Workbin robot capable of avoiding unbalance and using method thereof

Abstract

The invention discloses a workbin robot capable of avoiding unbalance and a using method thereof, and belongs to the technical field of intelligent warehouse logistics. The four-wheel-drive moving trolley is provided with a gravity center adjusting assembly. The gravity center adjusting assembly comprises a Y-direction iron block, an X-direction iron block, a shark-fin groove, an electromagnet and a torque sensor, the electromagnet is fixedly installed at the bottom of one end of the four-wheel-drive moving trolley, the torque sensor is installed at the horizontal driving end of the four-wheel-drive moving trolley, the shark-fin groove is formed in the ground, and the Y-direction iron block is fixed to the Y-axis direction of the shark-fin groove; and the Y-direction iron blocks are located between the left and right adjacent goods shelves, X-direction iron blocks are fixed in the X-axis direction of the shark fin grooves, and the X-direction iron blocks are located between the front and back adjacent goods shelves. By means of the mode, the overall gravity center above the machine case tends to the center, it is avoided that goods on the anti-disengaging type multi-station supporting assembly are heavy, stable movement of the box body is facilitated, unbalance inclination is avoided, stable transportation is facilitated, meanwhile, abrasion of the driving structure is the same, and stable operation is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent warehousing logistics, and particularly relates to a bin robot capable of avoiding imbalance and its usage method. Background Art

[0002] Bin robots are used to store and transfer bins, and then manual picking is carried out, which can greatly improve efficiency.

[0003] Chinese Patent CN114435832A, a bin handling robot, includes a combined column mechanism and a lifting drive mechanism; the combined column mechanism includes a fixed column fixedly installed on the handling vehicle body, a load-carrying column for installing a goods-taking mechanism, and a transition column driven by the lifting drive mechanism and driving the load-carrying column to lift; the lifting drive mechanism includes a vertically arranged oil cylinder, a transmission wheel installed at the top of the transition column, and a transmission belt that bypasses the transmission wheel and meshes. The two ends of the transmission belt are respectively fixed at the top of the fixed column and the bottom end of the load-carrying column. The oil cylinder is installed on the handling vehicle body, and the top end of the push rod of the oil cylinder is connected to the transition column to drive the transition column to lift. The lifting of the transition column drives the load-carrying column to lift through the meshing transmission wheel and transmission belt; in the bin handling robot of this technical solution, during normal walking, the height of the combined column mechanism is relatively low, which is convenient for the overall stable walking of the bin handling robot and avoids the problem of shaking during the walking of the bin handling robot.

[0004] However, after the box body loaded by the stacking and unstacking device 400 in the above patent, the gravity at the stacking and unstacking device 400 is greater than the gravity at the goods-taking mechanism 300. When the gravity difference is too large, the phenomenon of the goods-taking mechanism 300 tilting up is likely to occur, which is prone to imbalance and is not conducive to stable transportation. At the same time, the driving structure at the lower part of the stacking and unstacking device 400 wears more than the driving structure at the goods-taking mechanism 300, and different wear is likely to cause stability problems.

[0005] Based on this, the present invention designs a bin robot capable of avoiding imbalance and its usage method to solve the above problems. Summary of the Invention

[0006] In view of the above-mentioned drawbacks of the prior art, the present invention provides a bin robot capable of avoiding imbalance and its usage method.

[0007] To achieve the above objectives, the present invention is realized through the following technical solutions:

[0008] A bin robot capable of avoiding imbalance, including a four-wheel drive mobile trolley;

[0009] One end of the bottom of the four-wheel drive mobile trolley is connected with a center-of-gravity adjustment component for adjusting the center-of-gravity position of the bin robot;

[0010] The gravity adjustment component includes a Y-direction iron block, an X-direction iron block, a fin slot, an electromagnet, and a torque sensor. The electromagnet is fixedly installed at the bottom of one end of the four-wheel drive mobile trolley. The torque sensor is installed on the horizontal drive end of the four-wheel drive mobile trolley. A fin slot is opened on the ground. A Y-direction iron block is fixed in the Y-axis direction of the fin slot, and the Y-direction iron block is located between adjacent shelves on the left and right. An X-direction iron block is fixed in the X-axis direction of the fin slot, and the X-direction iron block is located between adjacent shelves in the front and back.

[0011] In the middle of the top of the four-wheel drive mobile trolley, an n-shaped hollow support frame is fixedly connected. Inside the n-shaped hollow support frame, there is a picking and placing structure for picking and placing boxes; at the end of the n-shaped hollow support frame away from the electromagnet, there is an anti-detachment multi-station support component for storing boxes and blocking the storage.

[0012] The four-wheel drive mobile trolley is electrically connected to the electromagnet and the torque sensor.

[0013] Furthermore, the anti-detachment multi-station support component includes a hollow support component and a multi-station synchronous blocking component. The hollow support component is equidistantly installed on the end face of the n-shaped hollow support frame away from the electromagnet. The multi-station synchronous blocking component is installed at the end of the n-shaped hollow support frame away from the electromagnet. The blocking parts of the multi-station synchronous blocking component are arranged in one-to-one correspondence with the hollow support component.

[0014] Furthermore, the hollow support component includes a support frame and a U-shaped limit plate. A support frame is fixedly connected to the side wall of the end of the n-shaped hollow support frame away from the electromagnet. The top of the support frame is fixedly connected with a U-shaped limit plate, and the opening of the U-shaped limit plate faces the n-shaped hollow support frame.

[0015] Furthermore, the multi-station synchronous blocking component includes a linear drive component, a gear ring, an n-shaped plate, a first baffle, a second horizontal shaft, and a rack. Linear drive components are fixedly connected to the front and rear side walls of the n-shaped hollow support frame. The drive ends of the linear drive components are fixedly connected to the n-shaped plate. Racks are fixedly connected at equal intervals to the front and rear inner walls of the n-shaped plate. The racks are meshed with a gear ring. The gear ring is fixedly connected with a first baffle, and the first baffle is located on both sides of the U-shaped limit plate. The second horizontal shaft is fixedly installed in the mounting hole of the gear ring, and the second horizontal shaft is rotationally connected to the side wall of the n-shaped hollow support frame through a bearing.

