Workbin storage robot

Abstract

The invention relates to the technical field of workbin storage, in particular to a workbin storage robot which comprises a bearing chassis, universal driving wheels are arranged at the bottom of the bearing chassis, the workbin storage robot further comprises a vertical guide frame vertically connected to the rear side of the bearing chassis, and a lifting guide groove is formed in the middle of the vertical guide frame; the vertical guide frame is formed by vertically connecting and combining a plurality of unit guide frames end to end; the folding rotating shafts are connected to the upper ends and the lower ends of the unit guide frames, the adjacent unit guide frames are connected through the folding rotating shafts, and the unit guide frames are overturned and folded towards the rear side along the folding rotating shafts. The vertical guide frame formed by vertically connecting and combining the multiple unit guide frames end to end serves as a lifting supporting framework, the unit guide frames are overturned and folded towards the rear side along the folding rotating shafts, and the maximum height of the robot can be adjusted by adjusting the number of the overturned unit guide frames; therefore, the device adapts to warehouses and use environments with different heights.

Description

Technical Field

[0001] The present invention relates to the technical field of material box storage, and in particular to a material box storage robot. Background Art

[0002] A bin storage robot is an automated device specially designed to perform storage and retrieval tasks in warehouses. They use automated means to achieve efficient and precise storage and retrieval of goods, which can improve warehouse operating efficiency, reduce labor costs, reduce error rates and optimize inventory management. Currently, the common bin storage robots on the market are equipped with a fixed lifting support frame. The overall height of the support frame directly determines the height range of the shelf that the robot can adapt to. Specifically, the higher the structural height of the lifting support part, the higher the shelf height that can be served.

[0003] The patent with application number CN202410011080.4 discloses a warehouse robot, including: a mobile base device, a lifting device, a rotating device and a clamping device. The lifting device is arranged and installed on the mobile base device, the rotating device is arranged and installed on the lifting device, and the clamping device is arranged and installed on the rotating device. The warehouse robot moves autonomously through the mobile base device and completes the automated handling task of goods. The lifting device realizes the rising and falling of goods to adapt to the handling tasks of shelves of different heights, and the clamping device can realize the simultaneous picking, placing and handling of multiple material boxes, thereby improving the handling efficiency.

[0004] However, there are great differences in the design and layout of different warehouses. Especially within the same warehouse, due to the different functions of zoning, such as sorting area, storage area, etc., as well as the influence of factors such as fire protection pipes, water and electricity facilities ceilings, the effective clearance height of each area is not consistent. The lifting support structure of traditional material box storage robots is relatively fixed and lacks the ability to quickly adjust according to actual needs, which limits the applicability and work efficiency of the robots. Summary of the invention

[0005] In view of this, the purpose of the present invention is to propose a material box storage robot to solve the problem that the current material box storage robot has a relatively fixed lifting support structure and lacks the ability to be quickly adjusted according to actual needs, which limits the applicability and work efficiency of the robot.

[0006] Based on the above purpose, the present invention provides a material box storage robot, including a load-bearing chassis, a universal driving wheel is arranged at the bottom of the load-bearing chassis, and further comprising:

[0007] A vertical guide frame is vertically connected and arranged at the rear side of the bearing chassis, a lifting guide slot is arranged in the middle of the vertical guide frame, and the vertical guide frame is composed of a plurality of unit guide frames connected end to end vertically;

[0008] A folding shaft is connected to the upper and lower ends of the unit guide frame, and the adjacent unit guide frames are connected to each other through the folding shaft. The unit guide frame is flipped and folded backward along the folding shaft. The middle inner sides of the upper and lower end surfaces of the unit guide frame are rotatably connected with steel cable guide wheels, and the shaft ends of the folding shaft are connected with a shaft locking mechanism;

[0009] A lifting traction wheel is installed on the top of the vertical guide frame, a traction steel cable is wound around the outer side of the lifting traction wheel, and the traction steel cable is connected and arranged on the front side of the steel cable guide wheel;

[0010] A lifting storage and retrieval frame is arranged above the load-bearing chassis, the lifting storage and retrieval frame is slidably connected to the lifting guide groove, the outer end of the traction steel cable is connected to the lifting storage and retrieval frame, a load-bearing pallet is rotatably connected above the lifting storage and retrieval frame, and a telescopic storage and retrieval mechanism is arranged in the middle of the load-bearing pallet;

[0011] A lifting locking pin is slidably arranged in the middle of the lifting storage and retrieval frame. A plurality of lifting locking grooves are evenly arranged vertically in the middle of the vertical guide frame. The lifting locking grooves and the lifting locking pin are matched with each other.

