Stacking robot, stacking goods shelf and goods placing method thereof

Abstract

The invention belongs to the technical field of automatic stacking, and particularly relates to a stacking robot, a stacking goods shelf and a goods placing method of the stacking robot and the stacking goods shelf. A stacking robot comprises a rail car, a fixing part of a horizontal rotating mechanism is fixed to a car body of the rail car, the upper end of an up-down telescopic mechanism is fixed to a rotating part of the horizontal rotating mechanism, and a bottom frame is fixed to the lower end of the up-down telescopic mechanism; two telescopic jacking mechanisms are symmetrically arranged on the bottom frame, a clamping mechanism capable of sliding along the bottom frame is arranged on the bottom frame, and the sliding direction of the clamping mechanism is consistent with the telescopic direction of the telescopic jacking mechanisms. Compared with the prior art, the rail is arranged at the top of the goods shelf, the lifting mechanism is used for adjusting the height of goods, meanwhile, the telescopic jacking mechanism is used for stabilizing the chassis, goods are convenient to store and take, and the goods shelf can be conveniently applied to narrow roadways and high-storage-position three-dimensional warehouses / goods shelves.

Description

Technical Field

[0001] This invention belongs to the field of automated palletizing technology, specifically relating to a palletizing robot and a palletizing rack, and a method for placing goods thereon. Background Technology

[0002] Currently, using stacking robots to automate storage in automated warehouses / racks is a relatively mature technology. Its efficient logistics can significantly improve enterprise production efficiency and effectively control inventory to reduce costs, making it popular among consumers.

[0003] Technical Issues: Due to the existence of overturning moment, stacking speed is significantly limited when the storage height requirements of warehouses / racks are too high, and too much aisle resources are occupied. New solutions are urgently needed, especially in areas with narrow aisles and high storage requirements. Summary of the Invention

[0004] The technical problem to be solved by this invention is: how to design a stacking robot that can be easily applied to narrow aisles and high-level storage warehouses / racks.

[0005] The technical solution of this application is as follows: A stacking robot includes a railcar. A fixed part of a horizontal rotating mechanism is fixed on the body of the railcar. The rotating part of the horizontal rotating mechanism is fixed to the upper end of an upper and lower telescopic mechanism. The lower end of the upper and lower telescopic mechanism is fixed to a base frame. Two telescopic clamping mechanisms are symmetrically arranged on the base frame. A clamping mechanism that can slide along the base frame is provided on the base frame. The sliding direction of the clamping mechanism is consistent with the telescopic direction of the telescopic clamping mechanism.

[0006] The railcar is equipped with wheels that allow it to roll along the shelf tracks.

[0007] The vertical telescopic mechanism is a scissor-type telescopic frame, which includes multiple X-shaped hinges connected in series. The rotating part of the horizontal rotating mechanism is connected to the base frame by a rope.

[0008] The front end of the telescopic clamping mechanism is fixed with a clamping plate.

[0009] The clamping mechanism is equipped with a positioning identifier, which is electrically connected to the controller.

[0010] A stacking rack includes at least two sets of racks, with rack rails fixed to the top of the racks, and a stacking robot is provided between two adjacent sets of racks, with the railcar capable of moving along the rack rails.

[0011] One method for placing goods, using the aforementioned stacking racks, includes the following steps: S10. Control the railcar to move along the shelf track to the shelf entrance; S11. Adjust the height of the fixed base frame using the vertical telescopic mechanism; S12, the horizontal rotation mechanism operates, its rotating part rotates horizontally, and the upper and lower telescopic mechanism, fixed base frame and clamping mechanism rotate synchronously, so that the clamping mechanism faces the item A; S13. The clamping mechanism slides out from the fixed base frame until it reaches item A. The clamping mechanism itself moves to clamp item A tightly, and then the clamping mechanism returns to the original position of the fixed base frame. S14. Adjust the base frame to the upper limit using the vertical telescopic mechanism; S15. Control the railcar to move along the shelf track to the target position on the shelf; S16. Adjust the height of the fixed base frame to match the target position of the shelf using the vertical telescopic mechanism; S17. The horizontal rotation mechanism operates, its rotating part rotates horizontally, and the upper and lower telescopic mechanism, fixed base frame, and clamping mechanism rotate synchronously, so that the clamping mechanism faces the target position of the shelf. S18. The two telescopic clamping mechanisms are activated, and the two clamping plates abut against the left and right shelves respectively; S19. The clamping mechanism slides out from the fixed base frame and reaches the target position on the shelf. The clamping mechanism itself moves to release the constraint on item A, completing the unloading operation of item A. The clamping mechanism then returns to the original position of the fixed base frame.

