Intelligent warehousing system based on robot automation and material handling equipment

Abstract

The application relates to the technical field of robot warehouse transportation, in particular to an intelligent warehouse system and material transportation equipment based on robot automation, which comprises a robot main body, a supporting mechanism is arranged above the robot main body, a supporting frame is installed above the robot main body through a moving mechanism, two groups of supporting plates are slidably installed on one side of the supporting frame through a driving mechanism, two groups of clamps are arranged between the two groups of supporting plates, protrusions are fixedly installed on the adjacent sides of the two groups of clamps, limit blocks are slidably installed above the clamps, and the clamps are connected with the supporting plates through lifting mechanisms. The intelligent warehouse system and material transportation equipment based on robot automation can limit the periphery of the material under the cooperation of the limit blocks, increase the stability of the material in the transportation process, and determine the central position of the material, so that the robot main body can move to the bottom of the material.

Description

Technical Field

[0001] The present invention relates to the field of robotic warehousing and handling technology, and in particular to an intelligent warehousing system and material handling equipment based on robotic automation. Background Art

[0002] A robot is an automated machine that possesses some intelligent capabilities similar to those of humans or living things, such as perception, planning, movement, and coordination. Robots are diverse, widely used, and have enormous potential for future development. With the continuous advancement of technology, robots will play an important role in more areas. When robots are used in warehousing and handling, they generally handle materials that have enough space between the bottom and the ground for the robot to enter. For materials with limited space between the bottom and the ground, or materials with a bottom that is close to the ground, manual labor is required to move the materials onto the robot, affecting handling efficiency and increasing the workload of staff. Alternatively, handling tools must be inserted from the side into the bottom of the material before the material is lifted and moved. During this process, the material can easily tilt, posing a safety hazard. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent warehousing system and material handling equipment based on robot automation to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an intelligent warehousing system and material handling equipment based on robot automation, comprising a robot main body, a supporting mechanism being provided above the robot main body, a support frame being installed above the robot main body through a moving mechanism, two groups of support plates being slidably installed on one side of the support frame through a driving mechanism, two groups of clamps being provided between the two groups of support plates, protrusions being fixedly installed on adjacent sides of the two groups of clamps, a limiting block being slidably installed above the clamp, and the clamp being connected to the support plate through a lifting mechanism.

[0005] Preferably, the supporting mechanism includes a load-bearing plate and an electric push rod, the electric push rod is fixedly installed above the robot body, the electric push rod is arranged in a vertical shape, and the output end of the electric push rod is fixedly connected to the load-bearing plate.

[0006] Preferably, the moving mechanism includes two groups of beams, and the two groups of beams are located between two groups of support plates. The beams are parallel to the support plates, and the beams are fixedly connected to the robot body. An installation groove is provided above the beam, and the installation groove is slidably connected to the support frame. A power component is provided above the beam.

[0007] Preferably, the power assembly includes a rotatable gear, which is rotatably mounted inside the support frame via a rotating structure. A rack is provided above the crossbeam via an adjusting structure, and the gear and the rack are meshed.

[0008] Preferably, the rotating structure includes a threaded rod and a motor, the threaded rod is rotatably inserted inside the support frame, the threaded rod is horizontally arranged, the axial direction of the threaded rod is perpendicular to the length direction of the beam, the threaded rod and the gear are fixedly connected, the motor is fixedly installed on the side of the support frame, and the output end of the motor is fixedly connected to one end of the threaded rod.

[0009] Preferably, the adjustment structure includes a slot body and a spring piece, the slot body is opened above the crossbeam, the slot body is slidably connected to the rack, the spring piece is installed inside the slot body, and the spring piece is fixedly connected to the rack.

[0010] Preferably, the driving mechanism includes a threaded block, which is slidably inserted into the interior of the support frame, the threaded block and the threaded rod are threadedly connected, the threaded block and the support plate are fixedly connected, and the threaded block is connected to the rack through a pushing structure.

