Cloth warehouse stacking robot

Abstract

The present application relates to the technical field of stacking robots, and particularly relates to a cloth warehouse stacking robot, which comprises a base, a material receiving plate is installed on the base, moving wheels are installed at the four corners of the bottom of the base, a driving mechanism is fixedly connected to one side of the base and located at the side of the moving wheels, a brush wheel is rotatably connected to the driving mechanism, a fixing frame is fixedly connected to the bottom of the base, a supporting mechanism is slidably connected in the fixing frame, anti-turning supporting legs are slidably connected to the two sides of the fixing frame, and the adjustable supporting mechanism is arranged at the bottom of the robot, when the ground height difference is encountered, the supporting mechanism can move to the higher ground, drive one end of the robot to be lifted, automatically adjust the height of the bottom, avoid the wheels from being stuck, help the robot to pass over the ground obstacles, improve the ability to pass over uneven ground, not only can solve the problem of stuck wheels, but also can improve the stability, flexibility and energy efficiency, and optimize the performance of the robot in the warehouse automation system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stacking robots, in particular to a cloth warehouse stacking robot. BACKGROUND

[0002] The cloth warehouse stacking robot is a kind of automatic equipment specially designed for cloth automatic stereoscopic warehouse, mainly used for cloth storage, handling, stacking and sorting, etc. It can greatly improve the efficiency of automatic stereoscopic warehouse management, reduce manual operation, and improve the accuracy and speed of material storage.

[0003] The prior art document with publication number CN115158950A provides a stacking robot for a stereoscopic warehouse, which pulls connecting rope one and connecting rope two through first motor and second motor, thereby driving the moving assembly to move in different directions, which can be used for stereoscopic warehouses of different lengths. At the same time, a longitudinally extending support frame is installed on the base, which drives the conveying assembly to move longitudinally through the motor-driven ball screw, thereby lifting the goods, which is more convenient to use. The inside of the conveying assembly includes a lifting frame, wherein a plurality of electric push rods are installed on the lifting frame to drive two clamping plates, which clamp the goods through the two clamping plates, have higher stability and are not easy to fall off, and have higher safety. At the same time, the conveying assembly adjusts the position of the conveying plate through the adjusting wheel to send the goods into the stereoscopic warehouse.

[0004] However, the existing cloth warehouse stacking robot may have a height difference in the factory floor during movement, and when passing through a higher floor, the wheels are easily stopped, which causes the robot to be unable to smoothly complete the handling or stacking operation, resulting in work stagnation and affecting the overall automation efficiency of the warehouse.

[0005] In summary, the prior art lacks an adjustable moving method for the cloth warehouse stacking robot. SUMMARY

[0006] The purpose of the present application is to solve the shortcomings in the background art and provide a cloth warehouse stacking robot.

[0007] To achieve the above purpose, the technical scheme adopted by the present application is as follows: a cloth warehouse stacking robot, comprising a base, a receiving plate is installed on the base, four moving wheels are installed at the corners of the bottom of the base, a driving mechanism is fixedly connected on one side of the base, a brush wheel is rotatably connected on the driving mechanism, a fixing frame is fixedly connected on the bottom of the base, a supporting mechanism is slidably connected in the fixing frame, and anti-turning supporting legs are slidably connected on both sides of the fixing frame.

[0008] Preferably, the receiving plate is fixedly connected with a motor base on both sides, a motor A is fixedly connected on the motor base, a rotating block is fixedly connected at the output end of the motor A, an electric push rod A is fixedly connected on the rotating block, an electric push rod B is fixedly connected at the output end of the electric push rod A, and a conical pressing head is fixedly connected at the output end of the electric push rod B.

