Multipurpose tail end clamp for rope-driven parallel storage robot

Abstract

The invention relates to warehouse logistics equipment, in particular to a multipurpose tail end clamp for a rope-driven parallel storage robot, which comprises a base, and a first outer-layer clamp, a second outer-layer clamp, a first inner-layer clamp, a second inner-layer clamp and a control unit which are connected to the base, the first inner-layer clamp and the second inner-layer clamp are located between the first outer-layer clamp and the second outer-layer clamp, and when goods are received, the control unit controls the first outer-layer clamp and the second outer-layer clamp as well as the first inner-layer clamp and the second inner-layer clamp to be opened; when goods completely slide in, the first inner-layer clamp and the second inner-layer clamp are clamped, and when the goods are unloaded, the control unit controls the first outer-layer clamp and the second outer-layer clamp to be away from each other, and meanwhile the first inner-layer clamp and the second inner-layer clamp are close to each other. Full-process automation of carrying, clamping, carrying and releasing of goods can be achieved, and the full-automatic loading and unloading device is compatible with goods of different sizes.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of warehousing logistics equipment, in particular to a kind of multipurpose end clamp for rope-driven parallel warehousing robot. BACKGROUND

[0002] Due to the development of logistics industry, the existing warehouse volume is huge, and the goods are stacked in large quantities, resulting in huge work load of goods receiving, stacking, and heavy work. At the same time, due to the large amount of goods, the stacking is getting higher and higher, resulting in difficulty in stacking, and the ground is limited by the ground condition, and the ground is stacked with more goods, resulting in difficulty in using the goods handling tool. SUMMARY

[0003] The purpose of the present application is to provide a kind of multipurpose end clamp for rope-driven parallel warehousing robot, which can realize the whole process automation of receiving, clamping, transporting and releasing goods, and is compatible with different sizes of goods.

[0004] To achieve the above purpose, the present application provides a kind of multipurpose end clamp for rope-driven parallel warehousing robot, which comprises a base and a control unit connected thereto, a first outer clamp connected with the control unit, a second outer clamp, a first inner clamp, a second inner clamp, The first outer clamp and the second outer clamp are the same structure and are oppositely arranged and controlled by the control unit to move away or close to each other, the first outer clamp comprises a first bottom plate and a first side plate connected to each other to form an L shape, when the first bottom plate and the second bottom plate of the second outer clamp abut each other by moving close to each other, one side between the first outer clamp and the second outer clamp forms a goods entrance, The first inner clamp and the second inner clamp are located between the first outer clamp and the second outer clamp and are oppositely arranged and controlled by the control unit to move away or close to each other, the first inner clamp comprises a first clamping plate vertically arranged and parallel to the first side plate and located above the first bottom plate.

[0005] The present application provides a kind of multipurpose end clamp for rope-driven parallel warehousing robot, wherein the first outer clamp further comprises a first baffle, the first baffle is connected to the side edge of the first bottom plate away from the goods entrance, and the first baffle is perpendicular to the first bottom plate.

[0006] The present application provides a kind of multipurpose end clamp for rope-driven parallel warehousing robot, which further comprises a first driving member, a second driving member, a third driving member and a fourth driving member, the first driving member and the second driving member drive the first outer clamp and the second outer clamp to move synchronously, and the third driving member and the fourth driving member drive the first inner clamp and the second inner clamp to move respectively.

[0007] The utility model is used for the multipurpose end clamp of rope drive parallel warehouse robot, wherein a first rack, a second rack and a central gear are further included, the first rack and the second rack are respectively located on two sides of the central gear, the first rack and the second rack are engaged with the central gear, the first outer clamp is connected with the first rack, and the second outer clamp is connected with the second rack.

[0008] The utility model is used for the multipurpose end clamp of rope drive parallel warehouse robot, wherein the first drive, the second drive, the third drive and the fourth drive are all pneumatic telescopic rods.