[0012] Furthermore, a lifting locking sleeve is nested on the outer side of the lifting locking pin, the lifting locking sleeve is connected to the lifting storage and retrieval rack, the lifting locking pin is slidably connected to the lifting storage and retrieval rack through the lifting locking sleeve, an unlocking coil is arranged around the middle of the lifting locking sleeve, and a reset spring is arranged on the rear side of the lifting locking pin.

[0013] Further, the shaft locking mechanism includes a shaft locking plate, the shaft locking plate is connected to the folding shaft, a folding locking groove and a connecting locking groove are arranged around the middle interval of the shaft locking plate, an end face locking sleeve is arranged in the middle of the upper end side surface of the unit guide frame, an end face locking pin is nested and slidably arranged on the inner side of the end face locking sleeve, the end face locking pin is arranged to cooperate with the folding locking groove and the connecting locking groove, a locking spring is arranged on the rear side of the end face locking pin, and an unlocking electromagnet is arranged at the rear end of the end face locking sleeve;

[0014] Furthermore, when the unit guide frame rotates toward the rear side of the folding axis and folds back to a folded state, the end face locking pin and the folding locking groove are aligned with each other; when the unit guide frame rotates toward the front side of the folding axis to a vertical state, the end face locking pin and the connecting locking groove are aligned with each other.

[0015] Furthermore, an auxiliary pressing guide rail is connected in the middle of the side of the unit guide frame, an auxiliary reset frame is slidably connected in the middle of the auxiliary pressing guide rail, a conical pressing frame is connected at the top of the auxiliary reset frame, a pressing roller is connected on the outer side of the conical pressing frame, and the pressing roller and the auxiliary pressing guide rail are cooperated with each other.

[0016] Furthermore, a pressing rack is arranged in the middle of the auxiliary pressing guide rail, a reset motor is installed in the middle of the auxiliary reset frame, a reset gear is connected to the shaft end of the reset motor, and the reset gear and the pressing rack are meshed with each other.

[0017] Furthermore, the telescopic storage and retrieval mechanism includes a telescopic push-pull groove, which is symmetrically arranged in the middle of the left and right sides of the load-bearing pallet, a first-level fork is slidably arranged in the middle of the telescopic push-pull groove, a second-level fork is slidably connected in the middle of the first-level fork, and a multi-section telescopic rod is connected to the rear end of the second-level fork, and the multi-section telescopic rod pushes the second-level fork and the first-level fork to slide horizontally.

[0018] Furthermore, a limit push plate is horizontally connected to the rear end of the secondary fork, a limit lever is horizontally connected to the front end of the secondary fork, an adjusting shaft is arranged in the middle of the rear end of the limit lever, the limit lever is rotatably connected to the secondary fork via the adjusting shaft, and a lever motor is connected to the shaft end of the adjusting shaft.

[0019] Furthermore, a rotating adjustment disk is provided between the cargo loading tray and the lifting and retrieval rack, the cargo loading tray is rotatably connected to the lifting and retrieval rack via the rotating adjustment disk, a rotating adjustment gear ring is provided on the outer side of the rotating adjustment disk in a surrounding connection, a rotating adjustment gear is provided on the outer side of the rotating adjustment gear ring in a meshing connection, a rotating adjustment motor is connected to the shaft end of the rotating adjustment gear, and the rotating adjustment motor is fixedly connected to the lifting and retrieval rack.

[0020] Furthermore, a central storage slot is provided in the middle of the unit guide frame, a temporary storage pallet is embedded in the middle of the central storage slot, a pallet rotating shaft is connected to the rear end side of the temporary storage pallet, the temporary storage pallet is rotatably connected to the unit guide frame via the pallet rotating shaft, a pallet limit block is connected in the middle of the pallet rotating shaft, and a buffer damping sleeve is nested on the outer side of the pallet rotating shaft.

[0021] Beneficial effects of the present invention: It can be seen from the above that the present invention provides a material box storage robot, which uses a vertical guide frame composed of a plurality of unit guide frames connected vertically end to end as a lifting support frame, and the unit guide frame is flipped and folded backward along the folding axis. By adjusting the number of flipped unit guide frames, the maximum height of the robot can be adjusted to adapt to warehouses of different heights and usage environments. At the same time, the robot uses the lifting traction wheel and the traction steel cable to pull the lifting storage and retrieval frame up and down to perform material box retrieval work, and the folding part between each unit guide frame is provided with a steel cable guide wheel, and the traction steel cable is passed through the lifting traction wheel. The lifting and retrieval frame is guided by the steel cable guide wheel, and when the unit guide frame is flipped and folded to the rear side, the lifting and retrieval frame is locked in position by the lifting and retrieval locking pin, so that the length of the traction steel cable is controlled by winding the lifting and traction wheel, so that the automatic folding and reverse resetting of the unit guide frame can be realized, and there is no need to set a power structure at each folding position. The overall structure is simpler and more reliable, and the lifting and traction wheels and traction steel cables are both arranged at the top of the vertical guide frame, that is, the top of the unit guide frame at the top. Therefore, even after folding, the traction steel cables can still be guided and changed in direction through multiple steel cable guide wheels, thereby realizing the traction and lifting of the lifting and retrieval frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a structural schematic diagram of a vertical guide frame in a folded state according to an embodiment of the present invention;

