliable, effectively resisting vibration and impact during transportation, further improving the stability and durability of the overall system, and ensuring that the performance is not attenuated under long-term high-intensity operation. The rope 210 is wrapped around the surface of the rope winding drum 28, and the rope 210 is rotatably connected to the fixed pulley 53. One end of the rope 210 is fixedly installed between the fixed rope point 34. The coordinated action of the rope 210, the rope winding drum 28, and the fixed pulley 53 ensures that the rope 210 always maintains uniform tension during the stretching and recovery process, effectively preventing the rope 210 from being loose or overtightened, and improving the stability and accuracy of the transportation process. The reducer mounting plate 24 is fixedly installed with the first reducer 26, and the output shaft 27 is rotatably connected with the bearing seat 23. The stable connection between the reducer mounting plate 24 and the first reducer 26 ensures that the rotation between the output shaft 27 and the bearing seat 23 is smooth and unobstructed, effectively reducing transmission error, improving mechanical operation accuracy, and ensuring the efficient coordination of various components.

[0034] Working principle: When an item needs to be placed at point A in the vertical warehouse, the operator selects the target position A through the user interface display screen 61 and sends a signal to the robot control system 6. After receiving the signal, the robot can display the task information through the user interface display screen 61. After confirmation, the operator presses the switch button 62 to start the system. The four servo motors of the frame are linked at the same time. The first servo motor 22 installed on the frame body 11 is started to drive the first reducer 26 to drive the output shaft 27 to rotate, so that the rope drum 28 rotates, and the rope 210 moves accordingly. The rope 210 will change in length under the guidance of the fixed pulley 53. Similarly, the other three servo motors are linked, and the lengths of the ropes in the other three directions change synchronously. The ropes in the four directions always ensure the balance of the mobile platform. Thereby, the mobile platform frame 31 on the fixed cable point 34 is driven to move. When the mobile platform frame 31 moves to the set point A, the robot control system 6 automatically stops the first servo motor 22 to ensure that the mobile platform frame 31 is accurately positioned. At the same time, the telescopic cylinder 35 extends, so that the electromagnet 36 at its output end is adsorbed on the vertical warehouse frame, temporarily fixing the mobile platform frame 31 to prevent shaking. Then the second servo motor 42 is operated to rotate the second reducer 43 to move the lower fork support 44 to the inside of point A of the vertical warehouse through the rack 45. After moving to the predetermined position, the second servo motor 42 stops running, and the output end of the clamping cylinder 46 will extend forward, so that the clamping claw 47 cancels the clamping of the object and places the object steadily at point A of the vertical warehouse. 46 is retracted, the lower fork support 44 returns to the initial position, the second servo motor 42 runs in the opposite direction, the telescopic cylinder 35 contracts, the electromagnet 36 is released, the mobile platform frame 31 returns to the free state, and the first servo motor 22 is started again to retract the rope 210 by rotating the rope winding drum 28, and the mobile platform frame 31 returns to the initial point. The outbound principle is as described above, and the process is reversed. The system automatically records the task completion status and updates the inventory information to ensure real-time data synchronization. The operator can view the task details and historical records through the interface. The emergency stop button 63 is located on the side of the user interface display screen 61. It is eye-catching in red, which is convenient for the operator to quickly identify and press it in an emergency to ensure a safe shutdown. The system immediately interrupts the current task to prevent accidents.

[0035] The above description is merely a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any person skilled in the art may utilize the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes for application in other fields. However, any simple modification, equivalent change, and modification of the above embodiments made in accordance with the technical essence of the present invention without departing from the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A vertical warehouse material handling robot, comprising a frame component (1), characterized in that: The frame component (1) is provided with a drive component (2), a moving platform component (3), an end effector component (4), a cable assembly (5) and a control system (6). The frame component (1) includes a frame body (11) inside. The four corners of the frame body (11) are fixedly connected with reinforcement members (12). The bottom of the frame body (11) is fixedly installed with a fixing plate (13). The surface of the frame body (11) is fixedly installed with a mounting plate (14) and a drive base (15).

2. The vertical warehouse material handling robot according to claim 1, characterized in that: The driver component (2) comprises a drive group base plate (21) and a first servo motor (22); a bearing seat (23) and a reducer mounting plate (24) are fixedly mounted on the surface of the drive group base plate (21); a servo motor encoder (25) is fixedly mounted at the tail of the first servo motor (22); a first reducer (26) is fixedly mounted at the output end of the first servo motor (22); an output shaft (27) is fixedly mounted at the output end of the first reducer (26); a rope winding drum (28) is fixedly mounted on the surface of the output shaft (27); a rope pressing block (29) is fixedly mounted on the surface of the rope winding drum (28); a rope (210) is fixedly mounted inside the rope pressing block (29); and a bearing cover (211) is fixedly mounted on the surface of the bearing seat (23).

3. The vertical warehouse material handling robot according to claim 1, characterized in that: The moving platform component (3) comprises a moving platform frame (31), a cable fixing plate (32) is fixedly mounted on the outer surface of the moving platform frame (31), a tension sensor (33) is fixedly mounted on the surface of the cable fixing plate (32), a cable fixing point (34) is fixedly mounted on the surface of the tension sensor (33), a telescopic cylinder (35) is fixedly mounted on the inner surface of the moving platform frame (31), and a positioning electromagnet (36) is fixedly mounted at the end of the telescopic cylinder (35).

4. The vertical warehouse material handling robot according to claim 1, characterized in that: The end effector component (4) comprises an upper fork support (41), a second servo motor (42) is fixedly mounted on the surface of the upper fork support (41), a second reducer (43) is fixedly mounted on the output end of the second servo motor (42), a lower fork support (44) is slidably connected inside the upper fork support (41), a rack (45) and a clamping cylinder (46) are fixedly mounted on the surface of the lower fork support (44), and a clamping claw (47) is fixedly mounted on the output end of the clamping cylinder (46).

5. The vertical warehouse material handling robot according to claim 1, characterized in that: The cable assembly (5) comprises a fixed wheel shaft support (51), the interior of the fixed wheel shaft support (51) is rotatably connected with a fixed wheel rotating shaft (52), and a fixed pulley (53) is fixedly mounted on the surface of the fixed wheel rotating shaft (52).

6. The vertical warehouse material handling robot according to claim 5, characterized in that: The surface of the control system (6) includes a user interface display screen (61), the surface of the control system (6) is fixedly mounted with a switch button (62) and an emergency stop button (63), and the interior of the control system (6) includes a power distribution board and drive components.

7. The vertical warehouse material handling robot according to claim 1, characterized in that: The driver base (15) is fixedly mounted on the driving group bottom plate (21), and the mounting plate (14) is fixedly mounted on the fixed wheel shaft support (51).

8. The vertical warehouse material handling robot according to claim 8, characterized in that: The rope (210) is wound around the surface of the rope winding drum (28), the rope (210) is rotationally connected to the fixed pulley (53), and one end of the rope (210) is fixedly installed to the rope fixing point (34).

9. The vertical warehouse material handling robot according to claim 8, characterized in that: The reducer mounting plate (24) is fixedly mounted on the first reducer (26), and the output shaft (27) is rotationally connected to the bearing seat (23).

Images