[0009] The utility model is used for the multipurpose end clamp of rope drive parallel warehouse robot, wherein a first guide rail group and a second guide rail group are further included, the first guide rail group and the second guide rail group are both connected to the base, the first outer clamp further includes a first top plate, the first top plate is connected with the first side plate, two first sliding blocks are arranged on the first top plate, the first outer clamp is connected to two guide rails of the first guide rail group through the two first sliding blocks, the first inner clamp further includes a first connecting frame, the first connecting frame is connected with the first clamping plate, two second sliding blocks are arranged on the first connecting frame, and the first inner clamp is connected to two guide rails of the second guide rail group through the two second sliding blocks.

[0010] The utility model is used for the multipurpose end clamp of rope drive parallel warehouse robot, wherein a first outer side distance sensor, a second outer side distance sensor, a first inner side distance sensor and a second inner side distance sensor are further included, the first outer side distance sensor and the second outer side distance sensor are used to collect distance information of the first outer clamp and the second outer clamp relative to the base and transmit to the control unit, the first inner side distance sensor and the second inner side distance sensor are used to collect distance information of the first inner clamp and the second inner clamp relative to the base and transmit to the control unit, and the control unit controls movement amount of the first outer clamp, the second outer clamp, the first inner clamp and the second inner clamp according to preset distance information.

[0011] The utility model is used for the multipurpose end clamp of rope drive parallel warehouse robot, wherein the base is rotatable.

[0012] The utility model is used for the multipurpose end clamp of rope drive parallel warehouse robot, wherein a plurality of rope connecting ends are arranged on the upper surface of the base.

[0013] The present invention provides a multi-purpose end effector for a rope-driven parallel storage robot, which further includes at least two pairs of pallet hooks, wherein one pair of pallet hooks is respectively connected to the outer edge of the first base plate and the second base plate on the side of the goods inlet, and the other pair of pallet hooks is respectively connected to the outer edge of the first base plate and the second base plate on the other side.

[0014] The multi-purpose end effector for rope-driven parallel storage robots of the present invention has at least the following beneficial effects: This invention relates to a multi-purpose end effector for a rope-driven parallel warehousing robot. When the first and second outer grippers approach each other, causing the first base plate to abut against the second base plate of the second outer gripper, a cargo inlet is formed on one side between the first and second outer grippers. The control unit can control the first and second outer grippers to synchronously move closer or further apart, and the first and second inner grippers to move closer or further apart. The base is used to connect to the drive ropes. By pulling the drive ropes, the end effector of this invention can be moved and swung, facilitating its movement to any height and position. Unrestricted by ground conditions, this invention can complete the entire process of goods receiving and releasing from the conveyor belt, achieving full automation of receiving, clamping, handling, and releasing goods. This enables unmanned, large-scale transfer and efficient palletizing in warehouses, solving the problem of difficult stacking of goods at higher heights and improving cargo transfer efficiency. The first and second outer clamps are synchronously positioned relatively far apart or relatively close together to prevent the first and second base plates from being unable to support the goods. Furthermore, the opening and closing degrees of the first and second outer clamps, as well as the first and second inner clamps, are adjustable, making this invention compatible with goods of different sizes and improving operational flexibility.

[0015] The following description, in conjunction with the accompanying drawings, details the multi-purpose end effector for rope-driven parallel storage robots of the present invention. Attached Figure Description

[0016] The accompanying drawings in this application are intended to supplement the textual description in the specification with graphics, and to further explain the technical solution of this application. They do not constitute an undue limitation on this application.

[0017] Figure 1 This is a perspective view of the overall structure of the multi-purpose end effector for a rope-driven parallel storage robot according to the present invention. Figure 2 This is a side view of the overall structure of the multi-purpose end effector for a rope-driven parallel storage robot according to the present invention; Figure 3 This is a perspective view of the internal transmission structure of the multi-purpose end gripper for a rope-driven parallel storage robot according to the present invention; Figure 4The top view of the internal transmission structure of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application; Figure 5 The use state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application; Figure 6 The state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application when preparing to receive the goods on the conveying belt; Figure 7 The state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application when receiving the goods on the conveying belt; Figure 8 The state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application when moving the goods to the target position; Figure 9 The state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application when placing the goods; Figure 10 The state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application when preparing to grab the pallet; Figure 11 The state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application when grabbing the pallet with the gripper open; Figure 12 The state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application when grabbing the pallet is completed.