[0024] Figure 2 It is a front structural schematic diagram of an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of the back structure of an embodiment of the present invention;

[0026] Figure 4 It is a structural schematic diagram of the working state of an embodiment of the present invention;

[0027] Figure 5 It is a structural schematic diagram of a vertical guide frame in a folding state according to an embodiment of the present invention;

[0028] Figure 6 It is a structural schematic diagram of a load-bearing chassis according to an embodiment of the present invention;

[0029] Figure 7 It is a structural schematic diagram of a vertical guide frame according to an embodiment of the present invention;

[0030] Figure 8 It is a schematic diagram of the local structure of the connection of the unit guide frame according to an embodiment of the present invention;

[0031] Fig. 9 A schematic structural diagram of a rotating shaft locking mechanism according to an embodiment of the present invention;

[0032] Fig.10 It is a structural schematic diagram of a lifting storage and retrieval rack according to an embodiment of the present invention;

[0033] Fig.11 It is a partial structural schematic diagram of a lifting storage and retrieval rack according to an embodiment of the present invention;

[0034] Fig.12 It is a structural schematic diagram of a lifting and locking sleeve according to an embodiment of the present invention;

[0035] Fig.13 It is a structural schematic diagram of a rotary adjustment disk according to an embodiment of the present invention;

[0036] Fig.14 This is a schematic structural diagram of a cargo tray according to an embodiment of the present invention;

[0037] Fig.15 Schematic diagram of the structure of the auxiliary reset frame according to an embodiment of the present invention.

[0038] The markings in the figure are:

[0039] 1. Carrying chassis; 101. Universal driving wheel; 2. Vertical guide frame; 201. Lifting guide slot; 202. Lifting locking slot; 203. Unit guide frame; 204. Folding shaft; 205. Horizontal limit end face; 206. Cable guide wheel; 207. Guide wheel sleeve; 3. Central storage slot; 301. Temporary storage tray; 302. Tray shaft; 303. Tray limit block; 304. Buffer damping sleeve; 4. Shaft locking mechanism; 401. Shaft locking disk; 402. Folding locking slot; 403. Connecting locking slot; 404. End face locking sleeve; 405. End face locking pin; 406. Locking spring; 407. Unlocking electromagnet; 5. Lifting traction wheel; 501. Traction cable; 502. Lifting traction motor; 6. Auxiliary top pressure guide rail ;601, top pressure rack; 602, auxiliary reset frame; 603, conical top pressure frame; 604, top pressure roller; 605, reset gear; 606, reset motor; 7, lifting and retrieval frame; 701, lifting slider; 702, lifting guide wheel; 703, lifting locking sleeve; 704, lifting locking pin; 705, reset spring; 706, unlocking coil; 8, carrying pallet; 801, rotating adjustment disk; 802, rotating adjustment gear ring; 803, rotating adjustment gear; 804, rotating adjustment motor; 9, telescopic retrieval mechanism; 901, telescopic push-pull slot; 902, first-level fork; 903, second-level fork; 904, limit push plate; 905, multi-section telescopic rod; 906, limit lever; 907, adjustment shaft; 908, lever motor. DETAILED DESCRIPTION

[0040] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0041] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0042] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 and Fig.15 As shown, a material box storage robot includes a load-bearing chassis 1, a universal driving wheel 101 is arranged at the bottom of the load-bearing chassis 1, and also includes:

[0043] A vertical guide frame 2 is vertically connected and arranged at the rear side of the supporting chassis 1. A lifting guide slot 201 is arranged in the middle of the vertical guide frame 2. The vertical guide frame 2 is composed of a plurality of unit guide frames 203 connected vertically end to end.

[0044] The folding shaft 204 is connected to the upper and lower ends of the unit guide frame 203. The adjacent unit guide frames 203 are connected to each other through the folding shaft 204. The unit guide frame 203 is flipped and folded backward along the folding shaft 204. The middle inner sides of the upper and lower end surfaces of the unit guide frame 203 are rotatably connected with the steel cable guide wheel 206. The shaft end of the folding shaft 204 is connected with the shaft locking mechanism 4.

[0045] The lifting traction wheel 5 is installed at the top of the vertical guide frame 2. A traction steel cable 501 is wound around the outer side of the lifting traction wheel 5. The traction steel cable 501 is connected and arranged on the front side of the steel cable guide wheel 206.