[0016] Furthermore, the picking and placing structure includes a scanning code component, a lifting component, a rotational drive component, and a picking and placing component. The lifting component is connected to the n-shaped hollow support frame and the four-wheel drive mobile trolley. The lifting component is connected with a rotational drive component. The drive end of the rotational drive component is connected with a picking and placing component, and a scanning code component for scanning the information of the box is installed on the picking and placing component.

[0017] Further, the lifting component includes a movable frame, a receiving plate, a biaxial motor, a third horizontal shaft, a synchronous belt component, and a guide rail component. The biaxial motor is fixedly installed inside the chassis. Third horizontal shafts are fixedly connected to the output ends of the biaxial motor. The outer ends of the third horizontal shafts are fixedly connected to the synchronous pulleys below the synchronous belt component. The synchronous pulleys above the synchronous belt component are rotatably connected to the inner wall of the n-shaped hollow support frame. The guide rails of the guide rail component are fixedly connected to the inner wall of the n-shaped hollow support frame. The sliders of the guide rail component are fixedly connected to the synchronous belt of the synchronous belt component. A movable frame is fixedly connected between the sliders of the guide rail component. The end of the movable frame away from the n-shaped hollow support frame is connected to the rotation driving component.

[0018] Further, the outer end of the third horizontal shaft is rotatably connected to the inner wall of the chassis through a bearing.

[0019] Further, the rotation driving component includes a U-shaped box body and a rotation motor. The rotation motor is fixedly installed at the bottom of the end of the movable frame away from the n-shaped hollow support frame. The driving end of the rotation motor penetrates through the movable frame and is fixedly connected to the U-shaped box body. The top of the U-shaped box body is connected to the picking and placing component.

[0020] Further, the picking and placing component includes a translation component and a limiting component. The translation component is fixedly connected to the U-shaped box body. Limiting components are installed at the four corners of the front, back, left, and right of the translation component.

[0021] To better achieve the object of the present invention, the present invention also provides a usage method of a bin robot that can avoid imbalance, including the following steps:

[0022] Step 1: The four-wheel drive mobile cart drives the picking and placing structure to move to the position of the picking box. The lifting component drives the translation component of the picking and placing component to the bottom of the corresponding box. The limiting component rotates to the horizontal state. The code scanning component scans the box information. After confirmation, the translation component moves to directly below the box. The limiting component on the right rotates to the vertical state. The lifting component drives the translation component to contact the bottom of the box. The translation component retracts. The translation component and the limiting component in the vertical state cooperate to move the box into the rotation driving component. The rotation driving component drives the box to rotate towards the U-shaped limiting plate.

[0023] Step 2: The lifting component lifts the box and moves it to the empty U-shaped limiting plate. The linear driving component drives the n-shaped plate to move downward. The n-shaped plate drives the rack to move. The rack drives the gear ring to rotate along the second horizontal shaft. The gear ring drives the first baffle to rotate to the vertical state.

[0024] Step 3: The limiting component away from the n-shaped hollow support frame rotates to the horizontal state, the limiting component close to the opening of the U-shaped box body rotates to the vertical state, the translation component extends, and the translation component and the limiting component close to the n-shaped hollow support frame push the box body onto the U-shaped limiting plate. The lifting component drives the translation component to move downward to separate from the box body, and the translation component retracts. Then, the rotation drive component drives the rotation to face away from the U-shaped limiting plate;

[0025] Step 4: The linear drive component drives the n-shaped plate to move upward. The n-shaped plate drives the rack to move, the rack drives the gear ring to rotate along the second horizontal axis, and the gear ring drives the first baffle to rotate to the horizontal state. The two first baffles block the open end of the U-shaped limiting plate;

[0026] Step 5: Repeat Step 1 again;

[0027] Step 6: After all the box bodies are taken, the four-wheel drive mobile cart moves. The torque sensor monitors the torque of the horizontal drive end. The four-wheel drive mobile cart energizes the electromagnet. The electromagnet generates magnetism and attracts the Y-direction iron block or the X-direction iron block. Control the current of the electromagnet until the torque difference between the left and right horizontal drive ends of the four-wheel drive mobile cart is within the set difference. The overall center of gravity above the four-wheel drive mobile cart tends to be centered, and then it moves to the blanking position for blanking.

[0028] The present invention has the following technical effects:

[0029] In the present invention, the four-wheel drive mobile cart drives the picking and placing structure to move to the shelf. The picking and placing structure moves to the corresponding position to pick the box body. The picking and placing structure places the box body on the anti-dropping multi-station support component. The anti-dropping multi-station support component blocks the stored box body to prevent the box body from sliding out of the anti-dropping multi-station support component. The horizontal rotation drive component of the four-wheel drive mobile cart drives the first horizontal axis to rotate. The first horizontal axis drives the roller to move, and the roller drives the four-wheel drive mobile cart to move. The torque sensor monitors the torque of the horizontal drive end of the first horizontal axis. The power supply system energizes the electromagnet. The electromagnet generates magnetism and attracts the Y-direction iron block or the X-direction iron block. Control the current of the electromagnet until the torque difference between the left and right horizontal drive ends of the four-wheel drive mobile cart is within the set difference. The overall center of gravity above the chassis tends to be centered, which is beneficial to the stable movement of the chassis, avoids imbalance and inclination, is beneficial to stable transportation. At the same time, the driving structure wears evenly, which is beneficial to stable operation. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0031] Figure 1 Isometric view of a bin robot that can avoid imbalance according to the present invention;

[0032] Figure 2 Isometric view of the four-wheel drive mobile cart and its connection structure when the present invention is equipped with a box body Figure 1 ;

