Split type warehousing and carrying robot

Abstract

The invention relates to the technical field of transfer robots, in particular to a split type storage transfer robot. Comprising a vehicle body, a front frame and a rear frame which are fixedly connected through a fixing rod, steering wheels are installed at the two ends of the front frame, driving wheels are rotationally connected to the two ends of the rear frame, a fixing plate is fixedly connected to the top face of the vehicle body, a plurality of lugs are evenly distributed and fixed to the fixing plate, rotating shafts are rotationally connected into the lugs, and a containing plate is fixed to the rotating shafts; a gear is concentrically fixed to the end of the rotating shaft, sliding frames are slidably connected to the left side and the right side of the trolley body in the vertical direction, the lower ends of the sliding frames are fixedly connected with the fixing rod, vertical grooves are formed in the sliding frames, the gear is located in the vertical groove in one side of the gear, and a vertical rack is fixed to the front groove wall of each vertical groove and meshed with the gear. During braking, the front side of the vehicle body sinks, the rack enables the gear to rotate anticlockwise, the end, away from the fixing plate, of the containing plate rotates upwards, and then goods on the containing plate are prevented from falling off.

Description

Technical Field

[0001] The present invention relates to the technical field of handling robots, and in particular to a split-type storage and handling robot. Background Art

[0002] With the advent of global Industry 4.0 and the era of smart technology, factory intelligence has become an irreversible development trend. At the same time, the rise in labor costs and the huge demand of enterprises for various energy and resources have also set off a wave of development in the industrial automation equipment industry. With the continuous research and development of robot products, automatic robots will slowly replace manual labor, which is not only the development demand of the entire industry. All walks of life are constantly developing in the direction of automation and intelligence. In recent years, with the vigorous development of the Internet and e-commerce, the electronic logistics industry has developed rapidly. In order to make transportation and handling more efficient and faster, more and more automated equipment is used in the field of logistics.

[0003] With the rapid development of intelligent warehousing and logistics technology, handling robots have become one of the core equipment of modern warehousing systems due to their high efficiency and flexibility. Split-type warehouse handling robots have attracted much attention due to their modular design (such as detachable cargo platforms and drive chassis). This structure can adapt to a variety of cargo sizes and handling scenarios, and supports rapid replacement of functional modules. In the existing technology, cargo fixation mostly relies on straps, air pressure adsorption or mechanical clamping, but there are obvious deficiencies in the split robot scenario: 1. Dynamic response lag: Traditional straps or clamping devices cannot adapt to the acceleration changes at the moment of braking in real time (usually up to 2-3m / s²), causing the cargo inertia force to exceed the maximum static friction threshold of the fixing device; 2. Poor compatibility: The fixing solution for special-shaped cargo (such as cylinders, soft packaging) lacks universality, and local stress concentration during braking can easily cause cargo to overturn.

[0004] During the braking process, the existing split-type storage and handling robots have a cargo drop rate of up to 12%-15% due to structural dynamic instability and delayed response of the fixing device, which seriously restricts their large-scale application in automated warehousing scenarios. Therefore, a systematic solution with adaptive cargo stabilization function is urgently needed to break through the technical bottleneck of split-type robots under dynamic working conditions. Summary of the invention

[0005] The main purpose of the present invention is to provide a split-type storage and handling robot with an adaptive cargo stabilization function, which can prevent cargo from falling from a placement plate when braking.

[0006] A split-type storage and handling robot comprises a body, a front frame and a rear frame are elastically connected at the lower end of the body, the front frame and the rear frame are fixedly connected by a fixing rod, steering wheels are installed at both ends of the front frame, driving wheels are rotatably connected at both ends of the rear frame, a brake system is arranged at the lower end of the body, the brake system can stop the driving wheel, a vertical fixing plate is fixedly connected to the top surface of the body, a plurality of ear seats are evenly fixed in the vertical direction of the front side of the fixing plate, a rotating shaft is rotatably connected in the ear seat, a placing plate is fixed on the rotating shaft, a gear is concentrically fixed to the end of the rotating shaft, and a vertical fixing plate is fixed to the top surface of the body. The right two sides are slidably connected with sliding frames in the vertical direction, and the lower ends of the sliding frames are fixedly connected to the fixed rods. A vertical groove is opened in the sliding frame, and the gear is located in the vertical groove on one side of the sliding frame. A vertical rack is fixed on the front groove wall of the vertical groove, and the rack is meshed with the gear. When braking, the front side of the vehicle body sinks, and the fixed plate, ear seat, rotating shaft and placement plate move downward relative to the sliding frame. The rack makes the gear rotate counterclockwise, and the end of the placement plate away from the fixed plate rotates upward, thereby preventing the cargo on the placement plate from falling. A pushing component that can push the cargo between two adjacent placement plates is provided on the vehicle body.