[0012] Beneficial effects: Compared with the prior art, the present invention has a track at the top of the shelf, uses a lifting mechanism to adjust the height of the goods, and uses a telescopic clamping mechanism to stabilize the chassis, which facilitates the storage and retrieval of goods and is convenient to be applied to the three-dimensional warehouse / shelf in narrow aisles and high storage positions. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the present invention.

[0014] Figure 2 This is a schematic diagram of a stacking robot.

[0015] Figure 3 This is a schematic diagram of the bottom of a stacking robot.

[0016] Figure 4 This is a schematic diagram of the usage state of the present invention. Detailed Implementation

[0017] The technical solutions in the embodiments of the present invention will now be clearly and completely described with reference to the accompanying drawings.

[0018] like Figure 1 A stacking rack includes at least two sets of racks 90, with rack rails 91 fixed to the top of the racks 90, and a stacking robot 100 is provided between two adjacent sets of racks 90.

[0019] like Figure 1-2 The stacking robot 100 includes a railcar 10, which is capable of moving along the shelf track 91.

[0020] like Figure 1-2 The fixing part 22 of the horizontal rotating mechanism 20 is fixed on the body of the railcar 10. The rotating part 21 of the horizontal rotating mechanism 20 is fixed to the upper end of the vertical telescopic mechanism 30. The lower end of the vertical telescopic mechanism 30 is fixed to the base frame 40.

[0021] like Figure 2-3 Two telescopic clamping mechanisms 41 are symmetrically provided on the base frame 40. The base frame 40 is provided with a clamping mechanism 50 that can slide along it. The sliding direction of the clamping mechanism 50 is consistent with the telescopic direction of the telescopic clamping mechanism 41.

[0022] like Figure 2 The railcar 10 is equipped with wheels 11, which can roll on the shelf track 91.

[0023] like Figure 2 The vertical telescopic mechanism 30 is a scissor-type telescopic frame, which includes multiple X-shaped hinges 31 connected in series. The rotating part 21 of the horizontal rotating mechanism 20 is connected to the base frame 40 by a rope 31. The distance between the rotating part 21 and the base frame 40 can be adjusted by the traction of the rope 31 (such as by an electric hoist).

[0024] To facilitate stable positioning, the front end of the telescopic clamping mechanism 41 is fixed with a clamping plate 42, so that the contact between the clamping plate 42 and the shelf 90 is a surface contact, which is relatively stable.

[0025] In order to achieve automatic identification of items, the clamping mechanism 50 is equipped with a positioning identifier 51 (camera, etc.), which is electrically connected to the controller.

[0026] Its working principle is as follows: A. Delivering the goods, including the following steps: S10, control the railcar 10 to move along the shelf track 91 to the entrance of the shelf 90; S11. Adjust the height of the fixed base frame 40 using the upper and lower telescopic mechanism 30; S12, the horizontal rotation mechanism 20 is activated, its rotating part 21 rotates horizontally, and the upper and lower telescopic mechanism 30, the fixed base frame 40 and the clamping mechanism 50 rotate synchronously, so that the clamping mechanism 50 faces the item A98. S13. The clamping mechanism 50 slides out from the fixed base frame 40 until it reaches the item A98. The clamping mechanism 50 moves itself to hold the item A98 tightly, and then the clamping mechanism 50 returns to the original position of the fixed base frame 40. S14. Adjust the base frame 40 to the upper limit via the upper and lower telescopic mechanism 30; This step is to prevent the swinging motion in the next step.