[0009] Preferably, the driving mechanism comprises a fixed seat, one end of the fixed seat is fixedly connected with the base, a U-shaped seat is arranged on one side of the fixed seat, two guide rods are fixedly connected on the side of the U-shaped seat close to the fixed seat, the guide rods are slidingly matched with the fixed seat, a rubber friction wheel is rotationally connected on the U-shaped seat, the rubber friction wheel is frictionally contacted with the outer wall of the moving wheel, a driving wheel is fixedly connected in the middle of the rubber friction wheel, a plurality of springs are fixedly connected on one side of the U-shaped seat, and the other ends of the springs are fixedly connected with the fixed seat. The function of the spring can ensure that the rubber friction wheel always maintains close contact with the outer wall of the moving wheel, thereby ensuring the stability of the driving system. Regardless of the rotation of the moving wheel, the rubber friction wheel can always provide stable friction force to avoid sliding or skidding phenomenon, and ensure the stability of power transmission.

[0010] Preferably, a sleeve rod is fixedly connected at one end of the brush wheel, the sleeve rod is rotationally connected with the fixed seat, a rotating sleeve is slidingly matched at one end of the sleeve rod, the rotating sleeve is rotationally connected with the U-shaped seat, a driven wheel is fixedly connected at one end of the rotating sleeve, and the driven wheel is meshingly and transmissionally connected with the driving wheel.

[0011] Preferably, a lead screw is rotationally connected through the fixed frame, the lead screw passes through the fixed frame and is fixedly connected with a motor B at one end, the motor B is fixedly connected with the fixed frame, and fixed racks are fixedly connected on both sides of the fixed frame.

[0012] Preferably, the supporting mechanism comprises a sliding seat, the sliding seat is threadedly connected with the lead screw, support rod groups are rotationally connected on both sides of the sliding seat, a roller frame is rotationally connected between the other ends of the two support rod groups, and support rollers are rotationally connected on both sides of the bottom end of the roller frame.

[0013] Preferably, transmission racks are fixedly connected on both sides of the sliding seat in a central symmetrical structure, universal joints B are fixedly connected at one end of the support rod groups and the sliding seat, the universal joints B are rotationally connected with the sliding seat at one end, adjusting wheels are fixedly connected at the other ends of the universal joints B, the adjusting wheels are meshingly and transmissionally connected with the fixed racks, a plurality of tension springs are fixedly connected at the bottom of the sliding seat, and the other ends of the tension springs are fixedly connected with the roller frame. The tension springs can drive the roller frame to be retracted and reset.

[0014] Preferably, the anti-turning supporting leg is arranged in a U-shaped structure, both ends of one side of the anti-turning supporting leg are rotatably connected with contact wheels, the other side of the anti-turning supporting leg is fixedly connected with a sliding frame, the sliding frame is slidably connected with the fixed frame, and a threaded rod is threadedly connected to the sliding frame.

[0015] Preferably, one end of the threaded rod is fixedly connected with a universal joint A, the other end of the universal joint A is fixedly connected with a transmission wheel, the transmission wheel is in meshing transmission with a transmission rack, and the end of the universal joint A close to the transmission wheel is rotatably connected with the fixed frame.

[0016] Compared with the prior art, the present application has the following beneficial effects:

[0017] 1. By arranging an adjustable supporting mechanism at the bottom of the robot, when encountering a height difference in the ground, the supporting mechanism can move to the higher ground, lifting one end of the robot, automatically adjusting the height of the bottom, avoiding the wheels from being stuck, helping the robot to overcome the ground obstacles, improving the ability to pass through uneven ground, not only solving the problem of stuck wheels, but also improving stability, flexibility and energy efficiency, and optimizing the performance of the robot in the warehouse automation system.

[0018] 2. By arranging anti-turning supporting legs at both ends of the material warehouse stacking robot, when the supporting mechanism lifts one end of the robot to overcome the height difference in the ground, the anti-turning supporting legs automatically extend to support the ground, providing additional support during inclined movement, preventing tilting or accidents caused by unstable center of gravity, and the anti-turning supporting legs balance the load distribution by extending and retracting, optimizing work performance and enhancing the warehouse automation operation capability.

