Carrying robot for stacking storage

Abstract

The invention belongs to the technical field of transfer robots, and particularly relates to a stacking storage transfer robot which comprises a base, a first mechanical arm used for carrying wine bottles is arranged on one side of the upper end face of the base, and a second mechanical arm used for carrying wine bottle boxes is arranged on one side of the upper end face of the base. The upper end face of the base is fixedly connected with a transfer table used for placing wine bottles, and the transfer table is provided with a falling anti-toppling mechanism used for assisting the first mechanical arm in placing the wine bottles in the wine bottle box. By means of the falling anti-toppling mechanism, when the first mechanical arm places the wine bottles in the wine bottle box one by one, the interior of the wine bottle box is divided into a plurality of placing areas through intercepting cloth, the wine bottles clamped by the first mechanical arm can be placed in the placing areas, and the row of the wine bottle box is exactly filled with the clamped wine bottles; the wine bottles in the placing area can be blocked by the intercepting cloth and the inner wall of the wine bottle box, and the situation that the wine bottles topple over is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of transport robots, in particular to a transport robot for stacking and warehousing. Background Art

[0002] The handling robot for stacking warehousing is an automated equipment used for stacking and handling of goods in a warehouse environment. It can automatically complete tasks such as picking, placing, handling and stacking of goods, which is conducive to improving the efficiency of cargo transportation.

[0003] The patent with announcement number CN118439381B discloses a handling robot for stacking warehousing, which includes a robot body, a support plate, and a handling device. The support plate is arranged at the driving end of the robot body, and the handling device is arranged on the support plate. The two ends of the support plate in the length direction extend vertically downward. The handling device includes a clamping mechanism, a clamping component 1, and a clamping component 2. The clamping mechanism includes a motor, a screw, and a guide rod 1. The motor is installed at the end of the support plate in the length direction. The output shaft of the motor is arranged horizontally. When clamping the box cargo, the box cargo can be driven to move upward. When the box cargo is separated from the lifting block, the elastic force of the spring three pushes the lifting block to move toward the baffle away from the two ends of the guide column. The lifting block is at the bottom of the box, thereby supporting the box and improving the stability of clamping the box cargo.

[0004] However, the above technical solution still has the following deficiencies in practical application:

[0005] By clamping the box cargo, it is then moved to a designated area for stacking. However, when the above technical solution is applied to a warehouse storing wine, in some cases, wine bottles and wine bottle boxes are transported to the warehouse at the same time, and the robots stack the wine bottles in the wine bottle boxes, which are then stacked. When the robot grabs the wine bottles and places them in the wine bottle boxes, in order to ensure the neatness of the wine bottles, the bottles need to be placed row by row in the wine bottle boxes. When the wine bottles are placed in the wine bottle boxes, there will be empty areas around the wine bottles, and the wine bottles are easily tipped over under the action of external forces, thereby occupying the remaining placement space, affecting the subsequent placement of wine bottles and the stacking of wine bottle boxes. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art and solve at least one technical problem raised in the background technology, the present invention proposes a handling robot for stacking warehousing.

[0007] The technical solution adopted by the present invention to solve the technical problem is: a stacking storage handling robot, comprising a base, a manipulator 1 for handling wine bottles is arranged on one side of the upper end surface of the base, a manipulator 2 for handling wine bottle boxes is arranged on one side of the upper end surface of the base, a transfer table for placing wine bottles is fixedly connected to the upper end surface of the base, and a falling anti-dumping mechanism is arranged on the transfer table to assist the manipulator 1 in placing the wine bottles in the wine bottle box;

[0008] The falling anti-dumping mechanism includes a displacement plate slidably connected to one side of the upper end surface of the turntable, two sliding rods 1 are slidably connected to one side of the upper end of the displacement plate, a lower end of the sliding rod is fixedly connected to a groove plate 2, one side of the groove plate 2 is fixedly connected to a connecting rod, the lower end of the connecting rod is fixedly connected to a sleeve, the inner cavity of the sleeve is symmetrically distributed and rotatably provided with two winding rollers, the winding rollers are wrapped with an intercepting cloth, the intercepting cloth sleeve penetrates and is slidably connected, the end of the intercepting cloth is fixedly connected with an adjusting rod, two connecting rods 2 are rotatably provided on one side of the adjusting rod, one end of the connecting rod 2 is rotatably provided with a connecting rod 1, and one end of the connecting rod 1 is rotatably provided on the sleeve.