[0007] Specifically, two groups of connecting columns are fixed on the bottom surface of the vehicle body, and the two groups of connecting columns are slidably connected to the rear frame and the front frame respectively. The top surfaces of the rear frame and the front frame are both connected to shock absorbers, and the tops of the shock absorbers are connected to the vehicle body.

[0008] Specifically, except for the placement plate close to the vehicle body, the bottom surfaces of the other placement plates are all fixed with airbags.

[0009] Specifically, the ejection assembly includes a connecting frame located on the rear side of the fixed plate, the lower end of the connecting frame is slidably connected to the vehicle body, the connecting frame and the vehicle body are connected through a driving unit, a sliding groove is provided on the fixed plate between two adjacent placement plates, a pushing frame corresponding to the sliding groove is fixed on the connecting frame, and the pushing frame is slidably connected in the sliding groove.

[0010] Specifically, the drive unit includes a motor fixed in a fixed plate, a lead screw is concentrically fixed on the output shaft of the motor, the axial direction of the lead screw is parallel to the front-rear direction of the vehicle body, the lead screw passes through a connecting frame, the lead screw is threadedly connected to the connecting frame, a fixed seat is fixed on the vehicle body, the connecting frame is located between the fixed seat and the fixed plate, and the lead screw is rotatably connected to the fixed seat.

[0011] Specifically, the push frame is in an inverted U shape.

[0012] 1. When braking, the front side of the vehicle body sinks, the fixed plate, the ear seat, the rotating shaft and the placement plate move downward relative to the sliding frame, the rack makes the gear rotate counterclockwise, and the end of the placement plate away from the fixed plate rotates upward, thereby preventing the cargo on the placement plate from falling, and having an adaptive cargo stabilization function.

[0013] 2. When the goods are transported to the designated location, the driving unit is started, and the driving unit can make the connecting frame close to the fixed plate, and then use the push frame to push the goods between the two adjacent placement plates to the corresponding shelf storage position.

[0014] 3. When the end of the placement plate away from the fixed plate rotates upward, the two adjacent placement plates can clamp the goods between them, which can further stabilize the goods.

[0015] 4. By fixing the airbag on the bottom of the placement board, the outer packaging of the goods can be prevented from being squeezed and damaged. At the same time, by changing the inflation volume of the airbag, the expansion volume of the airbag is changed, and finally the space size between two adjacent placement boards is changed, which is convenient for transporting goods of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the split-type storage and handling robot.

[0017] Figure 2 Schematic diagram of the connection between the drive unit and the connecting frame.

[0018] Figure 3 This is a schematic diagram of the connection between the front rack and the rear rack.

[0019] Figure 4 Schematic diagram of the meshing of gear and rack.

[0020] Figure 5 It is a schematic diagram of the connection between the push frame and the fixed plate.

[0021] Figure 6 This is a schematic diagram of the placement plate after rotation during braking.

[0022] The names of the parts in the accompanying drawings are: 1. Car body; 2. Fixed plate; 3. Fixed seat; 4. Slide groove; 5. Ear seat; 6. Rotating shaft; 7. Placement plate; 8. Gear; 9. Airbag; 10. Motor; 11. Screw; 12. Connecting frame; 121. Push frame; 13. Sliding frame; 14. Rear frame; 15. Front frame; 16. Connecting column; 17. Shock absorber; 18. Driving wheel; 19. Steering wheel; 20. Fixed rod; 21. Rack. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0024] Embodiment 1: Figure 1-Figure 5As shown, a split-type storage and handling robot includes a body 1, and a front frame 15 and a rear frame 14 are elastically connected at the lower end of the body 1. Specifically, two groups of connecting columns 16 are fixed to the bottom surface of the body 1, and the two groups of connecting columns 16 are slidably connected to the rear frame 14 and the front frame 15 respectively. The top surfaces of the rear frame 14 and the front frame 15 are both connected to shock absorbers 17, and the tops of the shock absorbers 17 are connected to the body 1.