[0046] The lifting and retrieval rack 7 is arranged above the load-bearing chassis 1, the lifting and retrieval rack 7 is slidably connected to the lifting guide groove 201, the outer end of the traction steel cable 501 is connected to the lifting and retrieval rack 7, and a load-bearing tray 8 is rotatably connected above the lifting and retrieval rack 7, and a telescopic retrieval mechanism 9 is arranged in the middle of the load-bearing tray 8;

[0047] The lifting locking pin 704 is slidably arranged in the middle of the lifting storage and retrieval frame 7. A plurality of lifting locking grooves 202 are evenly arranged vertically in the middle of the vertical guide frame 2. The lifting locking grooves 202 and the lifting locking pin 704 are matched with each other.

[0048] In this embodiment, the material box storage robot uses the supporting chassis 1 as a mobile chassis and is moved by the universal driving wheel 101. At the same time, a vertical guide frame 2 composed of a plurality of unit guide frames 203 connected vertically end to end is used as a lifting support structure, and the unit guide frames 203 can be flipped and folded toward the rear side along the folding shaft 204. By adjusting the number of flipped unit guide frames 203, the maximum working height of the robot can be flexibly adjusted to meet the requirements of different warehouse environments and shelf heights, to meet the requirements of warehouses of different heights and use environments, which is conducive to improving the versatility and flexibility of the robot. The robot mainly lifts and transports the goods through the lifting and retrieval frame 7, and the front end of the lifting and retrieval frame 7 is provided with a lifting slider 7 01, a lifting guide wheel 702 is arranged in the middle of the lifting slider 701, and the lifting slider 701 is slidably connected to the lifting guide slot 201 through the lifting guide wheel 702, and then the lifting storage and retrieval frame 7 is slidably connected to the lifting guide slot 201 through the lifting slider 701, and at the same time, a lifting traction motor 502 is connected to the shaft end of the robot's lifting traction wheel 5, and the lifting traction motor 502 drives the lifting traction wheel 5 to rotate to reel in or release the traction steel cable 501, and then the traction steel cable 501 is used to pull the lifting storage and retrieval frame 7 up and down to perform the storage and retrieval of the material box. After the lifting storage and retrieval frame 7 moves to the height corresponding to the material box, the telescopic storage and retrieval mechanism 9 is used to perform translational storage and retrieval of the material box, and a steel cable guide is arranged at the folding part between each unit guide frame 203. The traction cable 501 is guided by the cable guide wheel 206, and when the unit guide frame 203 needs to be flipped and folded to the rear side, the shaft locking mechanism 4 is unlocked, and then the lifting and retrieval frame 7 is embedded in the lifting and locking groove 202 by the lifting and locking pin 704 to lock the position of the lifting and retrieval frame 7, so that the traction cable 501 is released by the lifting and traction wheel 5 at this time, and the unit guide frame 203 can be flipped and folded to the rear side, and when the unit guide frame 203 is in the folded state, the lifting and traction wheel 5 reels in the traction cable 501, which can pull the unit guide frame 203 to flip and reset to the front side, so that the traction cable 501 structure can not only realize the traction and up and down movement of the lifting and retrieval frame 7 to perform the storage and retrieval of the material box, but also realize the self-lifting of the unit guide frame 203 The folding shaft 204 is also provided with a guide wheel sleeve 207 which is nested and rotatably connected in the middle of the folding shaft 204, so as to provide guidance and direction change for the traction steel cable 501 when the vertical guide frame 2 is in the folded state. The lifting traction wheel 5 and the traction steel cable 501 are both arranged at the top of the vertical guide frame 2, that is, at the top of the unit guide frame 203 at the top. Therefore, even after folding, the traction steel cable 501 can still be guided and directed by multiple steel cable guide wheels 206 to realize the traction and lifting of the lifting storage and retrieval rack 7. Compared with the storage robot with a rack lifting structure, the power part is arranged in the middle of the lifting structure.Each lifting and lowering carries the power part with it, and the traction structure formed by the lifting traction wheel 5 and the traction cable 501, because the power part is fixed on the top of the vertical guide frame 2, the overall mass of the traction lifting part is lower, the energy consumption is less, the overall endurance is longer, and the reliability and maximum traction load are higher.

[0049] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 and Fig.15 As shown, preferably, the upper and lower end faces of the unit guide frame 203 of the material box storage robot are both provided with horizontal limit end faces 205. When adjacent unit guide frames 203 are rotated to a vertical state through the folding shaft 204, they are fitted together by the horizontal limit end faces 205 for limit fixing, so as to improve the stability of the connection between the unit guide frames 203.