[0009] Preferably, the transfer table is provided with a clamping assembly for fixing the wine bottle box;

[0010] The clamping assembly includes a plurality of clamping blocks slidably connected to the turntable, a connecting rod three is rotatably provided on one side of the lower end of the clamping block, an electric push rod two is fixedly connected to the middle of the lower end surface of the turntable, an adjusting block is fixedly connected to the piston end of the electric push rod two, and the connecting rod three is rotatably connected to the adjusting block at one end away from the clamping block.

[0011] Preferably, a threaded rod 2 is threadedly connected to one side of the lower end of the displacement plate, both ends of the threaded rod 2 are rotatably arranged on the turntable, a motor 2 is fixedly connected to one side of the upper end surface of the turntable, the output end of the motor 2 is fixedly connected to one end of the threaded rod 2, an electric push rod 1 is fixedly connected to one side of the upper end surface of the displacement plate, and the piston end of the electric push rod 1 is fixedly connected to one side of the upper end surface of the groove plate 2.

[0012] Preferably, one end of the winding roller is fixedly connected to gear 2, and gear 2 is rotatably arranged on the sleeve, the two gears 2 are meshed with each other, and one side of the upper end surface of the sleeve is fixedly connected to motor 6, and the output end of motor 6 is fixedly connected to one end of the winding roller.

[0013] Preferably, one end of the connecting rod is fixedly connected to a gear one, and the gear one is rotatably arranged on the sleeve, the two gears one are meshed with each other, one side of the sleeve is fixedly connected to a motor five, and the output end of the motor five is fixedly connected to one end of the connecting rod.

[0014] Preferably, a secondary anti-falling component is also provided on the second trough plate;

[0015] The secondary anti-fall assembly includes a transverse plate slidably connected to the second slide groove of the groove plate, a cylinder is fixedly connected to one side of the lower end of the transverse plate, and an interception plate is fixedly connected to the piston end of the cylinder.

[0016] Preferably, the upper end of the transverse plate is threadedly connected to a threaded rod three, both ends of the threaded rod three are rotatably arranged on the slot plate two, one end of the slot plate two is fixedly connected to a motor four, and the output end of the motor four is fixedly connected to one end of the threaded rod three.

[0017] Preferably, the transfer table is also provided with a multi-directional opening mechanism to prevent the top cover of the wine bottle box from affecting the normal placement of the wine bottles;

[0018] The multi-directional opening mechanism includes a plurality of slot plates 1 slidably connected to the upper end surface of the transfer table, and an opening and closing claw is slidably connected to the sliding groove of the slot plate 1.

[0019] Preferably, a threaded rod one is threadedly connected to a lower end of the slot plate, both ends of the threaded rod one are rotatably arranged on a turntable, a plurality of motors three are fixedly connected to an upper surface of the turntable, and an output end of the motor three is fixedly connected to an end of the threaded rod one.

[0020] Preferably, one end of the opening and closing claw is threadedly connected to a threaded rod four, both ends of the threaded rod four are rotatably arranged on a slot plate one, the upper end of the slot plate one is fixedly connected to a motor one, and the output end of the motor one is fixedly connected to the upper end of the threaded rod four.

[0021] The beneficial effects of the present invention are as follows:

[0022] 1. The stacking storage handling robot described in the present invention utilizes a falling anti-dumping mechanism. When the manipulator places the wine bottles row by row in the wine bottle box, the interior of the wine bottle box is divided into a plurality of placement areas by using an intercepting cloth. The wine bottles gripped by the manipulator are placed in the placement area, and the number of the gripped wine bottles just fills up one row of the wine bottle box. The wine bottles in the placement area are blocked by the intercepting cloth and the inner wall of the wine bottle box and will not dump. Then, the above operation is repeated, and the wine bottles subsequently placed are blocked by the adjacent row of wine bottles, the wall of the wine bottle box, and the intercepting cloth and will not dump either. This prevents the wine bottles from being easily dumped under the action of external forces due to the empty area around the wine bottles when they are placed in the wine bottle box. The wine bottles will fall over and occupy the remaining placement space, affecting the placement of subsequent wine bottles and the stacking of wine bottle boxes, which is beneficial to improving the handling efficiency. In addition, by utilizing the secondary anti-falling component, when the robot places the clamped wine bottle in the placement area and the placement area is not filled, the intercepting plate is driven to contact the wine bottles at the edge of the placement area. At this time, the wine bottles in the placement area are limited again. Before the placement area is filled, the intercepting plate is always in contact with the wine bottles to prevent the wine bottles from falling over. Therefore, by further reducing the placement area, it is avoided that when the robot clamps the subsequent wine bottles, the wine bottles that have been placed will fall into the gap when there is a gap between the wine bottles that do not fill the placement area and the inner wall of one side of the wine bottle box, thereby affecting the normal placement of the subsequent wine bottles.

