Tray stacking robot for warehouse logistics

Abstract

The invention belongs to the technical field of tray stacking, and particularly discloses a tray stacking robot for warehouse logistics, which comprises a vehicle body, an operating frame is mounted at the front end of the vehicle body, a fixing block is movably arranged in the operating frame, and a hydraulic system is arranged in the operating frame. The operating frame drives the fixing block to ascend and descend through a hydraulic system, a vertical plate is arranged at the front end of the fixing block, two pallet forks are symmetrically installed at the bottom of the front portion of the vertical plate, a first protection mechanism is arranged on the side face of the vertical plate, and a second protection mechanism is arranged at the front end of each pallet fork. The side faces and the front end of the tray are protected through the first protection mechanism and the second protection mechanism correspondingly, in the tray forking, carrying and placing process, the tray can be effectively prevented from being damaged by collision, extrusion and the like, and the integrity of the tray is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of pallet stacking, and specifically discloses a pallet stacking robot for warehousing logistics. Background Art

[0002] A pallet stacking robot for warehousing logistics is a special crane used for cargo handling and stacking in places such as warehouses and workshops. It belongs to the lifting and transportation equipment in warehousing facilities, and mainly grabs, transports, and stacks unit goods through fetching devices such as forklifts or string rods. In the existing pallet stacking robots for warehousing logistics, during the processes of fetching, transporting, and placing goods, the goods are extremely likely to collide and squeeze with shelves, other goods, or the robot's own components, resulting in scratches, deformations on the surface of the goods, and even damage to the internal items, causing economic losses and waste of resources. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a pallet stacking robot for warehousing logistics to solve the problem that in the existing technology, during the processes of fetching, transporting, and placing goods, the goods are extremely likely to collide and squeeze with shelves, other goods, or the robot's own components, resulting in scratches, deformations on the surface of the goods, and even damage to the internal items, causing economic losses and waste of resources.

[0004] To achieve the above purpose, the present invention provides a pallet stacking robot for warehousing logistics, including a vehicle body. An operation frame is installed at the front end of the vehicle body. A fixed block is movably arranged inside the operation frame. A hydraulic system is arranged inside the operation frame. The operation frame drives the fixed block to lift through the hydraulic system. A vertical plate is arranged at the front end of the fixed block. Two forklifts are symmetrically installed at the bottom in front of the vertical plate. A first protection mechanism is arranged on the side surface of the vertical plate. A second protection mechanism is arranged at the front end of the forklift. The first protection mechanism is used to protect the side surface of the pallet, and the second protection mechanism is used to protect the front end of the pallet.

[0005] In the above technical solution, preferably, a cylinder is installed below the fixed block. A push plate is arranged below the fixed block and at the front end of the cylinder. The output end of the cylinder is connected to the push plate. The first protection mechanism includes a side guard plate. The side guard plate is located on the side surface of the vertical plate. An L-shaped plate is installed at one end of the side guard plate close to the push plate. A rectangular block is installed at the end corner of the bottom of the vertical plate. A through groove is arranged on the surface of the rectangular block. The surface of the L-shaped plate is movably clamped in the through groove. A first pull rod is connected between the top end surface of the push plate and the top of the L-shaped plate through a rotating shaft.

[0006] In the above technical solution, preferably, a guiding groove is provided inside the fixing block, a guiding rod is provided at the end of the side guard plate, and the surface of the guiding rod is movably installed in the guiding groove.

[0007] In the above technical solution, preferably, a pressing frame is installed above the forklift tine, a contraction groove is formed on the upper surface of the forklift tine, a contraction rod is installed at the bottom of the pressing frame, the bottom of the contraction rod is movably installed in the contraction groove, a spring is arranged inside the contraction groove, the top end of the spring is connected to the contraction rod, a sliding groove is formed on the surface of the vertical plate, a protruding block is installed at the end surface of the pressing frame close to the vertical plate, and the protruding block is slidably installed in the sliding groove.

[0008] In the above technical solution, preferably, a movable groove is formed on the surface of the forklift tine away from the vertical plate, the second protection mechanism includes a movable block, the movable block is slidably installed in the movable groove, a protruding block is movably installed in the inner cavity of the movable block, and a tension spring is arranged at the bottom of the protruding block.

[0009] In the above technical solution, preferably, side grooves are formed on both sides of the movable groove, two second fixing frames are symmetrically installed on the side of the bottom of the protruding block and on the side of the tension spring, smooth rods are movably installed on both sides of the bottom of the movable block, a first fixing frame is installed at one end of the smooth rod inside the inner cavity of the movable block, a second pull rod is connected between the first fixing frame and the second fixing frame through a rotating shaft, and the other end of the smooth rod is provided with a semi-circular head.