[0033] Figure 3 Isometric view of the four-wheel drive mobile cart and its connection structure when the present invention is equipped with a box body Figure 2 ;

[0034] Figure 4 Isometric view of the four-wheel drive mobile cart and its connection structure when the present invention is equipped with a box body Figure 3 ;

[0035] Figure 5 Isometric view of the four-wheel drive mobile cart and its connection structure when the present invention is not equipped with a box body Figure 1 ;

[0036] Figure 6 Front view of the four-wheel drive mobile cart and its connection structure when the present invention is not equipped with a box body;

[0037] Figure 7 Right view of the four-wheel drive mobile cart and its connection structure when the present invention is not equipped with a box body;

[0038] Figure 8 Is a sectional view taken along the direction of A-A of Figure 6 ;

[0039] Figure 9 Is a sectional view taken along the direction of B-B of Figure 7 ;

[0040] Figure 10 Is a sectional view taken along the direction of C-C of Figure 7 ;

[0041] Figure 11 Is an enlarged view of the structure at D of Figure 3 ;

[0042] Figure 12 Is a sectional view of the U-shaped box body and its connection structure;

[0043] Figure 13 Is an enlarged view of the structure at E of Figure 8 ;

[0044] Figure 14 Is an enlarged view of the structure at F of Figure 9 ;

[0045] The reference numerals in the figure respectively represent:

[0046] 1. Four-wheel drive mobile car 11. Chassis 12. Power supply system 13. Roller 14. Horizontal rotation drive assembly 15. Vertical drive assembly 16. First horizontal axis 2. Center of gravity adjustment assembly 21. Y-axis iron block 22. X-axis iron block 23. Shark fin slot 24. Electromagnet 25. Torque sensor 3. Anti-drop multi-station support assembly 31. Support frame 32. U-shaped limit plate 33. Support plate 34. Linear drive assembly 35. Gear ring 36. N-shaped plate 37. First baffle 38. Second horizontal axis 39. Rack 4. Ground 5. N-shaped center Empty support frame 6. Pick-and-place structure 61. U-shaped box 62. Code scanning assembly 63. Second baffle 64. Rotating motor 65. Movable frame 66. Adapter plate 67. Dual-axis motor 68. Third transverse axis 69. Synchronous belt assembly 610. Guide rail assembly 611. Fixed block 612. Synchronous wheel 613. Support seat 614. Outer sliding sleeve 615. Inner sliding sleeve 616. Transverse groove 617. Connecting block 618. Servo 619. Drive motor 620. Synchronous belt 621. Threaded rod 622. Second transverse groove 623. Fixed cylinder. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0048] The present invention will be further described below in conjunction with the embodiments.

[0049] The terms “left”, “right”, “front”, “back”, “up” and “down” mentioned in the following description are oriented in the viewing direction of the front view.

[0050] Example 1

[0051] See also Figures 1 - 14 , a material box robot capable of avoiding imbalance, comprising a four-wheel drive mobile vehicle 1;

[0052] The four-wheel drive mobile vehicle 1 can be an existing AGV vehicle;

[0053] A center of gravity adjustment component 2 for adjusting the center of gravity position of the material box robot is connected to one end of the bottom of the four-wheel drive mobile vehicle 1;

[0054] The center of gravity adjustment component 2 includes a Y-direction iron block 21, an X-direction iron block 22, a fin groove 23, an electromagnet 24, and a torque sensor 25. The electromagnet 24 is fixedly installed at the bottom of one end of the four-wheel drive mobile trolley 1, and the torque sensor 25 is installed on the horizontal drive end of the four-wheel drive mobile trolley 1. The ground 4 is provided with a fin groove 23. A Y-direction iron block 21 is fixed in the Y-axis direction of the fin groove 23, and the Y-direction iron block 21 is located between adjacent shelves on the left and right. An X-direction iron block 22 is fixed in the X-axis direction of the fin groove 23, and the X-direction iron block 22 is located between adjacent shelves in the front and back;

[0055] A n-shaped hollow support frame 5 is fixedly connected to the middle end of the top of the four-wheel drive mobile trolley 1. A picking and placing structure 6 for picking and placing boxes is connected inside the n-shaped hollow support frame 5; An anti-detachment multi-station support component 3 for storing boxes and capable of blocking the storage is connected to the end of the n-shaped hollow support frame 5 away from the electromagnet 24.

[0056] The four-wheel drive mobile trolley 1 is electrically connected to the electromagnet 24 and the torque sensor 25.

[0057] The four-wheel drive mobile trolley 1 drives the picking and placing structure 6 to move to the shelf. The picking and placing structure 6 moves to the corresponding position to pick up the box. The picking and placing structure 6 places the box on the anti-detachment multi-station support component 3. The anti-detachment multi-station support component 3 blocks the stored box to prevent the box from sliding out of the anti-detachment multi-station support component 3. Then the four-wheel drive mobile trolley 1 moves again. The torque sensor 25 monitors the torque of the horizontal drive end of the four-wheel drive mobile trolley 1. The four-wheel drive mobile trolley 1 energizes the electromagnet 24. The electromagnet 24 generates magnetism and attracts the Y-direction iron block 21 or the X-direction iron block 22. Control the current of the electromagnet 24 until the torque difference between the left and right horizontal drive ends of the four-wheel drive mobile trolley 1 is within the set difference. The overall center of gravity above the four-wheel drive mobile trolley 1 tends to be centered, avoiding the heavy goods on the anti-detachment multi-station support component 3, which is beneficial to the stable movement of the four-wheel drive mobile trolley 1 and avoids imbalance and tilt.

[0058] Please refer to Figures 1 - 9 , the four-wheel drive mobile trolley 1 includes a chassis 11, a power supply system 12, rollers 13, a horizontal rotation drive component 14, a vertical drive component 15, and a first horizontal shaft 16. The power supply system 12 is installed inside the chassis 11. Vertical drive components 15 are installed at the four corners of the inner bottom of the chassis 11. The drive end of the vertical drive component 15 is fixedly connected to a horizontal rotation drive component 14. The drive end of the horizontal rotation drive component 14 is fixedly connected to a first horizontal shaft 16. The first horizontal shaft 16 is fixedly connected to the rollers 13.