[0019] 3. The arrangement of the driving mechanism and the brush wheel enables the moving wheel to rotate synchronously to drive the brush wheel to clean the ground, avoiding the influence of debris stuck in the wheels and uneven ground; the adjustable conical pressing head controls the elevator switch by pressing, realizing automatic opening and closing, further improving the independence and automation level of the robot, effectively improving the operation efficiency, stability and safety, reducing manual intervention and operating costs, and strengthening the warehouse automation level. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the material warehouse stacking robot of the present application;

[0021] Figure 2 It is a schematic diagram of the overall structure of the material warehouse stacking robot of the present application;

[0022] Figure 3 It is a schematic diagram of the material warehouse stacking robot of the present application;

[0023] Figure 4 It is a schematic diagram of the driving mechanism and other structures of the material warehouse stacking robot of the present application;

[0024] Figure 5 It is a brush wheel structure expansion diagram of a cloth warehouse stacking robot of the application;

[0025] Figure 6 It is a fixed frame structure diagram of a cloth warehouse stacking robot of the application;

[0026] Figure 7 It is a support mechanism structure diagram of a cloth warehouse stacking robot of the application;

[0027] Figure 8 It is a anti-overturning support foot structure diagram of a cloth warehouse stacking robot of the application.

[0028] As shown in the figure: 1, base; 2, receiving plate; 3, moving wheel; 4, driving mechanism; 5, brush wheel; 6, fixed frame; 7, support mechanism; 8, anti-overturning support foot; 201, motor A; 202, rotating block; 203, electric push rod A; 204, electric push rod B; 205, conical pressing head; 206, motor seat; 401, fixed seat; 402, U-shaped seat; 403, rubber friction wheel; 404, driving wheel; 405, spring; 406, guide rod; 501, sleeve rod; 502, rotating sleeve; 503, driven wheel; 601, lead screw; 602, motor B; 603, fixed rack; 701, sliding seat; 702, support rod group; 703, roller frame; 704, supporting roller; 705, transmission rack; 706, universal joint B; 707, adjusting wheel; 708, tension spring; 801, contact wheel; 802, sliding frame; 803, threaded rod; 804, universal joint A; 805, transmission wheel. DETAILED DESCRIPTION

[0029] The following description is used to disclose the application so that those skilled in the art can implement the application. The preferred embodiments in the following description are only as examples, and other obvious modifications can be thought of by those skilled in the art.

[0030] As Figures 1-8 shown in a cloth warehouse stacking robot, comprising a base 1, the base 1 is installed with a receiving plate 2, the base 1 bottom four corners are installed with moving wheels 3, the base 1 is located on one side of the moving wheel 3 and is fixedly connected with a driving mechanism 4, the driving mechanism 4 is rotatably connected with a brush wheel 5, the base 1 bottom is fixedly connected with a fixed frame 6, the fixed frame 6 is slidably connected with a support mechanism 7, and the fixed frame 6 is slidably connected with an anti-overturning support foot 8. Each moving wheel 3 is driven by a separate stepping motor, and the stepping motor is widely used in stacking robots due to its precise control ability, especially when precise position control is required. The stepping motor can move the robot at a fixed step angle, ensuring accurate stacking.

[0031] As Figure 3 shown, the receiving plate 2 is fixedly connected with a motor seat 206 on both sides, the motor seat 206 is fixedly connected with a motor A 201, the output end of the motor A 201 is fixedly connected with a rotating block 202, the rotating block 202 is fixedly connected with an electric push rod A 203, the output end of the electric push rod A 203 is fixedly connected with an electric push rod B 204, and the output end of the electric push rod B 204 is fixedly connected with a conical pressing head 205. The control motor A 201 drives the rotating block 202 to rotate to the appropriate angle, and the conical pressing head 205 is aligned with the elevator door opening key or floor key to be pressed by the electric push rod A 203, and then the conical pressing head 205 connected with the electric push rod B 204 is moved to press the elevator door opening key or floor key.