[0025] The front frame 15 and the rear frame 14 are fixedly connected by a fixing rod 20. Steering wheels 19 are installed at both ends of the front frame 15, and driving wheels 18 are rotatably connected at both ends of the rear frame 14.

[0026] A brake system is provided at the lower end of the vehicle body 1 , and the brake system can stop the driving wheel 18 .

[0027] A vertical fixing plate 2 is fixedly connected to the top surface of the vehicle body 1 , a plurality of ear seats 5 are evenly fixed in the vertical direction on the front side of the fixing plate 2 , a rotating shaft 6 is rotatably connected inside the ear seat 5 , and a placement plate 7 is fixed on the rotating shaft 6 .

[0028] A gear 8 is concentrically fixed to the end of the rotating shaft 6, and sliding frames 13 are slidably connected in the vertical direction on both sides of the left and right sides of the vehicle body 1. The lower end of the sliding frame 13 is fixedly connected to the fixed rod 20. A vertical groove is opened in the sliding frame 13, and the gear 8 is located in the vertical groove on one side thereof. A vertical rack 21 is fixed on the front groove wall of the vertical groove, and the rack 21 is meshed with the gear 8.

[0029] The goods to be transported are placed in the space between two adjacent placement plates 7, and the placement plates 7 below the goods can support the goods.

[0030] like Figure 6 As shown, when braking, under the action of inertia, the front side of the vehicle body 1 sinks, the fixed plate 2, the ear seat 5, the rotating shaft 6 and the placement plate 7 move downward relative to the sliding frame 13, the rack 21 causes the gear 8 to rotate counterclockwise, and the end of the placement plate 7 away from the fixed plate 2 rotates upward, thereby preventing the goods on the placement plate 7 from falling. The split-type warehouse handling robot has an adaptive cargo stabilization function.

[0031] When one end of the placement plate 7 away from the fixed plate 2 rotates upward, two adjacent placement plates 7 can clamp the goods therebetween, thereby further stabilizing the goods.

[0032] After the front side of the vehicle body 1 sinks, the vehicle body 1 gradually recovers under the elastic force of the shock absorber 17. After the vehicle body 1 recovers, the fixed plate 2, the ear seat 5, the rotating shaft 6 and the placement plate 7 move upward relative to the sliding frame 13, the rack 21 causes the gear 8 to rotate clockwise, and the end of the placement plate 7 away from the fixed plate 2 rotates downward until it recovers.

[0033] Embodiment 2: Based on Embodiment 1, refer to Figure 1-Figure 6As shown, the vehicle body 1 is provided with a push-out assembly capable of pushing out the goods between two adjacent placement plates 7 .

[0034] The push-out assembly includes a connecting frame 12 located at the rear side of the fixed plate 2, the lower end of the connecting frame 12 is slidably connected to the vehicle body 1, and the connecting frame 12 is connected to the vehicle body 1 through a driving unit. A slide groove 4 is provided on the fixed plate 2 between two adjacent placement plates 7, and a push frame 121 corresponding to the slide groove 4 is fixed on the connecting frame 12, and the push frame 121 is slidably connected in the slide groove 4. The push frame 121 is in an inverted U shape.

[0035] The driving unit includes a motor 10 fixed in the fixed plate 2, a screw 11 is concentrically fixed on the output shaft of the motor 10, the axial direction of the screw 11 is parallel to the front-rear direction of the vehicle body 1, the screw 11 passes through a connecting frame 12, the screw 11 is threadedly connected to the connecting frame 12, a fixed seat 3 is fixed on the vehicle body 1, the connecting frame 12 is located between the fixed seat 3 and the fixed plate 2, and the screw 11 is rotatably connected to the fixed seat 3.

[0036] When the goods are transported to the designated location, the motor 10 is started, and the motor 10 drives the screw 11 to rotate. During the rotation of the screw 11, the connecting frame 12 can be close to the fixed plate 2, and then the pushing frame 121 is used to push the goods between the two adjacent placement plates 7 to the corresponding shelf storage position.

[0037] Embodiment 3: Based on Embodiment 1, refer to Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, except for the placement plate 7 close to the vehicle body 1 , the bottom surfaces of the other placement plates 7 are all fixed with airbags 9 .

[0038] By fixing the airbag 9 on the bottom surface of the placement plate 7, when the end of the placement plate 7 away from the fixing plate 2 rotates upward, when two adjacent placement plates 7 clamp the goods therebetween, the airbag 9 can prevent the outer packaging of the goods from being squeezed and damaged.