[0059] The rotating ring of the torque sensor 25 is coaxially and fixedly connected to the first horizontal shaft 16, and the fixed ring of the torque sensor 25 is fixedly connected to the drive end of the vertical drive component 15.

[0060] The power supply system 12 includes a battery and a control module.

[0061] The four-wheel drive mobile trolley 1 drives the picking and placing structure 6 to move to the shelf. The picking and placing structure 6 moves to the corresponding position to pick up the box body, and the picking and placing structure 6 places the box body on the anti-detachment multi-station support assembly 3. The anti-detachment multi-station support assembly 3 blocks the stored box body to prevent the box body from sliding out of the anti-detachment multi-station support assembly 3. The horizontal rotation drive assembly 14 of the four-wheel drive mobile trolley 1 drives the first horizontal shaft 16 to rotate. The first horizontal shaft 16 drives the roller 13 to move, and the roller 13 drives the four-wheel drive mobile trolley 1 to move. The torque sensor 25 monitors the torque of the horizontal drive end of the first horizontal shaft 16. The power supply system 12 energizes the electromagnet 24. The electromagnet 24 generates magnetism and attracts the Y-direction iron block 21 or the X-direction iron block 22. Control the current of the electromagnet 24 until the torque difference between the left and right first horizontal shafts 16 is within the set difference. The overall center of gravity above the chassis 11 tends to be centered, avoiding the heavy goods on the anti-detachment multi-station support assembly 3, which is beneficial to the stable movement of the chassis 11, avoiding imbalance and tilt, and is beneficial to stable transportation. At the same time, the drive structure wears evenly, which is beneficial to stable operation.

[0062] When the goods on the anti-detachment multi-station support assembly 3 are heavy, the overall center of gravity will tilt towards the anti-detachment multi-station support assembly 3, and the driving torque of the horizontal rotation drive assembly 14 below the anti-detachment multi-station support assembly 3 will increase, which is likely to cause the shortening of the service life of the horizontal rotation drive assembly 14 and the vertical drive assembly 15 below the anti-detachment multi-station support assembly 3. At the same time, the overall center of gravity will tilt towards the anti-detachment multi-station support assembly 3, and an imbalance phenomenon will occur, and in severe cases, it will tilt.

[0063] Please refer to Figures 1 - 10 , the anti-detachment multi-station support assembly 3 includes a hollow support assembly and a multi-station synchronous blocking assembly. The hollow support assemblies are equidistantly installed on the end face of the n-shaped hollow support frame 5 away from the electromagnet 24. The multi-station synchronous blocking assembly is installed at the end of the n-shaped hollow support frame 5 away from the electromagnet 24. The blocking parts of the multi-station synchronous blocking assembly are arranged in one-to-one correspondence with the hollow support assemblies.

[0064] The hollow support assembly includes a support frame 31 and a U-shaped limiting plate 32. A support frame 31 is fixedly connected to the side wall of the end of the n-shaped hollow support frame 5 away from the electromagnet 24. The top of the support frame 31 is fixedly connected to a U-shaped limiting plate 32, and the opening of the U-shaped limiting plate 32 faces the n-shaped hollow support frame 5.

[0065] The multi-station synchronous blocking assembly includes a linear drive assembly 34, a gear ring 35, an n-shaped plate 36, a first baffle 37, a second horizontal shaft 38, and a rack 39. Linear drive assemblies 34 are fixedly connected to the front and rear side walls of the n-shaped hollow support frame 5. The drive ends of the linear drive assemblies 34 are fixedly connected to the n-shaped plate 36. Racks 39 are fixedly connected to the front and rear inner walls of the n-shaped plate 36 at equal intervals. The racks 39 are meshed with the gear ring 35. The gear ring 35 is fixedly connected to the first baffle 37, and the first baffle 37 is located on both sides of the U-shaped limit plate 32. The second horizontal shaft 38 is fixedly installed in the mounting hole of the gear ring 35, and the second horizontal shaft 38 is rotationally connected to the side wall of the n-shaped hollow support frame 5 through a bearing.

[0066] The two groups of first baffles 37 located at the open end of the U-shaped limit plate 32 are the blocking parts of the multi-station synchronous blocking assembly;

[0067] The linear drive assembly 34 is selected from an electric cylinder or an electric push rod;

[0068] Before the placing and taking structure 6 places the box body in front of the U-shaped limit plate 32 of the hollow-out support assembly, the linear drive assembly 34 drives the n-shaped plate 36 to move downward. The n-shaped plate 36 drives the rack 39 to move. The rack 39 drives the gear ring 35 to rotate along the second horizontal shaft 38. The gear ring 35 drives the first baffle 37 to rotate to a vertical state. After the placing and taking structure 6 places the box body on the U-shaped limit plate 32, the linear drive assembly 34 drives the n-shaped plate 36 to move upward. The n-shaped plate 36 drives the rack 39 to move. The rack 39 drives the gear ring 35 to rotate along the second horizontal shaft 38. The gear ring 35 drives the first baffle 37 to rotate to a horizontal state. The two groups of first baffles 37 block the open end of the U-shaped limit plate 32, preventing the box body from sliding out of the U-shaped limit plate 32 during movement, and ensuring the storage stability of the U-shaped limit plate 32.

[0069] Please refer to the attached instruction manual Figures 1 - 14 , the placing and taking structure 6 includes a code scanning assembly 62, a lifting assembly, a rotational drive assembly, and a placing and taking assembly. The lifting assembly is connected to the n-shaped hollow support frame 5 and the four-wheel drive mobile cart 1. The lifting assembly is connected to the rotational drive assembly. The drive end of the rotational drive assembly is connected to the placing and taking assembly, and the placing and taking assembly is equipped with a code scanning assembly 62 for scanning the information of the box body.