[0027] S15. Control the railcar 10 to move along the shelf track 91 to the target position of the shelf 90; S16. Adjust the height of the fixed base frame 40 to match the target position of the shelf 90 using the vertical telescopic mechanism 30. S17, the horizontal rotation mechanism 20 is activated, its rotating part 21 rotates horizontally, and the vertical telescopic mechanism 30, the fixed base frame 40, and the clamping mechanism 50 rotate synchronously, so that the clamping mechanism 50 faces the target position of the shelf 90. S18, the two telescopic clamping mechanisms 41 are activated, and the two clamping plates 42 respectively press against the left and right shelves 90. At this time, the base frame 40 is very stable. S19. The clamping mechanism 50 slides out from the fixed base frame 40 and reaches the target position of the shelf 90. The clamping mechanism 50 moves itself to release the constraint on the item A98 and complete the unloading operation of item A98. The clamping mechanism 50 then returns to the original position of the fixed base frame 40.

[0028] In this step, even if the extension length of the upper and lower telescopic mechanism 30 is relatively long, the position and posture of the base frame 40 will not change due to step S18, that is, the position and posture of the clamping mechanism 50 will not change, thus ensuring the accuracy of the placement of item A98 on the shelf.

[0029] B. Shipment, including the following steps: S20, control the railcar 10 to move along the shelf track 91 to above the target position of the shelf 90; S21. Adjust the height of the fixed base frame 40 using the upper and lower telescopic mechanism 30; S22, the horizontal rotation mechanism 20 is activated, its rotating part 21 rotates horizontally, and the upper and lower telescopic mechanism 30, the fixed base frame 40 and the clamping mechanism 50 rotate synchronously, so that the clamping mechanism 50 faces the item B99. S23. The clamping mechanism 50 slides out from the fixed base frame 40 until it reaches the item B99. The clamping mechanism 50 moves itself to hold the item B99 tightly, and then the clamping mechanism 50 returns to the original position of the fixed base frame 40. S24. Adjust the base frame 40 to the upper limit via the upper and lower telescopic mechanism 30; This step aims to prevent instability in the next step.

[0030] S25. Control the railcar 10 to move along the shelf track 91 to the exit of the shelf 90; S26. Adjust the height of the fixed base frame 40 to be consistent with the height of the downstream receiving equipment using the upper and lower telescopic mechanism 30. S27. The horizontal rotation mechanism 20 is activated, and its rotating part 21 rotates horizontally. The vertical telescopic mechanism 30, the fixed base frame 40, and the clamping mechanism 50 rotate synchronously, so that the clamping mechanism 50 faces the receiving equipment. S28, the two telescopic clamping mechanisms 41 are activated, and the two clamping plates 42 respectively press against the left and right shelves 90. At this time, the base frame 40 is very stable. S29. The clamping mechanism 50 slides out from the fixed base frame 40 until it reaches the receiving equipment. The clamping mechanism 50 moves itself to release the constraint on the item B99, completing the shipment operation of item B99. The clamping mechanism 50 then returns to the original position of the fixed base frame 40.

[0031] Features of this application: 1. The track vehicle serves as the main motion carrier for the entire robot, enabling autonomous positioning and navigation, and providing an installation platform for the telescopic stacking mechanism below.

[0032] 2. The rotating mechanism can achieve 360-degree rotation of the lower telescopic mechanism, positioning mechanism, and clamping mechanism, enabling bidirectional loading and unloading of goods.

[0033] 3. The telescopic mechanism consists of a lifting mechanism and a folding guide mechanism, which can complete the lifting and coarse positioning of the stacking mechanism in the tunnel.

