Primary-secondary climbing frame robot

Abstract

The invention discloses a mother-son climbing frame robot which comprises an AGV guide vehicle, a robot body is loaded on the AGV guide vehicle, a material taking mechanism and a climbing mechanism are arranged on the robot body, the mother-son climbing frame robot further comprises a climbing rail, fixed protrusions are arranged on the climbing rail, the climbing mechanism comprises a climbing arm, a first driving synchronous wheel and a first driven synchronous wheel are rotationally connected to the climbing arm, and the first driving synchronous wheel and the first driven synchronous wheel are arranged on the first driving synchronous wheel. A first synchronous belt is in transmission connection with the first driven synchronous wheel and the first driving synchronous wheel, movable protrusions are arranged on the first synchronous belt, a first motor is in transmission connection with the first driving synchronous wheel, and guide wheel frames arranged on the climbing arms are arranged on the left side and / or the right side of the first synchronous belt. The guide wheel frame is rotationally connected with at least two first guide wheels which are arranged at intervals up and down and roll up and down on the climbing rail, and the first guide wheels are arranged on the side, opposite to the fixed protrusion, of the climbing rail. The climbing frame robot has the advantages of being high in climbing efficiency and flexibility, complete in overall function and high in practicability.

Description

Technical Field

[0001] This invention relates to the field of warehouse logistics automation technology, and more specifically, to a mother-daughter climbing robot. Background Technology

[0002] In the warehousing and logistics sector, automated storage and retrieval are key to improving space utilization, and climbing robots are the core equipment for automated operations on high-rise racking systems. Most existing climbing robots are integrated structures with a fixed mobile chassis and climbing mechanism, resulting in the climbing section bearing the combined weight of the robot as a whole, the material handling mechanism, and the goods, leading to significant load pressure.

[0003] To drive the heavy robot's climbing mechanism, existing equipment requires high-power motors and high-strength transmission components, which increases manufacturing costs and energy consumption. Furthermore, excessive load can lead to rapid component wear and decreased precision. Simultaneously, the integrated structure restricts the robot's mobility, hinders movement between shelves, and any malfunction in any mechanism causes the entire machine to stop, disrupting operational continuity. Therefore, a new structure that reduces climbing load and optimizes power configuration is urgently needed. Accordingly, this invention proposes a mother-and-child climbing robot. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a mother-daughter climbing robot, which has the characteristics of high climbing efficiency and high flexibility.

[0005] To solve the above-mentioned technical problems, the present invention achieves its objective as follows: The present invention relates to a mother-daughter climbing robot, comprising an AGV (Automated Guided Vehicle) trolley, on which a separable robot body is mounted. The robot body is equipped with a material handling mechanism and a climbing mechanism. It also includes a climbing rail installed on a shelf and extending vertically. The climbing rail has several fixed protrusions arranged at equal intervals along its extension trajectory. The climbing mechanism includes a climbing arm, on which a first active synchronous wheel and a first driven synchronous wheel are rotatably connected. The first driven synchronous wheel and the first active synchronous wheel... A first synchronous belt is connected to the transmission, and a number of movable protrusions are arranged at equal intervals along its extension trajectory on the first synchronous belt. The distance between two adjacent movable protrusions is equal to the distance between two adjacent fixed protrusions. A first motor for controlling rotation is connected to the first active synchronous pulley. The first motor is located on the climbing arm. A guide wheel frame is provided on the left and / or right side of the first synchronous belt and is located on the climbing arm. At least two first guide wheels are rotatably connected to the guide wheel frame and are arranged vertically and horizontally and roll vertically on the climbing rail. The first guide wheels are located on the side of the climbing rail opposite to the fixed protrusions.

[0006] The present invention is further configured such that: an elevator is provided between the robot body and the AGV guide vehicle, located at the bottom of the robot body or the top of the AGV guide vehicle.

[0007] The present invention is further configured such that the elevator includes a scissor lift or a rigid chain lift.

[0008] The present invention is further configured such that: the robot body is also provided with an adjustment mechanism for controlling the climbing mechanism to move horizontally left and right; The adjustment mechanism includes an adjustment frame, on which a second driving synchronous wheel and a second driven synchronous wheel are rotatably connected in a left-right arrangement. A second synchronous belt is drivenly connected to the second driven synchronous wheel and the second driving synchronous wheel. A fixing block is provided on the second synchronous belt and is connected to the climbing mechanism. A second motor that controls the rotation is drivenly connected to the second driving synchronous wheel and is located on the adjustment frame.

[0009] The invention is further configured such that: the adjustment frame is also provided with a linear guide rail that extends to the left and right, and a linear slider is slidably connected to the linear guide rail, and the linear slider is connected to the climbing mechanism.