[0011] Preferably, the pushing structure includes a groove, the groove is opened inside the support frame, an adjusting piece is slidably inserted into the inside of the groove through an elastic piece, the adjusting piece is in contact with the rack, the end face of the adjusting piece close to the rack is inclined, a No. 1 magnet is fixedly installed on the end of the adjusting piece away from the rack, and a No. 2 magnet is fixedly installed on the side of the threaded block close to the adjusting piece, and the No. 1 magnet and the No. 2 magnet attract each other.

[0012] Preferably, the lifting mechanism includes a pushing member, a mounting plate and a sleeve, the sleeve is slidably mounted on the side of the mounting plate close to the support plate, the sleeve and the support plate are fixedly connected, one end of the pushing member is rotatably connected to the end of the mounting plate away from the sleeve, and the other end of the pushing member is rotatably connected to the clamp, and the lifting mechanism also includes a supporting structure.

[0013] The cam is fixedly mounted on one end of the support frame, and the cam is mounted on an end of the support frame, the cam being fixedly mounted on the other end of the support frame and the support frame being slidably connected to the support frame.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. Through the clamp, with the cooperation of the limit block, the material can be limited on all sides to increase the stability of the material during transportation, and the center position of the material can be determined. When the robot body moves to the bottom of the material, there is no need to confirm the center position of the material, which makes the load-bearing more uniform during transportation and helps improve the efficiency of transportation.

[0016] 2. By setting up a clamp, with the cooperation of the lifting mechanism, the material can be lifted to a certain extent, so that the robot body can move to the bottom of the material to carry the material, making the application range of the device wider.

[0017] 3. By setting up a clamp, with the cooperation of the limit block, the position of the support plate can be adjusted so that when the clamp moves upward, the force acting on the material is at the center of the side of the material. When the material is lifted, the material is not easy to tilt, which is conducive to improving the safety of material handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a structural schematic diagram from another perspective of the present invention;

[0020] Figure 3 For the present invention Figure 2 A magnified view of point A;

[0021] Figure 4 It is a cross-sectional view of the structure of the present invention;

[0022] Figure 5 It is a partial structural schematic diagram of the present invention;

[0023] Figure 6 It is a partial structural cross-sectional view of the present invention;

[0024] Figure 7 It is a partial structural cross-sectional view of the present invention;

[0025] Figure 8 For the present invention Figure 7 Partial structural cross-sectional view.

[0026] In the accompanying drawings, the list of components represented by each number is as follows: 1. Robot body; 2. Load-bearing plate; 3. Electric push rod; 4. Clamp; 5. Protrusion; 6. Limit block; 7. Slide groove; 8. Slider; 9. Rod; 10. Spring No. 1; 11. Cross plate; 12. Push plate; 13. Support plate; 14. Cross bar; 15. Spring No. 2; 16. Pusher; 17. Mounting plate; 18. Sleeve; 19. Guide groove; 20. Guide block; 21. Support frame; 22. Threaded block; 23. Threaded rod; 24. Motor; 25. Gear; 26. Rack; 27. Groove; 28. Adjustment member; 29. ​​Elastic member; 30. Magnet No. 1; 31. Magnet No. 2; 32. Cross beam; 33. Mounting groove; 34. Slot body; 35. Shrapnel. DETAILED DESCRIPTION

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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 making creative efforts are within the scope of protection of the present invention.

[0028] See also Figures 1-8 The figure shows an intelligent warehousing system and material handling equipment based on robot automation, including a robot body 1, a supporting mechanism is provided above the robot body 1, a support frame 21 is installed above the robot body 1 through a moving mechanism, two groups of support plates 13 are slidably installed on one side of the support frame 21 through a driving mechanism, two groups of clamps 4 are provided between the two groups of support plates 13, and protrusions 5 are fixedly installed on adjacent sides of the two groups of clamps 4, a limiting block 6 is slidably installed above the clamp 4, and the clamp 4 is connected to the support plate 13 through a lifting mechanism.