[0070] The lifting component includes a movable frame 65, a bearing plate 66, a double-shaft motor 67, a third horizontal shaft 68, a synchronous belt assembly 69, and a guide rail assembly 610. The double-shaft motor 67 is fixedly installed in the chassis 11. The output ends of the double-shaft motor 67 are fixedly connected with the third horizontal shafts 68 respectively. The outer ends of the third horizontal shafts 68 are fixedly connected with the synchronous wheels below the synchronous belt assembly 69. The synchronous wheels above the synchronous belt assembly 69 are rotatably connected with the inner wall of the n-shaped hollow support frame 5. The guide rails of the guide rail assembly 610 are fixedly connected with the inner wall of the n-shaped hollow support frame 5. The sliders of the guide rail assembly 610 are fixedly connected with the synchronous belt of the synchronous belt assembly 69. A movable frame 65 is fixedly connected between the sliders of the guide rail assembly 610. The end of the movable frame 65 away from the n-shaped hollow support frame 5 is connected with the rotation driving component.

[0071] The outer end of the third horizontal shaft 68 is rotatably connected with the inner wall of the chassis 11 through a bearing.

[0072] The rotation driving component includes a U-shaped box body 61 and a rotation motor 64. The rotation motor 64 is fixedly installed at the bottom of the end of the movable frame 65 away from the n-shaped hollow support frame 5. The driving end of the rotation motor 64 penetrates through the movable frame 65 and is fixedly connected with the U-shaped box body 61. The top of the U-shaped box body 61 is connected with the picking and placing component.

[0073] The picking and placing component includes a translation component and a limiting component. The translation component is fixedly connected with the U-shaped box body 61. Limiting components are installed at the four corners of the front, back, left, and right of the translation component.

[0074] The translation component includes a receiving plate 66, a fixed block 611, a synchronous pulley 612, a support seat 613, an outer sliding sleeve 614, an inner sliding sleeve 615, a transverse groove 616, a connecting block 617, a driving motor 619, a synchronous belt 620, a threaded rod 621 and a fixed cylinder 623. Support seats 613 are fixedly installed on the front and rear inner walls of the U-shaped box body 61. The left side wall of the U-shaped box body 61 is fixedly connected to a fixed cylinder 623. An outer sliding sleeve 614 is slidably connected in the fixed cylinder 623 in a limited manner. The outer sliding sleeve 614 is threadedly connected to the threaded rod 621 through a threaded sleeve. The threaded rod 621 is fixedly connected to the output end of the driving motor 619. The driving motor 619 is fixedly installed in the installation cavity of the U-shaped box body 61. An inner sliding sleeve 615 is slidably connected in the outer sliding sleeve 614 in a limited manner. The bottom of the left end of the inner sliding sleeve 615 is fixedly connected to a connecting block 617. A transverse groove 616 for providing a moving space for the connecting block 617 is formed at the bottom of the outer sliding sleeve 614. Synchronous pulleys 612 are rotatably connected to both the left and right ends of the bottom of the outer sliding sleeve 614. The synchronous pulleys 612 are rotatably connected to a synchronous belt 620. The connecting block 617 is fixedly connected to the front side part of the synchronous belt 620. The fixed block 611 is fixedly installed at the inner bottom of the right end of the fixed cylinder 623. The fixed cylinder 623 is fixedly connected to the rear side part of the synchronous belt 620. When the fixed block 611 approaches the synchronous pulley 612 on the right side, the connecting block 617 approaches the synchronous pulley 612 on the left side. When the fixed block 611 approaches the synchronous pulley 612 on the left side, the connecting block 617 approaches the synchronous pulley 612 on the right side. The right end of the inner sliding sleeve 615 is fixedly connected to a receiving plate 66. The limiting component is installed at the four corners of the front, rear, left and right of the receiving plate 66;

[0075] The code scanning component 62 is installed in the installation hole formed at the end of the support seat 613 at the open end of the U-shaped box body 61;

[0076] The limiting component includes a second baffle 63 and a steering gear 618. Steering gears 618 are fixedly connected to the bottoms of the four corners of the front, rear, left and right of the receiving plate 66. The output ends of the two groups of steering gears 618 on the left side face left, and the output ends of the two groups of steering gears 618 on the right side face right. The output end of the steering gear 618 is fixedly connected to a second baffle 63.

[0077] When the second baffle 63 rotates to the horizontal position, the second baffle 63 is lower than the top of the receiving plate 66.