[0050] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 and Fig.15 As shown, preferably, the lifting locking pin 704 of the material box storage robot is slidably connected to the lifting storage and retrieval rack 7 through the lifting locking sleeve 703, and an unlocking coil 706 is arranged around the middle of the lifting locking sleeve 703, and a reset spring 705 is arranged on the rear side of the lifting locking pin 704, so that the ferromagnetic lifting locking pin 704 can be controlled to move forward and backward by controlling the power-on direction of the unlocking coil 706. When the lifting locking pin 704 moves forward and is embedded in the lifting locking groove 202 to lock the position of the lifting storage and retrieval rack 7, it is convenient to fold or reset the unit guide frame 203, and at the same time, it is convenient to lock the position of the lifting storage and retrieval rack 7 when the lifting storage and retrieval rack 7 moves to the corresponding material box height for storage and retrieval work, thereby improving the stability of the overall structure and work.

[0051] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 and Fig.15 As shown, preferably, the shaft locking mechanism 4 of the material box storage robot includes a shaft locking disk 401, the shaft locking disk 401 is connected to the folding shaft 204, the middle interval of the shaft locking disk 401 is surrounded by a folding locking groove 402 and a connecting locking groove 403, an end face locking sleeve 404 is arranged in the middle of the upper end side surface of the unit guide frame 203, and an end face locking pin 405 is nested and slidably arranged on the inner side of the end face locking sleeve 404, the end face locking pin 405 and the folding locking groove 402 and the connecting locking groove 403 are cooperated with each other, a locking spring 406 is arranged on the rear side of the end face locking pin 405, and an unlocking electromagnet 407 is arranged at the rear end of the end face locking sleeve 404, and the unit guide frame 203 rotates backward along the folding shaft 204 to be folded back to a folded state. When the folding shaft 204 is unlocked, the locking spring 406 pushes the end locking pin 405 to move forward and embed it into the folding locking groove 402 or the connecting locking groove 403 to lock the folding shaft 204, thereby locking the unit guide frame 203, so as to realize automatic locking and unlocking of the unit guide frame 203, which is more convenient and reliable to use.

[0052] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 and Fig.15As shown, preferably, an auxiliary top-pressing guide rail 6 is connected in the middle of the side of the unit guide frame 203 of the material box storage robot, an auxiliary reset frame 602 is slidably connected in the middle of the auxiliary top-pressing guide rail 6, a top-pressing rack 601 is provided in the middle of the auxiliary top-pressing guide rail 6, a reset motor 606 is installed in the middle of the auxiliary reset frame 602, and a reset gear 605 is connected to the shaft end of the reset motor 606. The reset gear 605 and the top-pressing rack 601 are meshed and connected with each other, so that the reset motor 606 can drive the auxiliary reset frame 602 to move up and down along the auxiliary top-pressing guide rail 6 through the reset gear 605 and the top-pressing rack 601, and at the same time, the auxiliary reset frame 602 is installed in the middle of the auxiliary top-pressing guide rail 6. The top of the auxiliary reset frame 602 is connected with a conical pressing frame 603, and the outer side of the conical pressing frame 603 is connected with a pressing roller 604. The pressing roller 604 and the auxiliary pressing guide rail 6 are cooperated with each other. Therefore, in the folded state, when the auxiliary reset frame 602 moves upward along the auxiliary pressing guide rail 6, it can be inserted between the auxiliary pressing guide rails 6 on the folded unit guide frame 203 through the conical pressing frame 603 and the pressing roller 604, so as to press the folded unit guide frame 203 outward through the auxiliary pressing guide rail 6 to unfold it, thereby facilitating the auxiliary unit guide frame 203 to rotate in the opposite direction to the vertical state for reset, which is more convenient and reliable to use.

[0053] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 and Fig.15As shown, preferably, the telescopic storage and retrieval mechanism 9 of the material box storage robot includes a telescopic push-pull slot 901, and the telescopic push-pull slot 901 is symmetrically arranged in the middle of the left and right sides of the carrying cargo tray 8. A first-level fork 902 is slidably arranged in the middle of the telescopic push-pull slot 901, and a second-level fork 903 is slidably connected in the middle of the first-level fork 902. A multi-segment telescopic rod 905 is connected to the rear end of the second-level fork 903, and a damping limit connection structure is arranged between the second-level fork 903 and the first-level fork 902. When the multi-segment telescopic rod 905 pushes the second-level fork 903 to slide outward, it will drive the first-level fork 902 to move synchronously, and when the first-level fork 902 moves to the outer end of the telescopic push-pull slot 901 to the limit, it will be blocked by the limit. At this time, the multi-segment telescopic rod 905 can continue to push the second-level fork 903 to move outward, so as to provide a stable moving track structure, and the rear end of the second-level fork 903 is horizontally connected with a limited push plate 904, so that when the multi-segment telescopic rod When the telescopic rod 905 is extended and pushes the secondary fork 903 and the primary fork 902 to slide horizontally, the cargo box on the carrying pallet 8 can be pushed horizontally to the shelf. At the same time, the front end of the secondary fork 903 is horizontally connected to a limit lever 906, and an adjusting shaft 907 is arranged in the middle of the rear end of the limit lever 906. The limit lever 906 is rotatably connected to the secondary fork 903 through the adjusting shaft 907, and the shaft end of the adjusting shaft 907 is connected to a lever motor 908, so as to shift the cargo box to the shelf. The rod motor 908 can drive the limit lever 906 to rotate by adjusting the rotating shaft 907. When the limit lever 906 rotates to a vertical state, it is located outside the secondary fork 903. At this time, the secondary fork 903 can move to both sides of the material box. When the limit lever 906 rotates to a horizontal state, it is located on the side of the material box. At this time, the secondary fork 903 can drive the limit lever 906 to push the material box from the shelf to the load pallet 8, thereby realizing the storage and retrieval of the material box.