[0029] The supporting mechanism includes a bearing plate 2 and an electric push rod 3. The electric push rod 3 is fixedly installed above the robot body 1. The electric push rod 3 is arranged vertically, and the output end of the electric push rod 3 is fixedly connected to the bearing plate 2.

[0030] In the initial state, the clamp 4 is located above the robot body 1, and the robot body 1 moves to the side of the material to be transported. The moving mechanism drives the support frame 21 to move above the robot body 1, driving the clamp 4 to move synchronously, so that the two groups of clamps 4 can move to both sides of the material. The two groups of clamps 4 clamp the material from both sides. The limit block 6 can further clamp the material and can determine the center of gravity of the material. Under the action of the lifting mechanism, the clamp 4 can drive the material to move upward, and the robot body 1 can move to the bottom of the material. The electric push rod 3 is connected to the external power supply, and the electric push rod 3 drives the load-bearing plate 2 to move up and down. The load-bearing plate 2 moves upward and contacts the bottom of the material, so that the robot body 1 can support the material from below, which is convenient for transporting the material.

[0031] The moving mechanism includes two groups of beams 32. The two groups of beams 32 are located between the two groups of support plates 13. The beams 32 are parallel to the support plates 13. The beams 32 are fixedly connected to the robot body 1. An installation groove 33 is provided above the beam 32. The installation groove 33 is slidably connected to the support frame 21. A power component is provided above the beam 32.

[0032] The power assembly includes a rotatable gear 25 , which is rotatably mounted inside the support frame 21 through a rotating structure. A rack 26 is provided above the crossbeam 32 through an adjusting structure, and the gear 25 and the rack 26 are meshed.

[0033] The rotating structure includes a threaded rod 23 and a motor 24. The threaded rod 23 is rotatably inserted into the inside of the support frame 21. The threaded rod 23 is horizontally arranged, and the axial direction of the threaded rod 23 is perpendicular to the length direction of the crossbeam 32. The threaded rod 23 and the gear 25 are fixedly connected. The motor 24 is fixedly installed on the side of the support frame 21, and the output end of the motor 24 is fixedly connected to one end of the threaded rod 23.

[0034] Specifically, the motor 24 is connected to an external power source. Under the action of the support frame 21, the motor 24 drives the threaded rod 23 to rotate, thereby driving the gear 25 to rotate. Since the gear 25 and the rack 26 are engaged, the gear 25 can drive the rack 26 to move when it rotates. The rack 26 is driven by the crossbeam 32 and moves synchronously with the robot body 1. At this time, the mounting groove 33 is slidably connected to the support frame 21.

[0035] The adjustment structure includes a slot body 34 and a spring piece 35 . The slot body 34 is opened above the crossbeam 32 and is slidably connected to the rack 26 . The spring piece 35 is installed inside the slot body 34 and is fixedly connected to the rack 26 .

[0036] The driving mechanism includes a threaded block 22, which is slidably inserted into the interior of the support frame 21, the threaded block 22 and the threaded rod 23 are threadedly connected, the threaded block 22 and the support plate 13 are fixedly connected, and the threaded block 22 is connected to the rack 26 through a pushing structure.

[0037] The pushing structure includes a groove 27, which opens inside the support frame 21. An adjusting member 28 is slidably inserted into the inside of the groove 27 through an elastic member 29. The adjusting member 28 is in contact with the rack 26. The end face of the adjusting member 28 close to the rack 26 is inclined. A magnet No. 1 30 is fixedly installed on the end of the adjusting member 28 away from the rack 26. A magnet No. 2 31 is fixedly installed on the side of the threaded block 22 close to the adjusting member 28. The magnet No. 1 30 and the magnet No. 2 31 attract each other.