[0010] In the above technical solution, preferably, extension plates are fixedly installed on both sides of the front end of the pressing frame, an inclined surface groove is formed at one end of the extension plate close to the forklift tine, and the surface of the inclined surface groove is matched with the semi-circular head.

[0011] In the above technical solution, preferably, operation grooves are correspondingly formed at the bottom of the forklift tine and the bottom of the vertical plate, a pulling frame is arranged below the forklift tine, both ends of the pulling frame are respectively clamped in the operation grooves, and the front end of the pulling frame is connected to the movable block, and the other end of the pulling frame is fixedly connected to the pushing plate.

[0012] Compared with the prior art, the present invention has the following beneficial effects: As the forklift tine lifts the pallet, the gravity of the pallet causes the pressing frame to move downward, the contraction rod slides down in the contraction groove to compress the spring, the pressing frame vertically moves downward through the protruding block in the sliding groove on the surface of the vertical plate, the inclined surface groove on the extension plate at the front end of the pressing frame contacts the semi-circular head of the smooth rod, generates a squeezing force on the semi-circular head, promotes the smooth rod to move towards the middle of the movable block, and pushes the protruding block to extend upward through the second pull rod, so as to realize the limit of the front end of the pallet; Through the contraction of the cylinder, the pushing plate is driven to move backward. The pushing plate pulls the L-shaped plate to slide in the through groove on the surface of the rectangular block through the first pull rod, so that the side guard plate moves quickly and smoothly towards the direction of the forklift fork, firmly protecting the side of the pallet. During the movement of the side guard plate, the guide rod slides along the guide groove inside the fixed block, ensuring the precise movement of the side guard plate without deviation. Thus, when the pallet is just lifted and not yet completely stable, reliable protection is provided for the side of the pallet, preventing the pallet from colliding with the surrounding shelves, other pallets or the components of the robot itself. At the same time, the movement of the pushing plate will also drive the pulling frame to move synchronously, and the pulling frame will drive the movable block to slide in the movable groove. At this time, the movable block will move backward inside the movable groove, and the protruding block will gradually approach the pallet. The protruding block and the vertical plate can clamp the front and rear ends of the pallet to ensure the stability of the pallet. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the structure of the first protection mechanism and the second protection mechanism of the present invention; Figure 3 is a schematic diagram of the structure of the first protection mechanism of the present invention; Figure 4 is a schematic diagram of the bottom structure of the forklift fork of the present invention; Figure 5 is a schematic diagram of the forklift fork structure of the present invention; Figure 6 is a front view sectional view of the forklift fork of the present invention.

[0014] In the figure: 1, vehicle body; 2, operating frame; 3, forklift fork; 4, fixed block; 5, vertical plate; 6, cylinder; 7, pushing plate; 8, rectangular block; 9, through groove; 10, L-shaped plate; 11, first pull rod; 12, side guard plate; 13, guide groove; 14, guide rod; 15, operating groove; 16, pulling frame; 17, pressing frame; 18, protruding block; 19, contraction groove; 20, contraction rod; 21, extension plate; 22, inclined plane groove; 23, movable groove; 24, movable block; 25, side groove; 26, smooth rod; 27, protruding block; 28, first fixing frame; 29, second fixing frame; 30, second pull rod; 31, first protection mechanism; 32, second protection mechanism. DETAILED DESCRIPTION OF THE INVENTION

[0015] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0016] In the following description, many specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways different from those described herein. Therefore, the present invention is not limited by the limitations of the specific embodiments disclosed below.

[0017] As Figures 1 - 6 shown, a pallet stacking robot for warehousing logistics includes a vehicle body 1. An operation frame 2 is installed at the front end of the vehicle body 1. A fixing block 4 is movably arranged inside the operation frame 2. A hydraulic system is arranged inside the operation frame 2. The operation frame 2 drives the fixing block 4 to lift and lower through the hydraulic system. A vertical plate 5 is arranged at the front end of the fixing block 4. Two forklifts 3 are symmetrically installed at the bottom in front of the vertical plate 5. A first protection mechanism 31 is arranged on the side of the vertical plate 5. A second protection mechanism 32 is arranged at the front end of the forklift 3. The first protection mechanism 31 is used to protect the side of the pallet, and the second protection mechanism 32 is used to protect the front end of the pallet. By providing the first protection mechanism 31 and the second protection mechanism 32 to protect the side and the front end of the pallet respectively, during the processes of pallet picking, handling, and placing, the pallet can be effectively prevented from being damaged by collision, extrusion, etc., ensuring the integrity of the pallet.