[0023] 2. The stacking storage handling robot described in the present invention utilizes a multi-directional opening mechanism, which can, with the cooperation of four opening and closing claws, make the four flat top covers on the upper end of the wine bottle box stand up, so that the four top covers no longer cover the upper part of the wine bottle box. Then, the manipulator can smoothly put the wine bottles into the wine bottle box, thereby avoiding the situation where the four top covers on the top of the wine bottle box are in a flat state after the wine bottle box is placed on the transfer table, and the top covers cover the upper end of the wine bottle box, thereby affecting the normal placement of the wine bottles. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below in conjunction with the accompanying drawings.

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the three-dimensional structure at the transfer station;

[0027] Figure 3 This is a schematic diagram of a three-dimensional structure of the robot;

[0028] Figure 4 It is a schematic diagram of the two-dimensional structure of the manipulator;

[0029] Figure 5 is a schematic diagram of the three-dimensional structure at the displacement plate;

[0030] Figure 6 It is a schematic diagram of the three-dimensional structure of the slot plate at two locations;

[0031] Figure 7 It is a schematic diagram of the three-dimensional structure of the opening and closing claws;

[0032] Figure 8 It is a three-dimensional structural diagram of the interception cloth in the state of being inside the wine bottle box;

[0033] Fig. 9 yes Figure 8 A partial enlarged view of the middle part;

[0034] Fig.10 It is a schematic diagram of the three-dimensional structure of the interception cloth;

[0035] Fig.11 yes Fig.10 A partial enlarged view of point B in the middle;

[0036] Fig.12 It is a schematic diagram of the three-dimensional structure of the electric push rod;

[0037] Fig.13 It is a schematic diagram of the three-dimensional structure at the interception plate.

[0038] In the figure: 1. base; 2. manipulator 1; 3. turntable; 4. manipulator 2; 5. slot plate 1; 6. opening and closing claws; 7. displacement plate; 8. electric push rod 1; 9. slide rod 1; 10. motor 1; 11. threaded rod 1; 12. threaded rod 2; 13. motor 2; 14. motor 3; 15. slot plate 2; 16. motor 4; 17. connecting rod; 18. transverse plate; 19. intercepting cloth; 20. connecting rod 1; 21. connecting rod 2; 22. sleeve; 23. adjusting rod; 24. motor 5; 25. gear 1; 26. threaded rod 3; 27. threaded rod 4; 28. cylinder; 29. ​​intercepting plate; 30. motor 6; 31. gear 2; 32. winding roller; 33. electric push rod 2; 34. adjusting block; 35. connecting rod 3; 36. clamping block. DETAILED DESCRIPTION

[0039] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0040] Please refer to Figure 1-Figure 13The present invention provides a technical solution: a stacking storage handling robot, comprising a base 1, a manipulator 2 for handling wine bottles is arranged on one side of the upper end surface of the base 1, a manipulator 4 for handling wine bottle boxes is arranged on one side of the upper end surface of the base 1, a transfer table 3 for placing wine bottles is fixedly connected to the upper end surface of the base 1, and a falling anti-dumping mechanism is arranged on the transfer table 3 to assist the manipulator 2 to place the wine bottles in the wine bottle box;

[0041] The falling anti-dumping mechanism includes a displacement plate 7 slidably connected to one side of the upper end surface of the transfer table 3, two sliding rods 9 are slidably connected to one side of the upper end of the displacement plate 7, the lower end of the sliding rod 9 is fixedly connected to a groove plate 2 15, one side of the groove plate 2 15 is fixedly connected to a connecting rod 17, the lower end of the connecting rod 17 is fixedly connected to a sleeve 22, the inner cavity of the sleeve 22 is symmetrically distributed and rotatably provided with two winding rollers 32, the winding rollers 32 are wrapped with an intercepting cloth 19, the intercepting cloth 19 and the sleeve 22 penetrate and are slidably connected, the end of the intercepting cloth 19 is fixedly connected to an adjusting rod 23, one side of the adjusting rod 23 is rotatably provided with two connecting rods 21, one end of the connecting rod 21 is rotatably provided with a connecting rod 1 20, and one end of the connecting rod 1 20 is rotatably provided on the sleeve 22.