[0039] At the same time, the inflation amount of the airbag 9 is changed, thereby changing the expansion amount of the airbag 9, and finally changing the size of the space between two adjacent placement plates 7, so as to facilitate the transportation of goods of different sizes.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A split-type storage and handling robot comprises a body (1), wherein the lower end of the body (1) is elastically connected with a front frame (15) and a rear frame (14), the front frame (15) and the rear frame (14) are fixedly connected by a fixing rod (20), the two ends of the front frame (15) are equipped with steering wheels (19), the two ends of the rear frame (14) are rotatably connected with driving wheels (18), the lower end of the body (1) is provided with a brake system, and the brake system can stop the driving wheel (18), wherein the front frame (15) and the rear frame (14) are fixedly connected by a fixing rod (20 ... front frame (15) and the rear frame (14) are fixedly connected by a fixing rod (20), the front frame (15) and the rear frame (14) are fixedly connected by a fixing rod (20), the front frame (15) and the rear frame (14) are fixedly connected by a fixing rod (20), the front frame (15) and the rear frame (14) are fixedly connected by a fixing rod (20), the front frame (15) and the rear frame (14) are fixedly connected by a fixing rod (20), the front frame (15) and the rear frame (14) are fixedly connected by a fixing rod (20), the front frame (15) and the rear frame (14) are fixedly connected A vertical fixing plate (2) is fixedly connected to the top surface of the vehicle body (1), a plurality of ear seats (5) are evenly fixed in the vertical direction on the front side of the fixing plate (2), a rotating shaft (6) is rotatably connected inside the ear seat (5), a placement plate (7) is fixed on the rotating shaft (6), a gear (8) is concentrically fixed to the end of the rotating shaft (6), a sliding frame (13) is slidably connected in the vertical direction on both sides of the vehicle body (1), the lower end of the sliding frame (13) is fixedly connected to the fixing rod (20), a vertical groove is opened inside the sliding frame (13), and the gear (8) is located in the vertical groove on one side thereof A vertical rack (21) is fixed on the front groove wall of the vertical groove, and the rack (21) is meshed with the gear (8). When braking, the front side of the vehicle body (1) sinks, the fixed plate (2), the ear seat (5), the rotating shaft (6) and the placement plate (7) move downward relative to the sliding frame (13), the rack (21) causes the gear (8) to rotate counterclockwise, and the end of the placement plate (7) away from the fixed plate (2) rotates upward, thereby preventing the goods on the placement plate (7) from falling. The vehicle body (1) is provided with a pushing component capable of pushing out the goods between two adjacent placement plates (7).

2. According to claim 1, a split storage and handling robot is characterized in that: Two groups of connecting columns (16) are fixed on the bottom surface of the vehicle body (1), and the two groups of connecting columns (16) are respectively slidably connected to the rear frame (14) and the front frame (15). The top surfaces of the rear frame (14) and the front frame (15) are both connected to shock absorbers (17), and the top of the shock absorber (17) is connected to the vehicle body (1).

3. According to claim 1, a split storage and handling robot is characterized in that: Except for the placement plate (7) close to the vehicle body (1), the bottom surfaces of the remaining placement plates (7) are all fixed with air bags (9).

4. The split-type storage and handling robot according to claim 1, characterized in that: The ejection assembly comprises a connecting frame (12) located at the rear side of the fixed plate (2), the lower end of the connecting frame (12) is slidably connected to the vehicle body (1), the connecting frame (12) and the vehicle body (1) are connected via a driving unit, a sliding groove (4) is provided on the fixed plate (2) between two adjacent placement plates (7), a ejection frame (121) corresponding to the sliding groove (4) is fixed on the connecting frame (12), and the ejection frame (121) is slidably connected in the sliding groove (4).

5. A split-type storage and handling robot according to claim 4, characterized in that: The drive unit comprises a motor (10) fixed in a fixing plate (2), a lead screw (11) being coaxially fixed on an output shaft of the motor (10), the axial direction of the lead screw (11) being parallel to the front-rear direction of the vehicle body (1), the lead screw (11) passing through a connecting frame (12), the lead screw (11) being threadedly connected to the connecting frame (12), a fixing seat (3) being fixed on the vehicle body (1), the connecting frame (12) being located between the fixing seat (3) and the fixing plate (2), and the lead screw (11) being rotatably connected to the fixing seat (3).

6. A split-type storage and handling robot according to claim 4, characterized in that: The push frame (121) is in an inverted U shape.

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