[0010] The invention is further configured such that: the climbing rail is provided with a concave and vertically extending limiting groove, both ends of which are connected to the outside; the fixing protrusion is provided at the bottom of the limiting groove; and a second guide wheel is rotatably connected to the climbing arm inside the limiting groove.

[0011] The invention is further configured such that: a fixed baffle is provided on the climbing arm between the first active synchronous pulley and the first driven synchronous pulley; a movable baffle is provided at the end of the fixed baffle facing the movable protrusion; a guide post is slidably connected to the fixed baffle; one end of the guide post is connected to the movable baffle, and the other end is provided with a hanging traction rope; a compression spring is fitted on the guide post, with one end abutting against the fixed baffle and the other end abutting against the movable baffle; the first synchronous belt surrounds the fixed baffle and the movable baffle, and the movable baffle is tightly attached to the first synchronous belt.

[0012] The invention is further configured such that: a brake rail is provided on the side of the climbing rail, extending vertically along its extended trajectory; a brake wheel is provided on the brake rail, rolling on it; a swing arm is rotatably connected to the climbing arm; one end of the swing arm is connected to the traction rope; and the brake wheel is rotatably connected to the other end of the swing arm.

[0013] The present invention is further configured such that: the number of climbing mechanisms is two, and the climbing mechanisms are symmetrically arranged on the left and right sides of the material picking mechanism.

[0014] The present invention is further configured such that the material handling mechanism includes a material handling fork and a linear module for controlling its forward and backward movement.

[0015] In summary, the present invention has the following beneficial effects: 1. The separate main and auxiliary structure of this invention allows only the robot body to carry the material handling mechanism and goods during climbing, eliminating the need to support the weight of the AGV (Automated Guided Vehicle), thus significantly reducing the climbing load. Combined with the precise drive of the synchronous belt and its protrusions, a low-power primary motor can achieve stable climbing, not only reducing the cost and energy consumption of the motor and transmission components, but also reducing component wear, improving operational stability and equipment lifespan.

[0016] 2. The detachable design of the AGV and robot body supports parallel operation. When the robot climbs to pick up materials, the AGV can simultaneously transfer or connect to the next work unit, improving efficiency. The AGV's flexible mobility and the horizontal adjustment function of the climbing mechanism (second synchronous belt + linear guide rail), combined with the lifting platform and precise positioning structure, ensure that the robot can accurately connect to different storage locations. The symmetrical climbing mechanism on both sides and the multi-guide design further enhance climbing stability, making it adaptable to various racking scenarios and solving the problems of poor flexibility and limited operating range of existing equipment.

[0017] 3. The newly added synchronous belt unlocking and braking linkage structure provides a low-cost, highly reliable emergency solution for the climbing robot, solving the problems of difficult and high-risk rescue when traditional equipment is stuck. The "unlock-brake" function can be linked by a single traction rope: pulling on the ground releases the synchronous belt lock, allowing the robot to escape the stuck state, while the brake wheel simultaneously presses against the brake rail to control the descent speed, avoiding equipment damage or safety accidents, significantly reducing emergency costs and ensuring safety. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a partial structural schematic diagram of the present invention; Figure 3 This is a structural schematic diagram of the present invention used to illustrate the AGV guided vehicle; Figure 4 This is a schematic diagram illustrating the structure of the elevator in this invention; Figure 5 This is a schematic diagram illustrating the structure of the material handling mechanism of this invention; Figure 6 This is a schematic diagram illustrating the structure of the climbing rail in this invention; Figure 7 This is a schematic diagram illustrating the structure of the adjustment mechanism of this invention; Figure 8 This is a structural schematic diagram illustrating the climbing mechanism of the present invention; Figure 9 yes Figure 8 A structural diagram from another perspective; Figure 10 This is a schematic diagram illustrating the structure of the brake rail and brake wheel of the present invention. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions of the present invention, preferred embodiments of the present invention are described below in conjunction with specific examples. However, it should be understood that these descriptions are merely for further illustrating the features and advantages of the present invention, and not for limiting the scope of the patent claims of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0020] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0021] Example 1 See Figures 1 to 7 As shown, this embodiment involves a mother-and-child climbing robot, including an AGV guide vehicle 1, on which a separable robot body 2 is mounted. The robot body 2 is equipped with a material picking mechanism 3 and a climbing mechanism 4. The material picking mechanism 3 includes a material picking fork 301 and a linear module 302 for controlling forward and backward movement. There are two climbing mechanisms 4, which are symmetrically arranged on the left and right sides of the material picking mechanism 3. It also includes a climbing rail 401 installed on the shelf 100 and extending vertically. The climbing rail 401 is provided with a plurality of fixed protrusions 402 arranged at equal intervals along its extension trajectory. The climbing mechanism 4 includes a climbing arm 403, on which a first active synchronous wheel 404 and a first driven synchronous wheel 405 are rotatably connected. A first synchronous belt 406 is drivenly connected to the first active synchronous pulley 404 via a synchronous pulley 405. The first synchronous belt 406 has several movable protrusions 407 arranged at equal intervals along its extension trajectory. The distance between two adjacent movable protrusions 407 is equal to the distance between two adjacent fixed protrusions 402. A first motor 408 is drivenly connected to the first active synchronous pulley 404 to control its rotation. The first motor 408 is mounted on the climbing arm 403. Guide wheel frames 409 are mounted on the climbing arm 403 on both the left and right sides of the first synchronous belt 406. Two first guide wheels 410 are rotatably connected to the guide wheel frames 409 and are arranged vertically and vertically and roll up and down on the climbing rail. The first guide wheels 410 are located on the side of the climbing rail 401 facing away from the fixed protrusions 402.