[0042] In this embodiment, Figure 1-Figure 6 , Figure 8-Figure 13 As shown, a clamping assembly for fixing the wine bottle box is provided on the transfer table 3;

[0043] The clamping assembly includes a plurality of clamping blocks 36 slidably connected to the turntable 3, a connecting rod three 35 is rotatably provided on one side of the lower end of the clamping block 36, an electric push rod two 33 is fixedly connected to the middle of the lower end surface of the turntable 3, an adjusting block 34 is fixedly connected to the piston end of the electric push rod two 33, and the connecting rod three 35 is rotatably connected to the adjusting block 34 at one end away from the clamping block 36.

[0044] A threaded rod 2 12 is threadedly connected to one side of the lower end of the displacement plate 7, and both ends of the threaded rod 2 12 are rotatably set on the turntable 3. A motor 2 13 is fixedly connected to one side of the upper end surface of the turntable 3, and the output end of the motor 2 13 is fixedly connected to one end of the threaded rod 2 12. An electric push rod 1 8 is fixedly connected to one side of the upper end surface of the displacement plate 7, and the piston end of the electric push rod 18 is fixedly connected to one side of the upper end surface of the groove plate 2 15.

[0045] One end of the winding roller 32 is fixedly connected to a gear 2 31 , which is rotatably arranged on the sleeve 22 , and the two gears 2 31 are meshed with each other. One side of the upper end surface of the sleeve 22 is fixedly connected to a motor 6 30 , and the output end of the motor 6 30 is fixedly connected to one end of the winding roller 32 .

[0046] One end of the connecting rod 20 is fixedly connected to a gear 25, which is rotatably arranged on the sleeve 22, and the two gears 25 are meshed with each other. One side of the sleeve 22 is fixedly connected to a motor 24, and the output end of the motor 24 is fixedly connected to one end of the connecting rod 20.

[0047] A secondary anti-falling component is also provided on the trough plate 2 15;

[0048] The secondary anti-fall assembly includes a transverse plate 18 slidably connected to the slide groove of the second groove plate 15, a cylinder 28 is fixedly connected to one side of the lower end of the transverse plate 18, and an interception plate 29 is fixedly connected to the piston end of the cylinder 28.

[0049] The upper end of the transverse plate 18 is threadedly connected to a threaded rod 3 26 , and both ends of the threaded rod 3 26 are rotatably set on the groove plate 2 15 , one end of the groove plate 2 15 is fixedly connected to a motor 4 16 , and the output end of the motor 4 16 is fixedly connected to one end of the threaded rod 3 26 .

[0050] Specifically, the existing stacking storage handling robot, when in use, clamps the box cargo and then carries it to a designated area for stacking and placement. However, when the existing technology is applied to a warehouse storing wine, in some cases, the wine bottles and the wine bottle boxes are transported to the warehouse at the same time, and the robot stacks the wine bottles in the wine bottle boxes, and then stacks the wine bottle boxes. When the robot grabs the wine bottles and places them in the wine bottle boxes, in order to ensure the neatness of the wine bottles, the wine bottles need to be placed in the wine bottle boxes row by row. When the wine bottles are placed in the wine bottle boxes, there will be empty areas around the wine bottles, and the wine bottles are easily tipped over under the action of external forces, thereby occupying the remaining placement space, affecting the subsequent placement of wine bottles and the stacking of wine bottle boxes;