[0018] A cylinder 6 is installed below the fixing block 4. A push plate 7 is arranged below the fixing block 4 and at the front end of the cylinder 6. The output end of the cylinder 6 is connected to the push plate 7. The first protection mechanism 31 includes a side guard plate 12. The side guard plate 12 is located on the side of the vertical plate 5. An L-shaped plate 10 is installed at one end of the side guard plate 12 close to the push plate 7. A rectangular block 8 is installed at the end corner of the bottom of the vertical plate 5. A through groove 9 is arranged on the surface of the rectangular block 8. The surface of the L-shaped plate 10 is movably clamped in the through groove 9. A first pull rod 11 is connected between the top end surface of the push plate 7 and the top of the L-shaped plate 10 through a rotating shaft. When it is necessary to protect the side of the pallet, the cylinder 6 is started, the cylinder 6 contracts, and its output end drives the push plate 7 to move backward. When the push plate 7 moves, it drives the L-shaped plate 10 to move in the through groove 9 on the surface of the rectangular block 8 through the first pull rod 11, so that the side guard plate 12 moves towards the direction of the forklift 3, thereby protecting the side of the pallet. When protection is not required, the cylinder 6 is started, the cylinder 6 extends, and its output end drives the push plate 7 to move forward. Under the action of the first pull rod 11, the L-shaped plate 10 and the side guard plate 12 move in the opposite direction and return to the initial position. It can flexibly control the side guard plate 12 to protect the side of the pallet according to the actual pallet handling situation, and can approach and move away in time during the processes of pallet picking and placing, adapting to different operation processes.

[0019] A guiding groove 13 is provided inside the fixed block 4, and a guiding rod 14 is provided at the end of the side guard plate 12. The surface of the guiding rod 14 is movably installed in the guiding groove 13. During the movement of the side guard plate 12, the guiding rod 14 at its end slides along the guiding groove 13 inside the fixed block 4, guiding the movement of the side guard plate 12 and ensuring that the side guard plate 12 can move smoothly and accurately to a predetermined position to protect the side of the tray.

[0020] A pressing frame 17 is installed above the forklift fork 3. A contraction groove 19 is formed on the upper surface of the forklift fork 3. A contraction rod 20 is installed at the bottom of the pressing frame 17, and the bottom of the contraction rod 20 is movably installed in the contraction groove 19. A spring is provided inside the contraction groove 19, and the top end of the spring is connected to the contraction rod 20. A sliding groove is formed on the surface of the vertical plate 5. A protruding block 18 is installed on the end face of the pressing frame 17 close to the vertical plate 5, and the protruding block 18 is slidably installed in the sliding groove. When the device transports the tray, the forklift fork 3 is inserted under the tray. During the process of the forklift fork 3 lifting the tray, the pressing frame 17 will move downward under the action of the self-weight of the tray. At this time, the contraction rod 20 slides downward along the contraction groove 19, and at the same time compresses the spring in the contraction groove 19. The pressing frame 17 slides through the protruding block 18 in the sliding groove on the surface of the vertical plate 5, ensuring that the pressing frame 17 moves vertically downward. When the tray is transported to the designated position, the forklift fork 3 descends from the bottom of the tray, and the elastic force of the spring will push the contraction rod 20 upward, thereby driving the pressing frame 17 to reset upward to its initial position, preparing for the next transportation operation. This mechanism can provide a buffering effect for the forklift fork 3 to a certain extent, reducing the damage to the tray and the forklift fork 3 during the lifting process of the tray. At the same time, this mechanism can also drive the second protection mechanism 32 to start.

[0021] An activity groove 23 is formed on the surface of the forklift fork 3 away from the vertical plate 5. The second protection mechanism 32 includes an activity block 24, and the activity block 24 is slidably installed in the activity groove 23. An extending block 27 is movably installed in the inner cavity of the activity block 24, and a tension spring is provided at the bottom of the extending block 27. When there is no tray placed on the pressing frame 17, the activity block 24 is located at one end of the activity groove 23 away from the vertical plate 5, and the surface of the extending block 27 is movably installed in the inner cavity of the activity block 24. Due to the action of the tension spring, the extending block 27 has a tendency to move downward. At this time, the extending block 27 is in the inner cavity of the activity block 24. When the forklift fork 3 lifts the tray, the tray is placed on the surface of the pressing frame 17, and the lifting of the extending block 27 can protect the front end of the tray.