[0078] The four-wheel drive mobile trolley 1 drives the picking and placing structure 6 to move to the position for picking up the box. The double-shaft motor 67 of the lifting component drives the third horizontal shaft 68 to rotate. The third horizontal shaft 68 drives the slider of the guide rail component 610 through the synchronous belt component 69. The slider of the guide rail component 610 drives the movable frame 65 to the set height corresponding to the box. The movable frame 65 of the rotation drive component drives the U-shaped box 61 to rotate. The U-shaped box 61 drives the translation component of the picking and placing component to be located below the front of the box. The servo motor 618 of the limit component drives the second baffle 63 to rotate to the horizontal state. The code scanning component 62 scans the box information. After confirmation, the drive motor 619 of the translation component drives the threaded rod 621 to rotate clockwise. The threaded rod 621 drives the outer sliding sleeve 614 to move. The outer sliding sleeve 614 drives the two synchronous wheels 612 to move. The fixed block 611 fixes the synchronous belt 620. While the synchronous wheels 612 move, the synchronous belt 620 drives the connecting block 617 to move. The connecting block 617 drives the inner sliding sleeve 615 to move. While the outer sliding sleeve 614 extends, the inner sliding sleeve 615 extends relative to the outer sliding sleeve 614. The inner sliding sleeve 615 drives the bearing plate 66 to move to directly below the box. The servo motor 618 on the right drives the second baffle 63 to rotate to the vertical state. The lifting component drives the bearing plate 66 to contact the bottom of the box. The drive motor 619 of the translation component drives the threaded rod 621 to rotate counterclockwise. The threaded rod 621 drives the outer sliding sleeve 614 to move. The outer sliding sleeve 614 drives the two synchronous wheels 612 to move. The fixed block 611 fixes the synchronous belt 620. While the synchronous wheels 612 move, the synchronous belt 620 drives the connecting block 617 to move. The connecting block 617 drives the inner sliding sleeve 615 to move. While the outer sliding sleeve 614 retracts, the inner sliding sleeve 615 retracts relative to the outer sliding sleeve 614. The servo motor 618 on the right and the bearing plate 66 cooperate to move the box into the U-shaped box 61. The rotation motor 64 of the rotation drive component drives the U-shaped box 61 to rotate. The U-shaped box 61 drives the box to rotate towards the U-shaped limit plate 32. The lifting component lifts the box and moves it to the empty U-shaped limit plate 32. The servo motor 618 of the limit component far from the opening of the U-shaped box 61 drives the second baffle 63 to rotate to the horizontal state. The servo motor 618 of the limit component close to the opening of the U-shaped box 61 drives the second baffle 63 to rotate to the vertical state. The drive motor 619 of the translation component drives the threaded rod 621 to rotate clockwise. The threaded rod 621 drives the outer sliding sleeve 614 to move. The outer sliding sleeve 614 drives the two synchronous wheels 612 to move. The fixed block 611 fixes the synchronous belt 620. While the synchronous wheels 612 move, the synchronous belt 620 drives the connecting block 617 to move. The connecting block 617 drives the inner sliding sleeve 615 to move. While the outer sliding sleeve 614 extends, the inner sliding sleeve 615 extends relative to the outer sliding sleeve 614. The inner sliding sleeve 615 drives the bearing plate 66 and the servo motor 618 in the vertical state to push the box onto the U-shaped limit plate 32. Then, the servo motor 618 drives the second baffle 63 to rotate to the horizontal state,The lifting component drives the receiving plate 66 to move downward and separate from the box body. The driving motor 619 of the translation component drives the threaded rod 621 to rotate counterclockwise. The threaded rod 621 drives the outer sliding sleeve 614 to move. The outer sliding sleeve 614 drives two sets of synchronous pulleys 612 to move. The fixed block 611 fixes the synchronous belt 620. While the synchronous pulley 612 moves, the synchronous belt 620 drives the connecting block 617 to move. The connecting block 617 drives the inner sliding sleeve 615 to move. While the outer sliding sleeve 614 retracts, the inner sliding sleeve 615 retracts relative to the outer sliding sleeve 614. Then, the rotating motor 64 of the driving component drives the U-shaped box body 61 to rotate. The U-shaped box body 61 drives the translation component to rotate to face away from the U-shaped limiting plate 32, and then the subsequent box taking is carried out.,

[0079] Please refer to the attached instruction manual Figure 2 、 Figure 13 , the top of the receiving plate 66 is provided with second transverse grooves 622 at equal intervals;

[0080] The left inner wall of the U-shaped limiting plate 32 is fixedly connected with support plates 33 at equal intervals. When the receiving plate 66 slides in the U-shaped limiting plate 32, the support plates 33 are located in the second transverse grooves 622.

[0081] By arranging multiple sets of support plates 33 in the U-shaped limiting plate 32, boxes of different sizes can be stored. The design of the second transverse grooves 622 can place the boxes of small sizes on the corresponding support plates 33, realizing the anti-detachment multi-station support component 3 to adapt to the storage of different sizes.

[0082] In order to better achieve the purpose of the present invention, the present invention also provides a use method of a bin robot that can avoid imbalance, including the following steps:

[0083] Step 1: The four-wheel drive mobile cart 1 drives the picking and placing structure 6 to move to the position for picking up the box. The double-shaft motor 67 of the lifting component drives the third horizontal shaft 68 to rotate. The third horizontal shaft 68 drives the slider of the guide rail component 610 through the synchronous belt component 69. The slider of the guide rail component 610 drives the movable frame 65 to the set height corresponding to the box. The movable frame 65 of the rotation drive component drives the U-shaped box 61 to rotate. The U-shaped box 61 drives the translation component of the picking and placing component to be located at the front lower part of the box. The servo motor 618 of the limiting component drives the second baffle 63 to rotate to the horizontal state. The code scanning component 62 scans the box information. After confirmation, the drive motor 619 of the translation component drives the threaded rod 621 to rotate clockwise. The threaded rod 621 drives the outer sliding sleeve 614 to move. The outer sliding sleeve 614 drives the two synchronous wheels 612 to move. The fixed block 611 fixes the synchronous belt 620. While the synchronous wheels 612 move, the synchronous belt 620 drives the connecting block 617 to move. The connecting block 617 drives the inner sliding sleeve 615 to move. While the outer sliding sleeve 614 extends, the inner sliding sleeve 615 extends relative to the outer sliding sleeve 614. The inner sliding sleeve 615 drives the bearing plate 66 to move to the position directly below the box. The servo motor 618 on the right drives the second baffle 63 to rotate to the vertical state. The lifting component drives the bearing plate 66 to contact the bottom of the box. The drive motor 619 of the translation component drives the threaded rod 621 to rotate counterclockwise. The threaded rod 621 drives the outer sliding sleeve 614 to move. The outer sliding sleeve 614 drives the two synchronous wheels 612 to move. The fixed block 611 fixes the synchronous belt 620. While the synchronous wheels 612 move, the synchronous belt 620 drives the connecting block 617 to move. The connecting block 617 drives the inner sliding sleeve 615 to move. While the outer sliding sleeve 614 retracts, the inner sliding sleeve 615 retracts relative to the outer sliding sleeve 614. The servo motor 618 on the right and the bearing plate 66 cooperate to move the box into the U-shaped box 61. The rotation motor 64 of the rotation drive component drives the U-shaped box 61 to rotate. The U-shaped box 61 drives the box to rotate towards the U-shaped limiting plate 32;