[0051] Therefore, in order to solve the above problems, when the present embodiment is in use, the base 1 is arranged at the end of the conveying mechanism of the wine bottle and the wine bottle box, and the wine bottle box is clamped and moved by the robot 2 4 to place the wine bottle box on the transfer table 3; the wine bottle box targeted by the present embodiment is a square carton with four top covers on the top. This type of wine bottle box is relatively common. Usually, the wine bottles are first loaded and stacked, and then the top covers on the top are sealed during subsequent transportation; when the wine bottle box is placed on the transfer table 3, the electric push rod 2 33 drives the adjustment block 34 to descend, so that the multiple connecting rods 3 35 rotate at the same time and drive the multiple clamping blocks 36 to move toward the middle of the transfer table 3 at the same time, until the four clamping blocks 36 are all in contact with the side of the wine bottle box. At this time, the wine bottle box is centered on the transfer table 3 and is fixed, and then the robot 2 clamps the multiple wine bottles on the wine bottle conveying mechanism. The robot 2 and the robot 4 are both existing technologies and will not be described in detail here; usually, the wine bottles on the wine bottle conveying mechanism are close to each other and side by side, so the multiple wine bottles clamped by the robot 2 from the wine bottle conveying mechanism are also in a side-by-side close state, and then the robot 2 begins to place the clamped wine bottles in rows along the edge of the inner cavity of the wine bottle box, and according to the diameter of the wine bottle, the motor 2 13 drives the threaded rod 2 12 to rotate, so that the displacement plate 7 slides on the transfer table 3, so that the sleeve 22 is above the wine bottle box, and then the electric push rod 8 drives The movable groove plate 2 15 descends, allowing the sleeve 22 to extend into the inner cavity of the wine bottle box. Since the wine bottle box is centrally clamped on the transfer table 3, the sleeve 22 is also in the middle position of the wine bottle box until the distance between the sleeve 22 and one side of the inner wall of the wine bottle box is the same as the diameter of the wine bottle. Then the motor 6 30 and the motor 5 24 are started at the same time. The motor 6 30 drives the winding roller 32 on one side to rotate, and under the action of the gear 2 31, the winding rollers 32 on both sides rotate at the same time to unwind the intercepting cloth 19 wound on the winding roller 32. At the same time, the connecting rod 1 20 and the connecting rod 21 rotate under the action of the motor 5 24 to adjust the distance between the two adjusting rods 23 so that the two adjusting rods 23 are in contact with the inner wall of the wine bottle box. At this time, the intercepting cloth 19 is unwound. A placement area will be formed between the cloth 19 and the inner wall of the wine bottle box, and the wine bottles gripped by the manipulator 2 will be placed in this placement area, and the number of wine bottles gripped will just fill up a row of the wine bottle box. The wine bottles in the placement area will be blocked by the intercepting cloth 19 and the inner wall of the wine bottle box and will not fall over. Then the above operation is repeated, and the subsequent wine bottles will be blocked by the adjacent row of wine bottles, the wine bottle box wall, and the intercepting cloth 19 and will not fall over. This avoids the situation where the wine bottles are easily tipped over by external forces when placed in the wine bottle box due to the empty area around the wine bottles, occupying the remaining placement space, affecting the placement of subsequent wine bottles and the stacking of the wine bottle boxes, which is conducive to improving the handling efficiency.

[0052] Furthermore, although the above method can prevent the wine bottles from falling over, since the specifications of each wine bottle box may be different and the number of wine bottles that can be gripped by the robot 2 at one time is limited, it is possible that the wine bottles gripped by the robot 2 at one time cannot fill the placement area and need to be gripped again. This will cause a gap between the wine bottles that do not fill the placement area and the inner wall of one side of the wine bottle box. When the robot 2 grips subsequent wine bottles, the wine bottles that have been placed may fall into the gap, which still affects the subsequent normal placement. Therefore, in order to avoid this problem, when the robot 2 places the gripped wine bottles in the placement area and the placement area is not filled, the motor 4 16 is driven The threaded rod 3 26 rotates to make the transverse plate 18 slide in the sliding groove of the groove plate 2 15. At the same time, the cylinder 28 drives the interception plate 29 to move so that the interception plate 29 is aligned with the middle area of ​​the wine bottle at the edge position until the interception plate 29 contacts the wine bottle. At this time, the wine bottles in the placement area are limited again. Before the placement area is filled, the interception plate 29 is always in contact with the wine bottle to prevent the wine bottle from tipping over. Thus, by further reducing the placement area, it is avoided that when the robot arm 1 2 clamps the subsequent wine bottle, the wine bottle that has been placed will tip over to the gap, thereby affecting the normal placement of the subsequent wine bottles.

[0053] When a sufficient number of wine bottles are placed in the wine bottle box, the robot 2 4 will move the wine bottle box to a designated location for stacking.

[0054] In this embodiment, Figure 5 and Figure 7 As shown, the transfer table 3 is also provided with a multi-directional opening mechanism to prevent the top cover of the wine bottle box from affecting the normal placement of the wine bottles;

[0055] The multi-directional opening mechanism includes a plurality of slot plates 5 slidably connected to the upper end surface of the transfer table 3, and an opening and closing claw 6 is slidably connected to the sliding groove of the slot plate 5.