[0032] As Figure 4 shown, the driving mechanism 4 includes a fixed seat 401, one end of the fixed seat 401 is fixedly connected with the base 1, the fixed seat 401 is provided with a U-shaped seat 402 on one side, two guide rods 406 are fixedly connected on the side of the U-shaped seat 402 close to the fixed seat 401, the guide rods 406 are slidingly matched with the fixed seat 401, the U-shaped seat 402 is rotatably connected with a rubber friction wheel 403, the rubber friction wheel 403 is frictionally contacted with the outer wall of the moving wheel 3, the rubber friction wheel 403 is fixedly connected with a driving wheel 404 in the middle, a plurality of springs 405 are fixedly connected on one side of the U-shaped seat 402, and the other end of the spring 405 is fixedly connected with the fixed seat 401. When the moving wheel 3 rotates, the frictionally contacted rubber friction wheel 403 rotates, so that the rubber friction wheel 403 can drive the driving wheel 404 to rotate.

[0033] As Figure 5 shown, the brush wheel 5 is fixedly connected with a sleeve rod 501 at one end, the sleeve rod 501 is rotatably connected with the fixed seat 401, the sleeve rod 501 is slidingly matched with a rotating sleeve 502 at one end, the rotating sleeve 502 is rotatably connected with the U-shaped seat 402, and the rotating sleeve 502 is fixedly connected with a driven wheel 503 at one end. The driven wheel 503 is meshingly and transmissionally connected with the driving wheel 404. The driving wheel 404 can drive the rotating sleeve 502 connected with the driven wheel 503 to rotate, so that the rotating sleeve 502 drives the brush wheel 5 connected with the sleeve rod 501 to rotate.

[0034] As Figure 6 shown, a lead screw 601 is rotatably connected through the fixed frame 6, the lead screw 601 passes through the fixed frame 6 and is fixedly connected with a motor B 602 at one end, the motor B 602 is fixedly connected with the fixed frame 6, and the fixed frame 6 is fixedly connected with a fixed rack 603 on both sides. The motor B 602 drives the lead screw 601 to rotate, so that the sliding seat 701 moves to the high ground.

[0035] As Figure 7As shown, the support mechanism 7 includes a sliding seat 701 which is threadedly connected with the lead screw 601, and both sides of the sliding seat 701 are rotatably connected with a support rod group 702, and the other ends of the two support rod groups 702 are rotatably connected with a roller frame 703, and both sides of the bottom end of the roller frame 703 are rotatably connected with support rollers 704.

[0036] The two sides of the sliding seat 701 are fixedly connected with a transmission rack 705 in a central symmetric structure, one end of the support rod group 702 connected with the sliding seat 701 is fixedly connected with a universal joint B 706, one end of the universal joint B 706 is rotatably connected with the sliding seat 701, the other end of the universal joint B 706 is fixedly connected with an adjusting wheel 707, the adjusting wheel 707 is meshingly and transmissionally connected with the fixed rack 603, the bottom of the sliding seat 701 is fixedly connected with a plurality of tension springs 708, and the other ends of the tension springs 708 are fixedly connected with the roller frame 703. When the adjusting wheel 707 is meshed with the fixed rack 603, the adjusting wheel 707 connected with the universal joint B 706 will be rotated, so that the universal joint B 706 connected with the support rod group 702 will be rotated, so that the other end of the support rod group 702 can drive the roller frame 703 to move downward, so that the support rollers 704 on the roller frame 703 can contact the ground and lift one end of the robot.

[0037] By arranging the adjustable support mechanism 7 at the bottom of the robot, when encountering a height difference in the ground, the support mechanism 7 can move to the higher ground, lift one end of the robot, automatically adjust the height of the bottom, avoid the moving wheels 3 from being stuck, help the robot to overcome the ground obstacles, improve the ability to pass through uneven ground, not only solve the problem of stuck wheels, but also improve the stability, flexibility and energy efficiency, and optimize the performance of the robot in the warehouse automation system.

[0038] As shown in Figure 8 The anti-rollover support leg 8 is arranged in a U-shaped structure, both ends of one side of the anti-rollover support leg 8 are rotatably connected with contact wheels 801, the other side of the anti-rollover support leg 8 is fixedly connected with a sliding frame 802, the sliding frame 802 is slidingly connected with the fixed frame 6, and a threaded rod 803 is threadedly connected with the sliding frame 802.