[0084] Step 2: The lifting component lifts the box and moves it to the empty U-shaped limiting plate 32. The linear drive component 34 drives the n-shaped plate 36 to move downward. The n-shaped plate 36 drives the rack 39 to move. The rack 39 drives the gear ring 35 to rotate along the second horizontal shaft 38. The gear ring 35 drives the first baffle 37 to rotate to the vertical state;

[0085] Step 3: The servo 618 of the limiting component away from the opening of the U-shaped box body 61 drives the second baffle 63 to rotate to the horizontal state, the servo 618 of the limiting component close to the opening of the U-shaped box body 61 drives the second baffle 63 to rotate to the vertical state, the driving motor 619 of the translation component drives the threaded rod 621 to rotate clockwise, the threaded rod 621 drives the outer sliding sleeve 614 to move, the outer sliding sleeve 614 drives the two synchronous pulleys 612 to move, the fixed block 611 fixes the synchronous belt 620, the synchronous belt 620 drives the connecting block 617 to move while the synchronous pulley 612 moves, the connecting block 617 drives the inner sliding sleeve 615 to move, the inner sliding sleeve 615 extends relative to the outer sliding sleeve 614 while the outer sliding sleeve 614 extends, the inner sliding sleeve 615 drives the bearing plate 66 and the servo 618 in the vertical state to push the box body onto the U-shaped limiting plate 32, then, the servo 618 drives the second baffle 63 to rotate to the horizontal state, the lifting component drives the bearing plate 66 to move downward to separate from the box body, the driving motor 619 of the translation component drives the threaded rod 621 to rotate counterclockwise, the threaded rod 621 drives the outer sliding sleeve 614 to move, the outer sliding sleeve 614 drives the two synchronous pulleys 612 to move, the fixed block 611 fixes the synchronous belt 620, the synchronous belt 620 drives the connecting block 617 to move while the synchronous pulley 612 moves, the connecting block 617 drives the inner sliding sleeve 615 to move, the inner sliding sleeve 615 retracts relative to the outer sliding sleeve 614 while the outer sliding sleeve 614 retracts, and then the rotating motor 64 of the rotating driving component drives the U-shaped box body 61 to rotate, and the U-shaped box body 61 drives the translation component to rotate away from the U-shaped limiting plate 32;

[0086] Step 4: The linear driving component 34 drives the n-shaped plate 36 to move upward, the n-shaped plate 36 drives the rack 39 to move, the rack 39 drives the gear ring 35 to rotate along the second horizontal axis 38, and the gear ring 35 drives the first baffle 37 to rotate to the horizontal state, and the two first baffles 37 block the open end of the U-shaped limiting plate 32;

[0087] Step 5: Repeat Steps 1 - 4 again;

[0088] Step 6: After all the box bodies are taken out, the four-wheel drive mobile cart 1 moves, the torque sensor 25 monitors the torque of the horizontal driving end of 1, the four-wheel drive mobile cart 1 energizes the electromagnet 24, the electromagnet 24 generates magnetism and attracts the Y-direction iron block 21 or the X-direction iron block 22, controls the current of the electromagnet 24 until the torque difference between the left and right horizontal driving ends of the four-wheel drive mobile cart 1 is within the set difference, the overall center of gravity above the four-wheel drive mobile cart 1 tends to be centered, and then it moves to the blanking position for blanking.

[0089] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A material box robot capable of avoiding imbalance, comprising a four-wheel drive mobile vehicle (1), characterized in that: A center of gravity adjustment component (2) for adjusting the center of gravity position of the material box robot is connected to one end of the bottom of the four-wheel drive mobile vehicle (1); The center of gravity adjustment component (2) comprises a Y-direction iron block (21), an X-direction iron block (22), a shark fin slot (23), an electromagnet (24) and a torque sensor (25), wherein the electromagnet (24) is fixedly mounted on the bottom of one end of the four-wheel drive mobile trolley (1), and the torque sensor (25) is mounted on the horizontal driving end of the four-wheel drive mobile trolley (1). The ground (4) is provided with a shark fin slot (23), a Y-direction iron block (21) is fixed in the Y-axis direction of the shark fin slot (23), and the Y-direction iron block (21) is located between the left and right adjacent shelves, and an X-direction iron block (22) is fixed in the X-axis direction of the shark fin slot (23), and the X-direction iron block (22) is located between the front and rear adjacent shelves; An N-shaped hollow support frame (5) is fixedly connected to the middle of the top of the four-wheel drive mobile vehicle (1), and a pick-up and placement structure (6) for picking up and placing a box is connected inside the N-shaped hollow support frame (5); an anti-dropping multi-station support assembly (3) for storing the box and capable of blocking the storage is connected to the end of the N-shaped hollow support frame (5) away from the electromagnet (24). The four-wheel drive mobile vehicle (1) is electrically connected to the electromagnet (24) and the torque sensor (25).

2. The unbalance-avoidable material box robot according to claim 1, characterized in that: The anti-slip multi-station support assembly (3) comprises a hollow support assembly and a multi-station synchronous blocking assembly. The hollow support assembly is installed at equal intervals on the end surface of the n-shaped hollow support frame (5) away from the electromagnet (24). The multi-station synchronous blocking assembly is installed on the end of the n-shaped hollow support frame (5) away from the electromagnet (24). The blocking part of the multi-station synchronous blocking assembly is arranged in a one-to-one correspondence with the hollow support assembly.

3. The unbalance-avoidable material box robot according to claim 2, characterized in that: The hollow support assembly comprises a support frame (31) and a U-shaped limiting plate (32); the end side wall of the n-shaped hollow support frame (5) away from the electromagnet (24) is fixedly connected to the support frame (31); the top of the support frame (31) is fixedly connected to the U-shaped limiting plate (32); and the opening of the U-shaped limiting plate (32) is arranged toward the n-shaped hollow support frame (5).