[0056] The lower end of the slot plate 15 is threadedly connected to a threaded rod 11, both ends of the threaded rod 11 are rotatably set on the turntable 3, and the upper end surface of the turntable 3 is fixedly connected to multiple motors 3 14, and the output end of the motor 3 14 is fixedly connected to one end of the threaded rod 11.

[0057] One end of the opening and closing claw 6 is threadedly connected to a threaded rod 4 27, and both ends of the threaded rod 4 27 are rotatably set on the slot plate 1 5. The upper end of the slot plate 1 5 is fixedly connected to a motor 10, and the output end of the motor 10 is fixedly connected to the upper end of the threaded rod 4 27.

[0058] Specifically, in the above embodiment, although the robot 2 can be used to place the wine bottles in the wine bottle box, since four top covers are arranged on the top of the wine bottle box, and the top covers can seal the upper end of the wine bottle box when folded, when the wine bottle box is placed on the transfer table 3, its top covers may be in a flat state, thereby covering the upper end of the wine bottle box. When the robot 2 places the wine bottles in the wine bottle box, the top covers will affect the normal placement of the wine bottles. Therefore, in order to avoid this problem, the working principle of this embodiment is as follows:

[0059] When the wine bottle box is placed on the transfer table 3, the motor 3 14 drives the threaded rod 11 to rotate, and the motor 10 drives the threaded rod 4 27 to rotate to adjust the position of the opening and closing claws 6 so that the two symmetrically distributed opening and closing claws 6 are in contact with the edge of the flat top cover of the wine bottle box, and then the flat top cover is made to stand up by driving the opening and closing claws 6 to move longitudinally and laterally, and then the above operation is repeated to control the other two opening and closing claws 6 to stand up the two flat top covers. At this time, the four top covers will no longer cover the top of the wine bottle box, and the robot arm 2 can smoothly put the wine bottles into the wine bottle box, thereby avoiding the situation where the wine bottle box is placed on the transfer table 3 because there are four top covers on the top of the wine bottle box. The top cover is in a flat state and covers the upper end of the wine bottle box, thereby affecting the normal placement of the wine bottles.