[0022] On both sides of the movable slot 23, side slots 25 are provided. On the bottom of the protruding block 27 and symmetrically on the side of the tension spring, two second fixing frames 29 are installed. On both sides of the bottom of the movable block 24, smooth rods 26 are movably installed. At one end of the smooth rod 26 inside the movable block 24, a first fixing frame 28 is installed. A second pull rod 30 is connected between the first fixing frame 28 and the second fixing frame 29 through a rotating shaft. The other end of the smooth rod 26 is set as a semi-circular head. When the two smooth rods 26 move towards the middle of the movable block 24 at the same time, under the thrust of the second pull rod 30, the protruding block 27 will move upward to achieve the protection of the front end of the tray.

[0023] On both sides of the front end of the pressing frame 17, extension plates 21 are fixedly installed. At one end of the extension plate 21 close to the forklift fork 3, an inclined surface slot 22 is provided. The surface of the inclined surface slot 22 is matched with the semi-circular head. When the pressing frame 17 moves downward, at this time, the inclined surface slot 22 has a certain squeezing force on the semi-circular head, so as to promote the smooth rod 26 to move towards the middle of the movable block 24, and the protruding block 27 will have a lifting effect.

[0024] Corresponding operation slots 15 are provided at the bottom of the forklift fork 3 and the bottom of the vertical plate 5. A pulling frame 16 is arranged below the forklift fork 3. Both ends of the pulling frame 16 are respectively clamped in the operation slots 15, and the front end of the pulling frame 16 is connected to the movable block 24, and the other end of the pulling frame 16 is fixedly connected to the pushing plate 7. When the pushing plate 7 is driven to move by the air cylinder 6, then the pushing plate 7 will drive the movable block 24 to slide in the movable slot 23 through the pulling frame 16, so as to change the position of the movable block 24 in the movable slot 23. After the tray is placed on the surface of the pressing frame 17, the air cylinder 6 contracts, driving the pushing plate 7 to move backward towards the vertical plate 5. At this time, the movable block 24 will move synchronously in the movable slot 23, and the protruding block 27 will gradually approach the tray, so that the protruding block 27 and the vertical plate 5 can clamp the front and rear end faces of the tray to ensure the stability of the tray.

[0025] Working principle: First, move the pallet stacking robot near the pallet to be carried, align the forklift 3 under the pallet. Then, the operating frame 2 drives the fixed block 4 to descend through the hydraulic system, and the pallet stacking robot moves towards the pallet. The forklift 3 is inserted under the pallet. During the process of the forklift 3 lifting the pallet, the pressing frame 17 moves downward under the action of the self-gravity of the pallet. The contraction rod 20 slides downward along the contraction groove 19 and compresses the spring. The pressing frame 17 slides in the chute on the surface of the vertical plate 5 through the protruding block 18 to ensure vertical downward movement. At the same time, the inclined groove 22 on the extension plate 21 at the front end of the pressing frame 17 generates a squeezing force on the semi-circular head of the optical rod 26, prompting the optical rod 26 to move towards the middle of the movable block 24. Under the action of the second pull rod 30, the protruding block 27 moves upward to protect the front end of the pallet. Next, start the cylinder 6 to contract, and its output end drives the push plate 7 to move backward. The push plate 7 drives the L-shaped plate 10 to move in the through groove 9 on the surface of the rectangular block 8 through the first pull rod 11, and then moves the side guard plate 12 towards the forklift 3 to protect the side of the pallet. During this process, the movable block 24 will move synchronously in the movable groove 23, and the protruding block 27 will gradually approach the pallet, so that the protruding block 27 and the vertical plate 5 can clamp the front and rear end faces of the pallet to ensure the stability of the pallet. Then, after the forklift 3 lifts the pallet to a certain height, the vehicle body 1 moves to carry the pallet to the designated position. After reaching the designated position, the operating frame 2 drives the fixed block 4 to descend through the hydraulic system, so that the forklift 3 descends from the bottom of the pallet. The elastic force of the spring pushes the contraction rod 20 to move upward, driving the pressing frame 17 to reset upward. The protruding block 27 contracts into the inner cavity of the movable block 24 under the action of the tension spring. Subsequently, slowly move the vehicle body 1 backward to complete the handling of the pallet. Finally, the cylinder 6 extends, driving the push plate 7 to move forward. Under the action of the first pull rod 11, the L-shaped plate 10 and the side guard plate 12 move in the opposite direction and return to the initial position. At the same time, the movable block 24 also moves to the front end of the movable groove 23.