4. The unbalance-avoidable material box robot according to claim 3, characterized in that: The multi-station synchronous blocking assembly comprises a linear drive assembly (34), a gear ring (35), an n-shaped plate (36), a first baffle (37), a second transverse axis (38) and a rack (39); the front and rear side walls of the n-shaped hollow support frame (5) are fixedly connected to the linear drive assembly (34); the driving ends of the linear drive assembly (34) are fixedly connected to the n-shaped plate (36); the front and rear inner walls of the n-shaped plate (36) are fixedly connected to racks (39) at equal intervals; the rack (39) is meshingly connected to the gear ring (35); the gear ring (35) is fixedly connected to the first baffle (37), and the first baffle (37) is located on both sides of the U-shaped limiting plate (32); the second transverse axis (38) is fixedly installed in the installation hole of the gear ring (35); and the second transverse axis (38) is rotatably connected to the side walls of the n-shaped hollow support frame (5) through bearings.

5. The unbalance-avoidable material box robot according to claim 4, characterized in that: The pick-and-place structure (6) comprises a code scanning component (62), a lifting component, a rotation drive component and a pick-and-place component. The lifting component is connected to the N-shaped hollow support frame (5) and the four-wheel drive mobile vehicle (1). The lifting component is connected to the rotation drive component. The driving end of the rotation drive component is connected to the pick-and-place component. The pick-and-place component is equipped with a code scanning component (62) for scanning box information.

6. The unbalance-avoidable material box robot according to claim 5, characterized in that: The lifting assembly comprises a movable frame (65), a receiving plate (66), a double-axis motor (67), a third transverse axis (68), a synchronous belt assembly (69) and a guide rail assembly (610). The double-axis motor (67) is fixedly installed in the chassis (11). The output ends of the double-axis motor (67) are fixedly connected to the third transverse axis (68). The outer ends of the third transverse axis (68) are fixedly connected to the synchronous wheels below the synchronous belt assembly (69). The synchronous wheels above the synchronous belt assembly (69) are rotatably connected to the inner wall of the n-shaped hollow support frame (5). The guide rail of the guide rail assembly (610) is fixedly connected to the inner wall of the n-shaped hollow support frame (5). The slider of the guide rail assembly (610) is fixedly connected to the synchronous belt of the synchronous belt assembly (69). The movable frame (65) is fixedly connected between the sliders of the guide rail assembly (610). The end of the movable frame (65) away from the n-shaped hollow support frame (5) is connected to the rotation drive assembly.

7. The unbalance-avoidable material box robot according to claim 6, characterized in that: The outer end of the third transverse axis (68) is rotatably connected to the inner wall of the chassis (11) via a bearing.

8. The unbalance-avoidable material box robot according to claim 7, characterized in that: The rotary drive assembly comprises a U-shaped box (61) and a rotary motor (64). The rotary motor (64) is fixedly mounted on the bottom of the end of the movable frame (65) away from the n-shaped hollow support frame (5). The driving end of the rotary motor (64) passes through the movable frame (65) and is fixedly connected to the U-shaped box (61). The top of the U-shaped box (61) is connected to the pick-and-place assembly.

9. The unbalance-avoidable material box robot according to claim 8, characterized in that: The pick-and-place assembly comprises a translation assembly and a limit assembly. The translation assembly is fixedly connected to the U-shaped box (61), and the limit assemblies are installed at the front, back, left, and right corners of the translation assembly.

10. A method for using the imbalance-avoiding material box robot according to claim 9, characterized in that: The following steps are involved: Step 1: The four-wheel drive mobile vehicle (1) drives the pick-and-place structure (6) to move to the box picking position, the lifting component drives the translation component of the pick-and-place component to the corresponding bottom of the box, the limit component rotates to a horizontal state, the code scanning component (62) scans the box information, and after confirmation, the translation component moves to the bottom of the box, the limit component on the right side rotates to a vertical state, the lifting component drives the translation component to contact the bottom of the box, the translation component is recovered, and the translation component cooperates with the limit component in the vertical state to move the box into the rotation drive component, and the rotation drive component drives the box to rotate toward the U-shaped limit plate (32); Step 2: The lifting assembly lifts the box body to the empty U-shaped limit plate (32), the linear drive assembly (34) drives the n-shaped plate (36) to move downward, the n-shaped plate (36) drives the rack (39) to move, the rack (39) drives the ring gear (35) to rotate along the second horizontal axis (38), and the ring gear (35) drives the first baffle (37) to rotate to a vertical state; Step 3: The limiting assembly away from the n-shaped hollow support frame (5) is rotated to a horizontal state, and the limiting assembly close to the opening of the U-shaped box (61) is rotated to a vertical state, the translation assembly is extended, and the translation assembly and the limiting assembly close to the n-shaped hollow support frame (5) push the box onto the U-shaped limiting plate (32), the lifting assembly drives the translation assembly to move downward and separate from the box, the translation assembly is recovered, and then the rotation drive assembly drives the rotation to face away from the U-shaped limiting plate (32); Step 4: The linear drive assembly (34) drives the n-shaped plate (36) to move upward, the n-shaped plate (36) drives the rack (39) to move, the rack (39) drives the ring gear (35) to rotate along the second transverse axis (38), the ring gear (35) drives the first baffle (37) to rotate to a horizontal state, and the two sets of first baffles (37) block the open end of the U-shaped limit plate (32); Step 5: Repeat steps 1-4; Step 6: After all the boxes are taken, the four-wheel drive mobile trolley (1) moves, and the torque sensor (25) monitors the torque of the horizontal driving end of 1. The four-wheel drive mobile trolley (1) energizes the electromagnet (24), and the electromagnet (24) generates magnetism and attracts the Y-direction iron block (21) or the X-direction iron block (22). The current of the electromagnet (24) is controlled until the torque difference between the left and right horizontal driving ends of the four-wheel drive mobile trolley (1) is at the set difference, and the overall center of gravity above the four-wheel drive mobile trolley (1) tends to the center, and then moves to the unloading position for unloading.

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