[0060] Working principle: the base 1 is arranged at the end of the conveying mechanism for wine bottles and wine bottle boxes, and the wine bottle box is clamped and moved by the robot arm 2 4, so that the wine bottle box is placed on the transfer table 3; the wine bottle box targeted by this embodiment is a square carton with four top covers on the top. This type of wine bottle box is relatively common, and usually the wine bottles are stacked and placed first, and then the top covers on the top are sealed during subsequent transportation; when the wine bottle box is placed on the transfer table 3, the electric push rod 2 33 drives the adjustment block 34 to descend, so that the multiple connecting rods 3 35 rotate at the same time and drive the multiple clamping blocks 36 to move to the middle of the transfer table 3 at the same time, until the four clamping blocks 36 are all in contact with the sides of the wine bottle box, and the wine bottle box is centered on the transfer table 3. The bottles are fixed on the bottle box, and then the robot 2 clamps the bottles on the bottle conveying mechanism. The robot 2 and the robot 2 4 are both existing technologies and will not be described in detail here. Usually, the bottles on the bottle conveying mechanism fit together and are arranged side by side. Therefore, the bottles clamped by the robot 2 from the bottle conveying mechanism are also in a side-by-side fit state. Then the robot 2 places the clamped bottles in rows along the edge of the inner cavity of the bottle box, and according to the diameter of the bottles, the motor 2 13 drives the threaded rod 2 12 to rotate, so that the displacement plate 7 slides on the transfer table 3, so that the sleeve 22 is above the bottle box, and then the electric push rod 1 8 drives the slot plate 2 15 to descend. , so that the sleeve 22 extends into the inner cavity of the wine bottle box. Since the wine bottle box is clamped in the center on the transfer table 3, the sleeve 22 is also in the middle position of the wine bottle box until the distance between the sleeve 22 and one side of the inner wall of the wine bottle box is the same as the diameter of the wine bottle. Then, the motor 6 30 and the motor 5 24 are started at the same time. The motor 6 30 drives the winding roller 32 on one side to rotate, and under the action of the gear 2 31, the winding rollers 32 on both sides rotate at the same time, and the intercepting cloth 19 wound on the winding roller 32 is unwound. At the same time, the connecting rod 1 20 and the connecting rod 21 rotate under the action of the motor 5 24, and the distance between the two adjusting rods 23 is adjusted, so that the two adjusting rods 23 are in contact with the inner wall of the wine bottle box. At this time, the intercepting cloth 19 and A placement area will be formed between the inner walls of the wine bottle box, and the wine bottles gripped by the robot 1 will be placed in this placement area, and the number of wine bottles gripped will just fill up a row of the wine bottle box. The wine bottles in the placement area will be blocked by the interception cloth 19 and the inner wall of the wine bottle box and will not fall over. Then the above operation is repeated, and the subsequent wine bottles will be blocked by the adjacent row of wine bottles, the wine bottle box wall, and the interception cloth 19 and will not fall over. This avoids the situation where the wine bottles are easily tipped over by external forces when placed in the wine bottle box due to the empty area around the wine bottles, occupying the remaining placement space, affecting the placement of subsequent wine bottles and the stacking of wine bottle boxes, which is conducive to improving the handling efficiency.Furthermore, although the above method can prevent the wine bottles from falling over, since the specifications of each wine bottle box may be different and the number of wine bottles that can be gripped by the robot 2 at one time is limited, it is possible that the wine bottles gripped by the robot 2 at one time cannot fill the placement area and need to be gripped again. This will cause a gap between the wine bottles that do not fill the placement area and the inner wall of one side of the wine bottle box. When the robot 2 grips the subsequent wine bottles, the wine bottles that have been placed may fall into the gap, which still affects the subsequent normal placement. Therefore, in order to avoid this problem, when the robot 2 will The wine bottles that have been clamped are placed in the placement area, and when the placement area is not filled, the motor 4 16 drives the threaded rod 3 26 to rotate, so that the transverse plate 18 slides in the sliding groove of the groove plate 2 15. At the same time, the cylinder 28 drives the interception plate 29 to move, so that the interception plate 29 is aligned with the middle area of ​​the wine bottles at the edge position until the interception plate 29 contacts the wine bottles. At this time, the wine bottles in the placement area are limited again. Before the placement area is filled, the interception plate 29 is always in contact with the wine bottles to prevent the wine bottles from tipping over, thereby further reducing the placement area to avoid the problem of wine bottles being overturned. There is a gap between the wine bottles that do not fill the placement area and the inner wall of one side of the wine bottle box. When the robot arm 2 clamps the subsequent wine bottles, the wine bottles that have been placed will fall into the gap, which will affect the normal placement of the subsequent wine bottles. When a sufficient number of wine bottles are placed in the wine bottle box, the robot arm 2 4 will move the wine bottle box to the designated position for stacking. Moreover, when the wine bottle box is placed on the transfer table 3, the motor 3 14 drives the threaded rod 1 11 to rotate, and the motor 10 drives the threaded rod 4 27 to rotate, so as to adjust the position of the opening and closing claws 6 so that the two symmetrically distributed opening and closing claws 6 It contacts the edge of the top cover of the wine bottle box, and then drives the opening and closing claws 6 to move longitudinally and transversely to make the top cover stand up, and then repeat the above operation to control the other two opening and closing claws 6 to make the two top covers stand up. At this time, the four top covers will no longer cover the top of the wine bottle box, and the robot arm 1 2 can smoothly put the wine bottle into the wine bottle box, thereby avoiding the situation that the wine bottle box is placed on the transfer table 3 because the top cover is in a flat state and covers the upper end of the wine bottle box, thereby affecting the normal placement of the wine bottle. ;

[0061] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A stacking storage handling robot, comprising a base (1), characterized in that: A manipulator 1 (2) for carrying wine bottles is disposed on one side of the upper end surface of the base (1); a manipulator 2 (4) for carrying wine bottle boxes is disposed on one side of the upper end surface of the base (1); a transfer table (3) for placing wine bottles is fixedly connected to the upper end surface of the base (1); and a falling anti-dumping mechanism is disposed on the transfer table (3) to assist the manipulator 1 (2) in placing the wine bottles in the wine bottle box; The falling anti-dumping mechanism comprises a displacement plate (7) slidably connected to one side of the upper end surface of the transfer platform (3); two sliding rods (9) are slidably connected to one side of the upper end of the displacement plate (7); the lower end of the sliding rod (9) is fixedly connected to a groove plate (15); one side of the groove plate (15) is fixedly connected to a connecting rod (17); the lower end of the connecting rod (17) is fixedly connected to a sleeve (22); the inner cavity of the sleeve (22) is symmetrically distributed and rotatably provided with two A winding roller (32) is provided with an intercepting cloth (19) wound on the winding roller (32), the intercepting cloth (19) and the sleeve (22) penetrate through and are slidably connected, an adjusting rod (23) is fixedly connected to the end of the intercepting cloth (19), one side of the adjusting rod (23) is rotatably provided with two connecting rods (21), one end of the connecting rod (21) is rotatably provided with a connecting rod (20), and one end of the connecting rod (20) is rotatably provided on the sleeve (22).