[0054] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 and Fig.15As shown, preferably, a rotating adjustment disk 801 is provided between the carrying pallet 8 and the lifting storage and retrieval rack 7 of the material box storage robot, and the carrying pallet 8 is rotatably connected to the lifting storage and retrieval rack 7 through the rotating adjustment disk 801. The rotating adjustment motor 804 can drive the carrying pallet 8 to rotate and adjust the angle along the rotating adjustment disk 801 through the rotating adjustment gear 803 and the rotating adjustment gear ring 802, so as to facilitate the carrying pallet 8 to perform storage and retrieval and movement work on the material box.

[0055] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 and Fig.15 As shown, preferably, a central storage slot 3 is provided in the middle of the unit guide frame 203 of the material box storage robot, and a temporary storage pallet 301 is provided in the middle of the central storage slot 3, so that after the carrying pallet 8 takes the material box from the shelf, it can be moved to the temporary storage pallet 301 of the corresponding height, and the material box can be temporarily stored on the temporary storage pallet 301, so as to realize the loading and transportation of multiple material boxes at the same time, which is beneficial to improve the working efficiency of the robot, and the temporary storage pallet 301 is rotatably connected to the unit guide frame 203 through the pallet shaft 302, and the middle connection of the pallet shaft 302 is provided with a pallet limit Block 303 makes it convenient for the temporary storage pallet 301 to maintain a horizontal state when it rotates toward the side of the loading pallet 8 through the limit of the pallet limit block 303, and when the unit guide frame 203 is flipped to the rear side for folding, the temporary storage pallet 301 is also synchronously rotated to a vertical state by gravity for folding and storage. At this time, the pallet limit block 303 limits the maximum reverse rotation of the temporary storage pallet 301 to a vertical state, which is more convenient and flexible to use, and a buffer damping sleeve 304 is nested on the outer side of the pallet shaft 302 to reduce the rotation speed of the pallet shaft 302 and improve the overall stability.

[0056] When in use, the material box storage robot is driven by the universal drive wheel 101 to move to the side of the shelf and keep it parallel to the shelf, and then the lifting traction motor 502 drives the lifting traction wheel 5 to rotate to reel in or release the traction cable 501, and then the traction cable 501 is used to pull the lifting storage and retrieval rack 7 up and down. After the lifting storage and retrieval rack 7 moves to the height corresponding to the material box, the rotary adjustment motor 804 drives the carrying pallet 8 to rotate along the rotary adjustment disk 801 to adjust the angle to align with the material box that needs to be picked up through the rotary adjustment gear 803 and the rotary adjustment gear ring 802, and the multi-section telescopic rod 905 is telescopic to push the secondary fork 903 and the primary fork 902 to slide horizontally, and the secondary fork 903 moves to both sides of the material box, and then The limit lever 906 rotates to a horizontal state, and the secondary fork 903 drives the material box to move horizontally from the shelf to the carrying pallet 8 through the limit lever 906, completing the picking of the material box, and then the lifting and retrieval rack 7 moves up and down to the required height, and at the same time, the carrying pallet 8 rotates along the rotating adjustment disk 801 to adjust the angle to align with the temporary storage pallet 301 of the corresponding height, and the material box is pushed and temporarily stored on the temporary storage pallet 301 through the telescopic access mechanism 9. When it is necessary to adjust the height of the robot, the unit guide frame 203 of the corresponding position and quantity is selected, and then the lifting locking pin 704 is driven by the unlocking coil 706 to move forward and embed into the lifting locking slot 202 to lock the position of the lifting and retrieval rack 7, and at the same time, the electromagnet 40 is unlocked. 7 is energized to attract the end face locking pin 405 of the ferromagnetic material to move backward to disengage from the folding locking groove 402 or connect to the locking groove 403, thereby unlocking the folding shaft 204. Then, the traction cable 501 is released by the lifting traction wheel 5, and the unit guide frame 203 is flipped and folded backward until the unit guide frame 203 is rotated to a vertical state to complete the folding. When the unlocking electromagnet 407 loses power, the locking spring 406 pushes the end face locking pin 405 to move forward to embed into the folding locking groove 402 to lock the folding shaft 204, thereby locking the unit guide frame 203. When the unit guide frame 203 needs to be unfolded, the position of the lifting access frame 7 is locked, and at the same time, the unlocking electromagnet 407 attracts the ferromagnetic material when it is energized. The end face locking pin 405 of the material moves backward to disengage from the folding locking groove 402 to unlock the folding shaft 204, and then the auxiliary reset frame 602 moves upward along the auxiliary pressing guide rail 6, and is inserted between the auxiliary pressing guide rail 6 on the folded unit guide frame 203 through the conical pressing frame 603 and the pressing roller 604, so as to press the folded unit guide frame 203 outward through the auxiliary pressing guide rail 6 to unfold it, and at the same time, the lifting and lowering traction wheel 5 rewinds the traction cable 501 to pull the unit guide frame 203 to flip forward and reset, and then the end face locking pin 405 moves forward to embed into the connecting locking groove 403 to lock the folding shaft 204, and then lock the unit guide frame 203, and the unfolding work is completed.