[0018] Reference signs: 01 base; 11 goods inlet; 12 rope connection end; 21 first outer gripper; 211 first bottom plate; 212 first side plate; 213 first top plate; 214 first baffle; 215 pallet hook; 22 second outer gripper; 23 first driving member; 24 second driving member; 251 first rack; 252 second rack; 26 central gear; 27 first guide rail group; 28 first outer side distance sensor; 29 second outer side distance sensor; 31 first inner gripper; 311 first clamping plate; 312 first connecting frame; 32 second inner gripper; 33 third driving member; 34 fourth driving member; 37 second guide rail group; 38 first inner side distance sensor; 39 second inner side distance sensor; 06 mounting frame; 61 rope winch; 09 pallet. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings.

[0020] In the description of the present application, it should be understood that the terms "center", "transverse", "longitudinal", "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the scope of protection of the present application.

[0021] As shown in Figure 1 , Figure 2 The present application is a multi-purpose end clamp for rope-driven parallel warehouse robots, which comprises a base 01, a first outer clamp 21, a second outer clamp 22, a first inner clamp 31, a second inner clamp 32 connected to the base 01, and a control unit. The control unit adopts a PLC control system, The first outer clamp 21 and the second outer clamp 22 are the same structure and are oppositely arranged. The control unit controls the first outer clamp 21 and the second outer clamp 22 to move away from each other synchronously or move close to each other synchronously. The first outer clamp 21 comprises a first bottom plate 211 and a first side plate 212. The first bottom plate 211 and the first side plate 212 are connected to each other to form an L shape. When the first outer clamp 21 and the second outer clamp 22 move close to each other, the first bottom plate 211 abuts against the second bottom plate of the second outer clamp 22, and a side between the first outer clamp 21 and the second outer clamp 22 forms a goods entrance 11. The first bottom plate 211 and the second bottom plate form a goods bearing surface for bearing goods of different sizes. In the embodiment, the first side plate 212 is a frame shape. The first inner clamp 31 and the second inner clamp 32 are located between the first outer clamp 21 and the second outer clamp 22. The first inner clamp 31 and the second inner clamp 32 are the same structure and are oppositely arranged. The control unit controls the first inner clamp 31 and the second inner clamp 32 to move away from each other or move close to each other. The first inner clamp 31 comprises a first clamp plate 311. The first clamp plate 311 is vertically arranged and parallel to the first side plate 212. The first clamp plate 311 is located above the first bottom plate 211, and the lower edge of the first clamp plate 311 is close to the upper surface of the first bottom plate 211. When the first inner clamp 31 and the second inner clamp 32 move close to each other, the goods borne on the first bottom plate 211 and the second bottom plate are clamped again.

[0022] As shown in Figure 1 , Figure 5As shown, the multipurpose end clamp for rope-driven parallel warehouse robot of the present application is used to install the end of various rope-driven parallel warehouse robots, the upper surface of the base 01 is provided with a plurality of rope connection ends 12, the ropes are connected with the multipurpose end clamp for rope-driven parallel warehouse robot of the present application through the rope connection ends 12, the rope winch 61 is arranged on the rope-driven parallel warehouse robot mounting frame 06, each rope is pulled by the rope winch 61 to move and swing the end clamp of the present application, which is convenient to move the end clamp of the present application to any height and any position, is not limited by ground conditions, realizes the unmanned large-scale transfer and efficient stacking of the warehouse, and solves the problem of high stacking of goods. Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 As shown, the multipurpose end clamp for rope-driven parallel warehouse robot of the present application is used to install the end of various rope-driven parallel warehouse robots, the upper surface of the base 01 is provided with a plurality of rope connection ends 12, the ropes are connected with the multipurpose end clamp for rope-driven parallel warehouse robot of the present application through the rope connection ends 12, the rope winch 61 is arranged on the rope-driven parallel warehouse robot mounting frame 06, each rope is pulled by the rope winch 61 to move and swing the end clamp of the present application, which is convenient to move the end clamp of the present application to any height and any position, is not limited by ground conditions, realizes the unmanned large-scale transfer and efficient stacking of the warehouse, and solves the problem of high stacking of goods.