[0038] Specifically, the threaded rod 23 is threadedly connected to the threaded block 22, and the threaded rod 23 can drive the threaded block 22 to move inside the support frame 21 when it rotates. In the initial state, the adjusting piece 28 contacts the rack 26, so that the rack 26 does not mesh with the gear 25, and the threaded rod 23 drives the two groups of threaded blocks 22 to approach each other. When the threaded block 22 moves to a certain extent, the threaded block 22 is no longer threadedly connected to the threaded rod 23, and the threaded block 22 stops moving. At this time, the first magnet 30 and the second magnet 31 are attracted, and the second magnet 31 can drive the adjusting piece 28 to move inside the groove 27 through the first magnet 30. At this time, the elastic piece 29 is deformed by the force, and the adjusting piece 28 does not contact the rack 26. Under the action of the spring piece 35, the spring piece 35 pushes the rack 26 to move inside the groove body 34 in the direction of the gear 25, so that the gear 25 and the rack 26 mesh, so that the gear 25 can drive the rack 26 to move.

[0039] The lifting mechanism includes a pushing member 16, a mounting plate 17 and a sleeve 18. The sleeve 18 is slidably mounted on the side of the mounting plate 17 close to the support plate 13. The sleeve 18 is fixedly connected to the support plate 13. One end of the pushing member 16 is rotatably connected to the end of the mounting plate 17 away from the sleeve 18, and the other end of the pushing member 16 is rotatably connected to the clamp 4. The lifting mechanism also includes a supporting structure.

[0040] The supporting structure includes a transverse plate 11, and two groups of push plates 12 are rotatably installed on the side of the transverse plate 11 close to the clamp 4, and a slider 8 is rotatably installed on the end of the push plate 12 away from the transverse plate 11, and the slider 8 is fixedly connected to the limit block 6. A slide groove 7 is provided inside the clamp 4, and a rod 9 is fixedly inserted inside the slide groove 7. The rod 9 and the slider 8 are slidably connected. The external movable sleeve of the rod 9 is provided with a No. 1 spring 10, and the No. 1 spring 10 is fixedly connected to the two groups of sliders 8. A guide groove 19 is provided on the side of the transverse plate 11 away from the push plate 12, and a guide block 20 is slidably inserted inside the guide groove 19. A cross bar 14 is fixedly installed on the side of the guide block 20 close to the support plate 13, and the cross bar 14 and the support plate 13 are slidably connected. The external movable sleeve of the cross bar 14 is provided with a No. 2 spring 15, and the No. 2 spring 15 is located between the guide block 20 and the support plate 13.

[0041] Specifically, when the two groups of support plates 13 approach each other, they can drive the clamps 4 to move synchronously. The clamps 4 contact both sides of the material. Under the action of the protrusions 5, the friction between the clamps 4 and the material can be increased. After the clamps 4 stop moving, the support plates 13 drive the cross plate 11 to move in the direction of the clamp 4. Under the action of the push plate 12, the push plate 12 can drive the two groups of limit blocks 6 to approach each other through the slider 8. At this time, the slider 8 slides inside the slide groove 7. Under the action of the rod 9, the No. 1 spring 10 is compressed. When one group of limit blocks 6 contacts the material and the other group of limit blocks 6 does not contact the material, with the mutual cooperation of the cross plate 11 and the push plate 12, the two groups of limit blocks 6 can drive the cross plate 11 to move along the length direction of the rod 9, thereby confirming the center point of the material.

[0042] When the two groups of limit blocks 6 stop moving, the support plate 13 continues to move toward the direction of the clamp 4, and the support plate 13 slides outside the cross bar 14. The No. 2 spring 15 is deformed under the force, and the support plate 13 drives the sleeve 18 to move synchronously. When the sleeve 18 moves to a certain position outside the mounting plate 17, the sleeve 18 drives the mounting plate 17 to move synchronously, and the mounting plate 17 drives the pusher 16 to rotate. When the pusher 16 rotates, it can drive the clamp 4 to move upward, thereby lifting the material. At the same time, the clamp 4 drives the cross plate 11 to move upward synchronously, so that the guide block 20 can slide inside the guide groove 19.