2. A stacking storage handling robot according to claim 1, characterized in that: The transfer table (3) is provided with a clamping assembly for fixing the wine bottle box; The clamping assembly comprises a plurality of clamping blocks (36) slidably connected to the turntable (3); a connecting rod three (35) is rotatably provided on one side of the lower end of the clamping block (36); an electric push rod two (33) is fixedly connected to the middle of the lower end surface of the turntable (3); an adjusting block (34) is fixedly connected to the piston end of the electric push rod two (33); and an end of the connecting rod three (35) away from the clamping block (36) is rotatably connected to the adjusting block (34).

3. A stacking storage handling robot according to claim 1, characterized in that: One side of the lower end of the displacement plate (7) is threadedly connected to a second threaded rod (12), both ends of the second threaded rod (12) are rotatably arranged on the turntable (3), one side of the upper end surface of the turntable (3) is fixedly connected to a second motor (13), the output end of the second motor (13) is fixedly connected to one end of the second threaded rod (12), one side of the upper end surface of the displacement plate (7) is fixedly connected to an electric push rod (8), and the piston end of the electric push rod (8) is fixedly connected to one side of the upper end surface of the second groove plate (15).

4. A stacking storage handling robot according to claim 1, characterized in that: One end of the winding roller (32) is fixedly connected to a second gear (31), and the second gear (31) is rotatably arranged on the sleeve (22). The two second gears (31) are meshed with each other. One side of the upper end surface of the sleeve (22) is fixedly connected to a sixth motor (30), and the output end of the sixth motor (30) is fixedly connected to one end of the winding roller (32).

5. The stacking storage handling robot according to claim 1, characterized in that: One end of the connecting rod 1 (20) is fixedly connected to a gear 1 (25), and the gear 1 (25) is rotatably arranged on the sleeve (22). The two gears 1 (25) are meshed with each other. One side of the sleeve (22) is fixedly connected to a motor 5 (24), and the output end of the motor 5 (24) is fixedly connected to one end of the connecting rod 1 (20).

6. A stacking storage handling robot according to claim 1, characterized in that: The second trough plate (15) is also provided with a secondary anti-falling component; The secondary anti-fall assembly comprises a transverse plate (18) slidably connected to the slide groove of the second groove plate (15), a cylinder (28) is fixedly connected to one side of the lower end of the transverse plate (18), and an interception plate (29) is fixedly connected to the piston end of the cylinder (28).

7. A stacking storage handling robot according to claim 6, characterized in that: The upper end of the transverse plate (18) is threadedly connected to a threaded rod three (26), both ends of the threaded rod three (26) are rotatably arranged on the groove plate two (15), one end of the groove plate two (15) is fixedly connected to a motor four (16), and the output end of the motor four (16) is fixedly connected to one end of the threaded rod three (26).

8. The stacking storage handling robot according to claim 1, characterized in that: The transfer table (3) is also provided with a multi-directional opening mechanism to prevent the top cover of the wine bottle box from affecting the normal placement of the wine bottles; The multi-directional opening mechanism comprises a plurality of slot plates (5) slidably connected to the upper end surface of the transfer platform (3), and an opening and closing claw (6) is slidably connected to the sliding groove of the slot plate (5).

9. A stacking storage handling robot according to claim 8, characterized in that: The lower end of the groove plate 1 (5) is threadedly connected to a threaded rod 1 (11), both ends of the threaded rod 1 (11) are rotatably arranged on the turntable (3), and the upper end surface of the turntable (3) is fixedly connected to a plurality of motors 3 (14), and the output end of the motor 3 (14) is fixedly connected to one end of the threaded rod 1 (11).

10. The stacking storage handling robot according to claim 8, characterized in that: One end of the opening and closing claw (6) is threadedly connected to a threaded rod four (27), both ends of the threaded rod four (27) are rotatably arranged on a slot plate one (5), the upper end of the slot plate one (5) is fixedly connected to a motor one (10), and the output end of the motor one (10) is fixedly connected to the upper end of the threaded rod four (27).

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