[0023] The utility model is used for the multipurpose end clamp of rope driving parallel warehousing robot, because the first outer layer clamp 21, second outer layer clamp 22 are close to each other, when the first bottom plate 211 and the second bottom plate of second outer layer clamp 22 are close to each other, one side between the first outer layer clamp 21, second outer layer clamp 22 forms goods entrance 11, and the control unit can control the first outer layer clamp 21, second outer layer clamp 22 are close to each other or are far from each other, and the first inner layer clamp 31, second inner layer clamp 32 are close to each other or are far from each other, so the whole process of self-conveyor receiving and releasing goods can be completed, the whole process automation of receiving, clamping, carrying and releasing goods is realized, and manual operation is not needed, simultaneously, because the first outer layer clamp 21, second outer layer clamp 22 form goods entrance 11, when using, the goods entrance 11 corresponds the position of conveyor goods arrival, so the rope driving in the air is convenient, is not limited by ground conditions, realizes the unmanned large-scale transfer and efficient stacking of warehouse, solves the problem of high stacking difficulty of goods, furthermore, the first outer layer clamp 21, second outer layer clamp 22 are far from each other or are close to each other, the first bottom plate and the second bottom plate cannot receive goods are avoided, and the opening degree of the first outer layer clamp 21, second outer layer clamp 22 and the opening degree of the first inner layer clamp 31, second inner layer clamp 32 can be adjusted, so that the utility model is compatible with goods of different sizes, and operation flexibility is improved.

[0024] Optionally, the base 01 is adapted to rotate freely within a range of 360 degrees, and the control unit controls the base 01 to rotate during the process of receiving, carrying and releasing goods, so that the utility model can receive goods on the conveyor belt at any angle, make up for the problem of insufficient freedom of the end of the rope driving robot, adjust the posture of the clamp according to the task requirement, optimize the efficiency of goods handover, and enhance the space adaptability.

[0025] Optionally, the first outer layer clamp 21 further comprises a first baffle 214 connected to the side edge of the first bottom plate 211 away from the goods entrance 11, and the first baffle 214 is perpendicular to the first bottom plate 211. By arranging the first baffle 214, the goods conveyed by the conveyor belt are prevented from sliding into the first bottom plate and the second bottom plate and falling off during transportation.

[0026] Optionally, as Figure 3 、 Figure 4As shown, it also comprises a first driving member 23, a second driving member 24, a third driving member 33, and a fourth driving member 34 connected to the base 01, the first driving member 23 and the second driving member 24 drive the first outer layer clamp 21 and the second outer layer clamp 22 to move synchronously, and the third driving member 33 and the fourth driving member 34 drive the first inner layer clamp 31 and the second inner layer clamp 32 to move, respectively. The driving members are arranged separately, so that the multipurpose end clamp of the rope-driven parallel warehouse robot is convenient to operate and maintain, and the first inner layer clamp 31 and the second inner layer clamp 32 can be controlled on one side, so that the goods are clamped more conveniently.

[0027] Optionally, it also comprises a first rack 251, a second rack 252, and a central gear 26, the first rack 251 and the second rack 252 are located on the two sides of the central gear 26, and the first rack 251 and the second rack 252 are engaged with the central gear 26, the first outer layer clamp 21 is connected to the first rack 251, and the second outer layer clamp 22 is connected to the second rack 252. When the first driving member 23 drives the first outer layer clamp 21 to move, the first rack 251 is driven to move synchronously, the central gear 26 is driven to rotate, the second rack 252 and the second outer layer clamp 22 are driven to produce equal and opposite displacement, so that the first outer layer clamp 21 and the second outer layer clamp 22 always keep symmetrical opening and closing, effectively avoiding the problem of asynchronous movement caused by air pressure fluctuation, air cylinder response difference, or uneven friction, so that the first outer layer clamp 21 and the second outer layer clamp 22 open and close synchronously and symmetrically, and the first bottom plate and the second bottom plate can hold the goods.