[0043] Working principle: Connect the motor 24 to an external power source. Under the action of the support frame 21, the motor 24 drives the threaded rod 23 to rotate. The threaded rod 23 is threadedly connected to the threaded block 22. When the threaded rod 23 rotates, it can drive the threaded block 22 to move inside the support frame 21, and the threaded block 22 drives the support plate 13 to move.

[0044] When the two groups of support plates 13 approach each other, they can drive the clamps 4 to move synchronously. The clamps 4 contact both sides of the material. Under the action of the protrusions 5, the friction between the clamps 4 and the material can be increased. After the clamps 4 stop moving, the support plates 13 drive the cross plate 11 to move in the direction of the clamps 4. Under the action of the push plate 12, the push plate 12 can drive the two groups of limit blocks 6 to approach each other through the slider 8. At this time, the slider 8 slides inside the slide groove 7. Under the action of the rod 9, the No. 1 spring 10 is compressed. When one group of limit blocks 6 contacts the material and the other group of limit blocks 6 does not contact the material, with the mutual cooperation of the cross plate 11 and the push plate 12, the two groups of limit blocks 6 can drive the cross plate 11 to move along the length direction of the rod 9, thereby confirming the center point of the material.

[0045] When the two groups of limit blocks 6 stop moving, the support plate 13 continues to move toward the direction of the clamp 4, and the support plate 13 slides outside the cross bar 14. The No. 2 spring 15 is deformed under the force, and the support plate 13 drives the sleeve 18 to move synchronously. When the sleeve 18 moves to a certain position outside the mounting plate 17, the sleeve 18 drives the mounting plate 17 to move synchronously, and the mounting plate 17 drives the pusher 16 to rotate. When the pusher 16 rotates, it can drive the clamp 4 to move upward, thereby lifting the material. At the same time, the clamp 4 drives the cross plate 11 to move upward synchronously, so that the guide block 20 can slide inside the guide groove 19.

[0046] When the gear 25 is engaged with the rack 26 , the gear 25 is engaged with the rack 26 , and the gear 25 is engaged with the rack 26 , so that the gear 25 can drive the rack 26 to move. The rack 26 drives the robot body 1 to move synchronously through the crossbeam 32 . At this time, the mounting groove 33 is slidably connected to the support frame 21 .

[0047] The robot body 1 can move to the bottom of the material, the electric push rod 3 is connected to the external power supply, the electric push rod 3 drives the load-bearing plate 2 to move up and down, the load-bearing plate 2 moves upward and contacts the bottom of the material, so that the robot body 1 can support the material from below, making it easier to carry the material.

[0048] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0049] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent warehousing system and material handling equipment based on robot automation, comprising a robot body (1), characterized in that: A supporting mechanism is provided above the robot body (1), and the supporting mechanism includes a bearing plate (2) and an electric push rod (3). The electric push rod (3) is fixedly installed above the robot body (1). The electric push rod (3) is arranged in a vertical shape, and the output end of the electric push rod (3) is fixedly connected to the bearing plate (2). A support frame (21) is installed above the robot body (1) through a moving mechanism, and two groups of support plates (13) are slidably installed on one side of the support frame (21) through a driving mechanism. Two groups of clamps (4) are provided between the two groups of support plates (13). The adjacent sides of the two groups of clamps (4) are fixedly mounted with protrusions (5), and a limit block (6) is slidably mounted above the clamps (4). The clamps (4) are connected to the support plate (13) through a lifting mechanism, and the lifting mechanism includes a pusher (16), a mounting plate (17) and a sleeve (18). The sleeve (18) is slidably sleeved on a side of the mounting plate (17) close to the support plate (13). The sleeve (18) is fixedly connected to the support plate (13). One end of the pusher (16) is rotatably connected to an end of the mounting plate (17) away from the sleeve (18). The pusher ( 16) is rotatably connected to the clamp (4), the lifting mechanism further comprises a supporting structure, the supporting structure comprising a transverse plate (11), two sets of push plates (12) are rotatably mounted on one side of the transverse plate (11) close to the clamp (4), a slider (8) is rotatably mounted on one end of the push plate (12) away from the transverse plate (11), the slider (8) is fixedly connected to the limit block (6), a slide groove (7) is provided inside the clamp (4), a rod (9) is fixedly inserted inside the slide groove (7), the rod (9) is slidably connected to the slider (8), and the outside of the rod (9) The movable sleeve is provided with a No. 1 spring (10), and the No. 1 spring (10) and the two sets of sliders (8) are fixedly connected. A guide groove (19) is provided on the side of the cross plate (11) away from the push plate (12), and a guide block (20) is slidably inserted inside the guide groove (19). A cross bar (14) is fixedly installed on the side of the guide block (20) close to the support plate (13), and the cross bar (14) and the support plate (13) are slidably connected. The outer movable sleeve of the cross bar (14) is provided with a No. 2 spring (15), and the No. 2 spring (15) is located between the guide block (20) and the support plate (13).