[0057] The material box storage robot provided by the present invention uses a vertical guide frame 2 composed of a plurality of unit guide frames 203 connected vertically end to end as a lifting support structure, and the unit guide frame 203 is flipped and folded toward the rear side along the folding shaft 204. By adjusting the number of flipped unit guide frames 203, the maximum height of the robot can be adjusted to adapt to warehouses of different heights and use environments. At the same time, the robot pulls the lifting storage and retrieval frame 7 up and down through the lifting traction wheel 5 and the traction steel cable 501 to perform material box retrieval work, and a steel cable guide wheel 206 is provided at the folding part between each unit guide frame 203, and the traction steel cable 501 is guided by the steel cable guide wheel 206. When the unit guide frame 203 is flipped and folded to the rear side, the lifting and retrieval frame 7 is locked in position by the lifting locking pin 704, so that the length of the traction cable 501 is controlled by winding the lifting traction wheel 5, so that the unit guide frame 203 can be automatically folded and reversed. There is no need to set a power structure at each folding position, and the overall structure is more concise and reliable. The lifting traction wheel 5 and the traction cable 501 are both arranged at the top of the vertical guide frame 2, that is, the top of the unit guide frame 203 at the top. Therefore, even after folding, the traction cable 501 can still be guided and changed in direction through multiple cable guide wheels 206, thereby realizing the traction and lifting of the lifting and retrieval frame 7.

[0058] Those skilled in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present invention is limited to these examples; under the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A material box storage robot, comprising a load-bearing chassis (1), wherein a universal driving wheel (101) is arranged at the bottom of the load-bearing chassis (1), characterized in that: Also includes: A vertical guide frame (2) is vertically connected and arranged at the rear side of the bearing chassis (1), a lifting guide groove (201) is arranged in the middle of the vertical guide frame (2), and the vertical guide frame (2) is composed of a plurality of unit guide frames (203) connected vertically end to end; A folding shaft (204) is connected to the upper and lower ends of the unit guide frame (203). Adjacent unit guide frames (203) are connected to each other through the folding shaft (204). The unit guide frame (203) is turned over and folded toward the rear along the folding shaft (204). The middle inner sides of the upper and lower end surfaces of the unit guide frame (203) are rotatably connected with a steel cable guide wheel (206). The shaft end of the folding shaft (204) is connected with a shaft locking mechanism (4); A lifting traction wheel (5) is installed on the top of the vertical guide frame (2), a traction steel cable (501) is wound around the outer side of the lifting traction wheel (5), and the traction steel cable (501) is embedded and connected to the front side of the steel cable guide wheel (206); A lifting storage and retrieval frame (7) is arranged above the carrying chassis (1), the lifting storage and retrieval frame (7) is slidably connected to the lifting guide groove (201), the outer end of the traction steel cable (501) is connected to the lifting storage and retrieval frame (7), a carrying pallet (8) is rotatably connected above the lifting storage and retrieval frame (7), and a telescopic storage and retrieval mechanism (9) is arranged in the middle of the carrying pallet (8); A lifting locking pin (704) is slidably arranged in the middle of the lifting storage and retrieval frame (7); a plurality of lifting locking grooves (202) are evenly arranged vertically in the middle of the vertical guide frame (2); and the lifting locking grooves (202) and the lifting locking pin (704) are arranged in cooperation with each other.