[0028] Optionally, the first driving member 23, the second driving member 24, the third driving member 33, and the fourth driving member 34 are all pneumatic telescopic rods.

[0029] Optionally, it also comprises a first guide rail set 27 and a second guide rail set 37, the first guide rail set 27 and the second guide rail set 37 are both connected to the base 01, the first outer layer clamp 21 further comprises a first top plate 213, the first top plate 213 is connected to the first side plate 212, two first sliding blocks are arranged on the first top plate 213, and the first outer layer clamp 21 is connected to two guide rails of the first guide rail set 27 through the two first sliding blocks, the first inner layer clamp 31 further comprises a first connecting frame 312, the first connecting frame 312 is connected to the first clamping plate 311, two second sliding blocks are arranged on the first connecting frame 312, and the first inner layer clamp 31 is connected to two guide rails of the second guide rail set 37 through the two second sliding blocks. By arranging the first guide rail set 27 and the second guide rail set 37, the first outer layer clamp 21, the second outer layer clamp 22, the first inner layer clamp 31, and the second inner layer clamp 32 are prevented from deviating during opening and closing.

[0030] Optionally, the first outer distance sensor 28 and the second outer distance sensor 29 are further included, the first inner distance sensor 38 and the second inner distance sensor 39 are further included, the first outer distance sensor 28 and the second outer distance sensor 29 are used to collect distance information of the first outer layer clamp 21 and the second outer layer clamp 22 relative to the base 01, and transmit the distance information to the control unit, the first inner distance sensor 38 and the second inner distance sensor 39 are used to collect distance information of the first inner layer clamp 31 and the second inner layer clamp 32 relative to the base 01, and transmit the distance information to the control unit, the control unit is preset with distance information of the first outer layer clamp 21 and the second outer layer clamp 22 and distance information of the first inner layer clamp 31 and the second inner layer clamp 32 according to size information of the to-be-picked goods, and the control unit controls movement amounts of the first outer layer clamp 21, the second outer layer clamp 22, the first inner layer clamp 31 and the second inner layer clamp 32 according to the preset distance information, so that the multi-purpose end clamp of the rope-driven parallel warehouse robot can clamp the goods when receiving the goods, and the goods can be released when the goods are released.

[0031] Optionally, two pairs or more pairs of tray hooks 215 are further included, one pair of the tray hooks 215 is connected to outer edges of the first bottom plate 211 and the second bottom plate on the side of the goods entrance 11, and the other pair of the tray hooks 215 is connected to outer edges of the first bottom plate 211 and the second bottom plate on the other side.

[0032] When it is necessary to pick up a tray, the multi-purpose end clamp of the rope-driven parallel warehouse robot is moved above the tray 09 through a rope, and a posture is kept horizontal; then, as shown in Figure 10 , the first outer layer clamp 21 and the second outer layer clamp 22 are opened to a length slightly larger than a size of the tray 09, the tray hooks 215 are placed between tray grid gaps, and then, as shown in Figure 11 , Figure 12 , the first outer layer clamp 21 and the second outer layer clamp 22 are inwards retracted until the tray hooks 215 clamp the tray, and are moved to other positions.

[0033] The above-described embodiments are only used to describe the preferred embodiments of the present application, and do not limit the scope of the present application, and various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the protection scope of the claims of the present application.