[0039] One end of the threaded rod 803 is fixedly connected with a universal joint A 804, the other end of the universal joint A 804 is fixedly connected with a transmission wheel 805, the transmission wheel 805 is meshingly and transmissionally connected with the transmission rack 705, and the end of the universal joint A 804 close to the transmission wheel 805 is rotatably connected with the fixed frame 6. The transmission rack 705 on the sliding seat 701 will drive the transmission wheel 805 to rotate, so that the transmission wheel 805 drives the threaded rod 803 connected with the universal joint A 804 to rotate, so that the threaded rod 803 can drive the sliding frame 802 to move, and the sliding frame 802 drives the anti-rollover support leg 8 away from the high ground to move out of the fixed frame 6.

[0040] Working principle: When it is necessary to stack fabrics in a three-dimensional warehouse, the fabrics are first placed using the material receiving plate 2, and then the stepper motor drives the moving wheel 3, so that the moving wheel 3 drives the robot to move. When the moving wheel 3 rotates, it drives the rubber friction wheel 403 in friction contact to rotate, so that the rubber friction wheel 403 can drive the driving wheel 404 to rotate, so that the driving wheel 404 can drive the rotating sleeve 502 connected to the driven wheel 503 to rotate, so that the rotating sleeve 502 drives the brush wheel 5 connected to the sleeve rod 501 to rotate, which can clean up stones and other dirt on the ground that the moving wheel 3 is about to pass, avoiding shaking or jamming caused by the collision of the wheel with obstacles. This can ensure the smooth movement of the robot, avoid unnecessary vibration or shaking during driving, improve overall stability, and ensure the accuracy of the stacking position;

[0041] When there is a height difference in the ground ahead, the motor B602 drives the lead screw 601 to rotate, causing the slide 701 to move toward the higher ground. At this time, the transmission rack 705 on the slide 701 drives the transmission wheel 805 to rotate, so that the transmission wheel 805 drives the threaded rod 803 connected to the universal joint A804 to rotate, so that the threaded rod 803 can drive the slide 802 to move, so that the slide 802 drives the anti-rollover leg 8 away from the higher ground to move out of the fixed frame 6;

[0042] Then, when the adjusting wheel 707 is engaged with the fixed rack 603, the universal joint B706 connected to the adjusting wheel 707 will be driven to rotate, so that the universal joint B706 drives the connected support rod group 702 to rotate, so that the other end of the support rod group 702 can drive the roller frame 703 to move downward, so that the supporting roller 704 on the roller frame 703 can contact the ground, and lift one end of the robot so that the moving wheel 3 close to the high ground is higher than the high ground. At this time, the two contact wheels 801 on the anti-rollover support foot 8 will contact the ground, and then drive the two moving wheels 3 in contact with the ground, so as to push the robot to move, so that the two lifted moving wheels 3 can move above the high ground, and then reset the slide 701 so that the lifted moving wheels 3 can contact the ground. At this time, multiple moving wheels 3 rotate, so as to drive the robot to pass through the ground with a height difference;

[0043] Then when the robot needs to take the elevator, the robot identifies the position of the elevator button, controls the motor A201 to drive the connected rotating block 202 to rotate to the appropriate angle, and uses the electric push rod A203 to drive the conical pressing head 205 to align the elevator door opening key or floor key that needs to be pressed, and then uses the electric push rod B204 to drive the connected conical pressing head 205 to move and press the elevator button. The robot can identify the elevator button and operate autonomously, reducing manual intervention and improving the automation level of the entire warehouse. The robot no longer relies on manual operation of the elevator and can independently complete the task of going up and down the floors, improving work efficiency.

[0044] It should be noted that in this document, the terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device.

[0045] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection claimed by the present application is defined by the appended claims and their equivalents.