[0026] The above shows and describes the basic principle, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed.

Claims

1. A pallet stacking robot for warehousing logistics, comprising a vehicle body (1), characterized in that, An operating frame (2) is installed at the front end of the vehicle body (1). A fixing block (4) is movably arranged inside the operating frame (2). A hydraulic system is arranged inside the operating frame (2). The operating frame (2) drives the fixing block (4) to lift through the hydraulic system. A vertical plate (5) is arranged at the front end of the fixing block (4). Two forklift forks (3) are symmetrically installed at the bottom in front of the vertical plate (5). A first protection mechanism (31) is arranged on the side surface of the vertical plate (5). A second protection mechanism (32) is arranged at the front end of the forklift fork (3). The first protection mechanism (31) is used to protect the side surface of the pallet, and the second protection mechanism (32) is used to protect the front end of the pallet.

2. The pallet stacking robot for warehousing logistics according to claim 1, characterized in that, A cylinder (6) is installed below the fixing block (4). A push plate (7) is arranged below the fixing block (4) and at the front end of the cylinder (6). The output end of the cylinder (6) is connected to the push plate (7). The first protection mechanism (31) includes a side protection plate (12). The side protection plate (12) is located on the side surface of the vertical plate (5). An L-shaped plate (10) is installed at one end of the side protection plate (12) close to the push plate (7). A rectangular block (8) is installed at the end corner of the bottom of the vertical plate (5). A through groove (9) is arranged on the surface of the rectangular block (8). The surface of the L-shaped plate (10) is movably clamped in the through groove (9). A first pull rod (11) is connected between the top end face of the push plate (7) and the top of the L-shaped plate (10) through a rotating shaft.

3. The pallet stacking robot for warehousing logistics according to claim 2, wherein A guiding groove (13) is arranged inside the fixing block (4). A guiding rod (14) is arranged at the end of the side protection plate (12). The surface of the guiding rod (14) is movably installed in the guiding groove (13).

4. A pallet stacking robot for warehousing logistics according to claim 2, characterized in that, A pressing frame (17) is installed above the forklift fork (3). A contraction groove (19) is formed on the upper surface of the forklift fork (3). A contraction rod (20) is installed at the bottom of the pressing frame (17). The bottom of the contraction rod (20) is movably installed in the contraction groove (19). A spring is arranged inside the contraction groove (19). The top end of the spring is connected to the contraction rod (20). A sliding groove is formed on the surface of the vertical plate (5). A protruding block (18) is installed at the end face of the pressing frame (17) close to the vertical plate (5). The protruding block (18) is slidably installed in the sliding groove.

5. A pallet stacking robot for warehousing logistics according to claim 4, characterized in that, An activity groove (23) is formed on the surface of the forklift fork (3) away from the vertical plate (5). The second protection mechanism (32) includes an activity block (24). The activity block (24) is slidably installed in the activity groove (23). An extending block (27) is movably installed in the inner cavity of the activity block (24). A tension spring is arranged at the bottom of the extending block (27).

6. The pallet stacking robot for warehousing logistics according to claim 5, characterized in that, On both sides of the movable slot (23), side slots (25) are provided. On the bottom of the protruding block (27) and symmetrically on the side of the tension spring, two second fixing frames (29) are installed. On both sides of the bottom of the movable block (24), smooth rods (26) are movably installed. At one end of the smooth rod (26) inside the movable block (24), a first fixing frame (28) is installed. A second pull rod (30) is connected between the first fixing frame (28) and the second fixing frame (29) through a rotating shaft. The other end of the smooth rod (26) is provided with a semi-circular head.

7. The pallet stacking robot for warehousing logistics according to claim 6, characterized in that, On both sides of the front end of the pressing frame (17), extension plates (21) are fixedly installed. At one end of the extension plate (21) close to the fork (3), an inclined surface groove (22) is provided. The surface of the inclined surface groove (22) is matched with the semi-circular head.

8. A pallet stacking robot for warehousing logistics according to claim 7, characterized in that, Corresponding operation slots (15) are provided at the bottom of the fork (3) and the bottom of the vertical plate (5). A pulling frame (16) is arranged below the fork (3). Both ends of the pulling frame (16) are respectively clamped in the operation slots (15), and the front end of the pulling frame (16) is connected to the movable block (24), and the other end of the pulling frame (16) is fixedly connected to the pushing plate (7).

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