Claims

1. A multi-purpose end effector for a rope-driven parallel warehouse robot, characterized by: The base (01) and the control unit connected thereto, the first outer layer clamp (21) connected with the control unit, the second outer layer clamp (22), the first inner layer clamp (31), the second inner layer clamp (32), The first outer layer clamp (21) and the second outer layer clamp (22) are the same structure and are oppositely arranged and are controlled by the control unit to be synchronously away or close to each other, the first outer layer clamp (21) comprises a first bottom plate (211) and a first side plate (212) connected to each other to form an L shape, when the first bottom plate (211) and the second bottom plate of the second outer layer clamp (22) abut each other by moving close to each other, the first outer layer clamp (21) and the second outer layer clamp (22) form a goods entrance (11) on one side, The first inner layer clamp (31) and the second inner layer clamp (32) are located between the first outer layer clamp (21) and the second outer layer clamp (22) and are the same structure and are oppositely arranged, and are controlled by the control unit to be away or close to each other, the first inner layer clamp (31) comprises a first clamping plate (311) vertically arranged and parallel to the first side plate (212) and located above the first bottom plate (211).

2. The multipurpose end effector for a rope-driven parallel warehouse robot according to claim 1, characterized in that: The first outer layer clamp (21) further comprises a first baffle (214) connected to the side edge of the first bottom plate (211) away from the goods entrance (11), and the first baffle (214) is perpendicular to the first bottom plate (211).

3. The multipurpose end effector for a rope-driven parallel warehouse robot according to claim 1, characterized in that: Further comprising a first driving member (23), a second driving member (24), a third driving member (33), and a fourth driving member (34), the first driving member (23) and the second driving member (24) synchronously drive the first outer layer clamp (21) and the second outer layer clamp (22) to move, and the third driving member (33) and the fourth driving member (34) respectively drive the first inner layer clamp (31) and the second inner layer clamp (32) to move.

4. The multipurpose end effector for a rope-driven parallel warehouse robot according to claim 3, characterized in that: Further comprising a first rack (251), a second rack (252), and a central gear (26), the first rack (251) and the second rack (252) are respectively located on both sides of the central gear (26), the first rack (251) and the second rack (252) are engaged with the central gear (26), the first outer layer clamp (21) is connected with the first rack (251), and the second outer layer clamp (22) is connected with the second rack (252).

5. The multipurpose end effector for a rope-driven parallel warehouse robot according to claim 4, characterized in that: The first driving member (23), the second driving member (24), the third driving member (33), and the fourth driving member (34) are all pneumatic telescopic rods.

6. The multi-purpose end effector for a rope-driven parallel warehouse robot according to claim 5, characterized in that: The first guide rail group (27) and the second guide rail group (37) are connected to the base (01), the first outer layer clamp (21) further comprises a first top plate (213), the first top plate (213) is connected with the first side plate (212), two first sliding blocks are arranged on the first top plate (213), and the first outer layer clamp (21) is connected to two guide rails of the first guide rail group (27) through the two first sliding blocks.

7. The multi-purpose end effector for a rope-driven parallel warehouse robot according to claim 6, characterized in that: The first outer side distance sensor (28) and the second outer side distance sensor (29) are used to collect distance information of the first outer layer clamp (21) and the second outer layer clamp (22) relative to the base (01) and transmit the distance information to the control unit, the first inner side distance sensor (38) and the second inner side distance sensor (39) are used to collect distance information of the first inner layer clamp (31) and the second inner layer clamp (32) relative to the base (01) and transmit the distance information to the control unit, and the control unit controls movement amounts of the first outer layer clamp (21), the second outer layer clamp (22), the first inner layer clamp (31) and the second inner layer clamp (32) according to preset distance information.

8. The multi-purpose end effector for a rope-driven parallel warehouse robot of claim 1, wherein: The base (01) is rotatable.

9. The multipurpose end effector for a rope-driven parallel warehouse robot according to claim 1, characterized in that: A plurality of rope connection ends (12) are arranged on the upper surface of the base (01).

10. The multipurpose end effector for a rope-driven parallel warehouse robot according to any of claims 1 - 9, characterized in that: At least two pairs of tray hooks (215) are further included, one pair of the tray hooks (215) is respectively connected to outer edges of the first bottom plate (211) and the second bottom plate on one side of the goods inlet (11), and the other pair of the tray hooks (215) is respectively connected to outer edges of the first bottom plate (211) and the second bottom plate on the other side.

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