Claims

1. A cloth warehouse stacking robot comprising a base (1), characterized in that: The base (1) is provided with a receiving plate (2), the base (1) is provided with a movable wheel (3) at the four corners of the bottom, the base (1) is fixedly connected with a driving mechanism (4) on one side of the movable wheel (3), the driving mechanism (4) is rotatably connected with a brush wheel (5), the base (1) is fixedly connected with a fixing frame (6) at the bottom, the fixing frame (6) is slidably connected with a supporting mechanism (7), the fixing frame (6) is slidably connected with an anti-turn supporting leg (8) on both sides, the fixing frame (6) is rotatably connected with a lead screw (601) penetrating through, one end of the lead screw (601) penetrates through the fixing frame (6) and is fixedly connected with a motor B (602), the motor B (602) is fixedly connected with the fixing frame (6), the fixing frame (6) is fixedly connected with a fixed rack (603) on both sides, the supporting mechanism (7) comprises a sliding seat (701), the sliding seat (701) is threadedly connected with the lead screw (601), the sliding seat (701) is rotatably connected with a supporting rod group (702) on both sides, a roller frame (703) is rotatably connected between the other ends of the two supporting rod groups (702), supporting rollers (704) are rotatably connected on both sides of the bottom end of the roller frame (703), the sliding seat (701) is fixedly connected with a transmission rack (705) in a central symmetric structure on both sides, a universal joint B (706) is fixedly connected with one end of the supporting rod group (702) connected with the sliding seat (701), one end of the universal joint B (706) is rotatably connected with the sliding seat (701), the other end of the universal joint B (706) is fixedly connected with an adjusting wheel (707), the adjusting wheel (707) is in meshing transmission with the fixed rack (603), a plurality of tension springs (708) are fixedly connected with the sliding seat (701) at the bottom, the other end of the tension spring (708) is fixedly connected with the roller frame (703), the anti-turn supporting leg (8) is provided in a U-shaped structure, contact wheels (801) are rotatably connected with both ends of one side of the anti-turn supporting leg (8), a sliding frame (802) is fixedly connected with the other side of the anti-turn supporting leg (8), the sliding frame (802) is slidably connected with the fixing frame (6), a threaded rod (803) is threadedly connected with the sliding frame (802), a universal joint A (804) is fixedly connected with one end of the threaded rod (803), a transmission wheel (805) is fixedly connected with the other end of the universal joint A (804), the transmission wheel (805) is in meshing transmission with the transmission rack (705), one end of the universal joint A (804) close to the transmission wheel (805) is rotatably connected with the fixing frame (6).

2. A cloth warehouse stacking robot according to claim 1, characterized in that: The motor seat (206) is fixedly connected on both sides of the material receiving plate (2), the motor A (201) is fixedly connected on the motor seat (206), the rotating block (202) is fixedly connected on the output end of the motor A (201), the electric push rod A (203) is fixedly connected on the rotating block (202), the electric push rod B (204) is fixedly connected on the output end of the electric push rod A (203), and the conical pressing head (205) is fixedly connected on the output end of the electric push rod B (204).

3. A cloth warehouse stacking robot according to claim 1, characterized in that: The driving mechanism (4) comprises a fixed seat (401), one end of the fixed seat (401) is fixedly connected with the base (1), the U-shaped seat (402) is arranged on one side of the fixed seat (401), two guide rods (406) are fixedly connected on the side, close to the fixed seat (401), of the U-shaped seat (402), the guide rods (406) are slidingly matched with the fixed seat (401), the rubber friction wheel (403) is rotationally connected with the U-shaped seat (402), the rubber friction wheel (403) is frictionally connected with the outer wall of the moving wheel (3), the driving wheel (404) is fixedly connected in the middle of the rubber friction wheel (403), a plurality of springs (405) are fixedly connected on one side of the U-shaped seat (402), and the other ends of the springs (405) are fixedly connected with the fixed seat (401).

4. A cloth store stacking robot according to claim 3, characterized in that: One end of the brush wheel (5) is fixedly connected with the sleeve rod (501), the sleeve rod (501) is rotationally connected with the fixed seat (401) in a penetrating mode, the rotating sleeve (502) is slidingly matched with one end of the sleeve rod (501), the rotating sleeve (502) is rotationally connected with the U-shaped seat (402) in a penetrating mode, the driven wheel (503) is fixedly connected on one end of the rotating sleeve (502), and the driven wheel (503) is meshingly and transmissionally connected with the driving wheel (404).

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