2. The intelligent warehousing system and material handling equipment based on robotic automation according to claim 1, characterized in that: The moving mechanism includes two groups of crossbeams (32). The two groups of crossbeams (32) are located between two groups of support plates (13). The crossbeams (32) are parallel to the support plates (13). The crossbeams (32) are fixedly connected to the robot body (1). A mounting groove (33) is provided above the crossbeams (32). The mounting groove (33) is slidably connected to the support frame (21). A power assembly is provided above the crossbeams (32).

3. The intelligent warehousing system and material handling equipment based on robotic automation according to claim 2, characterized in that: The power assembly includes a rotatable gear (25), and the gear (25) is rotatably mounted inside the support frame (21) through a rotating structure. A rack (26) is provided above the crossbeam (32) through an adjusting structure, and the gear (25) and the rack (26) are meshed.

4. The intelligent warehousing system and material handling equipment based on robotic automation according to claim 3, characterized in that: The rotating structure comprises a threaded rod (23) and a motor (24), wherein the threaded rod (23) is rotatably inserted into the interior of the support frame (21), the threaded rod (23) is arranged horizontally, the axial direction of the threaded rod (23) is perpendicular to the length direction of the crossbeam (32), the threaded rod (23) and the gear (25) are fixedly connected, the motor (24) is fixedly installed on the side of the support frame (21), and the output end of the motor (24) is fixedly connected to one end of the threaded rod (23).

5. The intelligent warehousing system and material handling equipment based on robotic automation according to claim 3, characterized in that: The adjustment structure comprises a groove body (34) and a spring piece (35), wherein the groove body (34) is opened above the crossbeam (32), the groove body (34) is connected to the rack (26) by sliding, the spring piece (35) is installed inside the groove body (34), and the spring piece (35) and the rack (26) are fixedly connected.

6. The intelligent warehousing system and material handling equipment based on robotic automation according to claim 4, characterized in that: The driving mechanism comprises a threaded block (22), the threaded block (22) is slidably inserted into the interior of the support frame (21), the threaded block (22) and the threaded rod (23) are threadedly connected, the threaded block (22) and the support plate (13) are fixedly connected, and the threaded block (22) is connected to the rack (26) via a pushing structure.

7. The intelligent warehousing system and material handling equipment based on robotic automation according to claim 6, characterized in that: The pushing structure includes a groove (27), the groove (27) is opened inside the support frame (21), and an adjusting member (28) is slidably inserted into the groove (27) through an elastic member (29), the adjusting member (28) and the rack (26) are in contact and fit, and the end face of the adjusting member (28) close to the rack (26) is inclined, and a first magnet (30) is fixedly installed on the end of the adjusting member (28) away from the rack (26), and a second magnet (31) is fixedly installed on the side of the threaded block (22) close to the adjusting member (28), and the first magnet (30) and the second magnet (31) attract each other.

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