[0034] 4. The positioning mechanism consists of a camera and a telescopic clamping mechanism. After the camera identifies the positioning code of the beam shelf, the telescopic mechanism finely adjusts the positioning. After positioning is completed, the telescopic mechanism clamps the beams of the two shelves, thus fixing the position of the clamping mechanism.

[0035] 5. The clamping mechanism automatically picks up and places materials by extending and retracting perpendicular to the shelf beams and clamping with clamps on both sides.

[0036] Other details are available in existing technologies and will not be elaborated further.

[0037] The technical means disclosed in this invention are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications are also considered within the scope of protection of this invention.

Claims

1. A stacking robot, comprising a railcar (10), characterized in that: The fixed part (22) of the horizontal rotating mechanism (20) is fixed on the body of the railcar (10). The rotating part (21) of the horizontal rotating mechanism (20) is fixed to the upper end of the vertical telescopic mechanism (30). The lower end of the vertical telescopic mechanism (30) is fixed to the base frame (40). Two telescopic tightening mechanisms (41) are symmetrically provided on the base frame (40). A clamping mechanism (50) that can slide along the base frame (40) is provided on the base frame (40). The sliding direction of the clamping mechanism (50) is consistent with the telescopic direction of the telescopic tightening mechanism (41).

2. The stacking robot as described in claim 1, characterized in that: The railcar (10) is equipped with wheels (11) that can roll on the shelf track (91).

3. The stacking robot as described in claim 2, characterized in that: The vertical telescopic mechanism (30) is a scissor-type telescopic frame, including multiple X-shaped hinges (31) connected in series. A rope (31) is provided between the rotating part (21) of the horizontal rotating mechanism (20) and the base frame (40).

4. The stacking robot as described in claim 3, characterized in that: The front end of the telescopic clamping mechanism (41) is fixed with a clamping plate (42).

5. The stacking robot as described in claim 4, characterized in that: The clamping mechanism (50) is equipped with a positioning identifier (51), which is electrically connected to the controller.

6. A stacking rack comprising at least two sets of racks (90), with a rack track (91) fixed to the top of the racks (90), and a stacking robot (100) as described in claim 1 provided between two adjacent sets of racks (90), wherein a railcar (10) is capable of moving along the rack track (91).

7. A method for releasing goods, characterized in that: Using the stacking rack as described in claim 6 includes the following steps: S10, control the railcar (10) to move along the shelf track (91) to the entrance of the shelf (90); S11. Adjust the height of the fixed base frame (40) using the upper and lower telescopic mechanism (30); S12, the horizontal rotation mechanism (20) operates, its rotating part (21) rotates horizontally, and the upper and lower telescopic mechanism (30), the fixed base frame (40) and the clamping mechanism (50) rotate synchronously, so that the clamping mechanism (50) faces the item A (98). S13. The clamping mechanism (50) slides out from the fixed base frame (40) until it reaches the item A (98). The clamping mechanism (50) moves itself to hold the item A (98) tightly. The clamping mechanism (50) then returns to the original position of the fixed base frame (40). S14. Adjust the base frame (40) to the upper limit by means of the upper and lower telescopic mechanism (30); S15. Control the railcar (10) to move along the shelf track (91) to the target position on the shelf (90); S16. Adjust the height of the fixed base frame (40) to match the target position of the shelf (90) using the vertical telescopic mechanism (30); S17, the horizontal rotation mechanism (20) operates, its rotating part (21) rotates horizontally, and the upper and lower telescopic mechanism (30), fixed base frame (40) and clamping mechanism (50) rotate synchronously, so that the clamping mechanism (50) faces the target position of the shelf (90); S18, the two telescopic clamping mechanisms (41) are activated, and the two clamping plates (42) abut against the left and right shelves (90) respectively; S19. The clamping mechanism (50) slides out from the fixed base frame (40) and reaches the target position of the shelf (90). The clamping mechanism (50) moves itself to release the constraint on item A (98) and complete the unloading operation of item A (98). The clamping mechanism (50) then returns to the original position of the fixed base frame (40).

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