2. The material box storage robot according to claim 1, characterized in that: A lifting locking sleeve (703) is nested on the outer side of the lifting locking pin (704), the lifting locking sleeve (703) and the lifting storage and retrieval rack (7) are connected to each other, the lifting locking pin (704) is slidably connected to the lifting storage and retrieval rack (7) through the lifting locking sleeve (703), an unlocking coil (706) is arranged around the middle of the lifting locking sleeve (703), and a return spring (705) is arranged on the rear side of the lifting locking pin (704).

3. The material box storage robot according to claim 1, characterized in that: The rotating shaft locking mechanism (4) comprises a rotating shaft locking disk (401), the rotating shaft locking disk (401) is connected to the folding rotating shaft (204), a folding locking groove (402) and a connecting locking groove (403) are arranged around the middle interval of the rotating shaft locking disk (401), an end face locking sleeve (404) is arranged in the middle of the upper end side surface of the unit guide frame (203), an end face locking pin (405) is nested and slidably arranged inside the end face locking sleeve (404), the end face locking pin (405) is arranged to cooperate with the folding locking groove (402) and the connecting locking groove (403), a locking spring (406) is arranged on the rear side of the end face locking pin (405), and an unlocking electromagnet (407) is arranged at the rear end of the end face locking sleeve (404).

4. The material box storage robot according to claim 3, characterized in that: When the unit guide frame (203) rotates backward along the folding shaft (204) to a folded state, the end face locking pin (405) and the folding locking groove (402) are aligned with each other; when the unit guide frame (203) rotates forward along the folding shaft (204) to a vertical state, the end face locking pin (405) and the connection locking groove (403) are aligned with each other.

5. The material box storage robot according to claim 1, characterized in that: An auxiliary pressing guide rail (6) is connected in the middle of the side of the unit guide frame (203), an auxiliary reset frame (602) is slidably connected in the middle of the auxiliary pressing guide rail (6), a conical pressing frame (603) is connected at the top of the auxiliary reset frame (602), a pressing roller (604) is connected at the outer side of the conical pressing frame (603), and the pressing roller (604) and the auxiliary pressing guide rail (6) are arranged in cooperation with each other.

6. The material box storage robot according to claim 5, characterized in that: A pressing rack (601) is arranged in the middle of the auxiliary pressing guide rail (6), a reset motor (606) is installed in the middle of the auxiliary reset frame (602), a reset gear (605) is connected to the shaft end of the reset motor (606), and the reset gear (605) and the pressing rack (601) are meshed with each other.

7. The material box storage robot according to claim 1, characterized in that: The telescopic storage and retrieval mechanism (9) comprises a telescopic push-pull groove (901), the telescopic push-pull groove (901) is symmetrically arranged in the middle of the left and right sides of the load-bearing pallet (8), a primary fork (902) is slidably arranged in the middle of the telescopic push-pull groove (901), a secondary fork (903) is slidably connected in the middle of the primary fork (902), a rear end of the secondary fork (903) is connected with a multi-section telescopic rod (905), and the multi-section telescopic rod (905) is telescopically pushed to push the secondary fork (903) and the primary fork (902) to slide horizontally.

8. The material box storage robot according to claim 7, characterized in that: A limit push plate (904) is horizontally connected to the rear end of the secondary fork (903), a limit lever (906) is horizontally connected to the front end of the secondary fork (903), an adjustment shaft (907) is arranged in the middle of the rear end of the limit lever (906), the limit lever (906) is rotatably connected to the secondary fork (903) via the adjustment shaft (907), and a lever motor (908) is connected to the shaft end of the adjustment shaft (907).

9. The material box storage robot according to claim 8, characterized in that: A rotating adjustment disk (801) is provided between the cargo carrying tray (8) and the lifting storage and retrieval rack (7); the cargo carrying tray (8) is rotatably connected to the lifting storage and retrieval rack (7) via the rotating adjustment disk (801); a rotating adjustment toothed ring (802) is provided around the outer side of the rotating adjustment disk (801); a rotating adjustment gear (803) is provided on the outer side of the rotating adjustment toothed ring (802) in meshing connection; a rotating adjustment motor (804) is provided at the shaft end of the rotating adjustment gear (803); and the rotating adjustment motor (804) is fixedly connected to the lifting storage and retrieval rack (7).

10. The material box storage robot according to claim 1, characterized in that: A central storage slot (3) is arranged in the middle of the unit guide frame (203), a temporary storage pallet (301) is embedded in the middle of the central storage slot (3), a pallet rotating shaft (302) is connected to the rear end side of the temporary storage pallet (301), the temporary storage pallet (301) is rotatably connected to the unit guide frame (203) via the pallet rotating shaft (302), a pallet limiting block (303) is connected in the middle of the pallet rotating shaft (302), and a buffer damping sleeve (304) is nested on the outer side of the pallet rotating shaft (302).

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