[0022] Furthermore, a lift 5 is provided between the robot body 2 and the AGV guide vehicle 1, located at the bottom of the robot body or the top of the AGV guide vehicle. The lift 5 includes a scissor lift or a rigid chain lift.

[0023] Furthermore, the robot body 2 is also provided with an adjustment mechanism 6 for controlling the climbing mechanism to move horizontally left and right; the adjustment mechanism 6 includes an adjustment frame 601, on which a second active synchronous wheel 602 and a second driven synchronous wheel 603 arranged left and right are rotatably connected; a second synchronous belt 604 is drivenly connected to the second driven synchronous wheel 603 and the second active synchronous wheel 602; a fixing block (not shown) is provided on the second synchronous belt 604; the fixing block is connected to the climbing mechanism 4; a second motor 605 for controlling the rotation is drivenly connected to the second active synchronous wheel 602; the second motor 605 is provided on the adjustment frame 601.

[0024] Furthermore, the adjustment frame 601 is also provided with a linear guide rail 606 that extends to the left and right, and a linear slider 607 is slidably connected to the linear guide rail 606. The linear slider 607 is connected to the climbing mechanism 4.

[0025] Furthermore, the climbing rail 401 is provided with a concave limiting groove 411 that extends vertically. Both the upper and lower ends of the limiting groove 411 are connected to the outside. The fixing protrusion 402 is provided at the bottom of the limiting groove 411. The limiting groove 411 is provided with a second guide wheel 412 that is rotatably connected to the climbing arm.

[0026] Before operation, the AGV (Automated Guided Vehicle) carries the robot to the target shelf. During operation, the AGV separates from the robot, and the second motor drives the second active synchronous wheel to rotate. This, in turn, drives the climbing mechanism to move horizontally along the linear guide rail via the second synchronous belt, aligning the climbing arm with the shelf's climbing rail. The lift then adjusts its height, allowing the climbing rail's limiting groove to engage with the second guide wheel, and the first guide wheel to engage with the back of the climbing rail for positioning.

[0027] During the climbing phase, the first motor drives the first active synchronous wheel to rotate. The movable protrusion on the first synchronous belt engages with the fixed protrusion on the climbing rail, driving the robot body to move up and down along the climbing rail. The second guide wheel and the first guide wheel ensure the stability of the climbing trajectory. After reaching the target cargo location, the linear module of the picking mechanism drives the picking forks to extend and retract to pick up or unload materials. After the operation is completed, the robot body returns to the top of the AGV guided vehicle along the climbing rail, resets and docks via the elevator, and is then transferred by the AGV to the next work point.

[0028] Example 2 See Figures 1 to 10As shown, the climbing frame robot involved in this embodiment is further configured based on embodiment 1, wherein a fixed baffle 413 is provided on the climbing arm 403 between the first active synchronous wheel 404 and the first driven synchronous wheel 405. A movable baffle 414 is provided at one end of the fixed baffle 413 facing the movable protrusion 407. A guide post 415 is slidably connected to the fixed baffle 413. One end of the guide post 415 is connected to the movable baffle, and the other end is provided with a hanging traction rope (not shown). A compression spring 416 is sleeved on the guide post 415, with one end abutting against the fixed baffle and the other end abutting against the movable baffle. The first synchronous belt 406 is arranged around the fixed baffle 413 and the movable baffle 414, and the movable baffle 414 is tightly attached to the first synchronous belt 406.

[0029] Furthermore, the side of the climbing rail 401 is provided with a brake rail 417 that extends vertically along its extension trajectory. The brake rail 417 is provided with a brake wheel 418 that rolls on it. A swing arm 419 is rotatably connected to the climbing arm 403. One end of the swing arm 419 is connected to the traction rope, and the brake wheel 418 is rotatably connected to the other end of the swing arm 419.

[0030] 1. Normal operating status When the equipment is climbing or descending normally, the compression spring is in its naturally extended state. Its elasticity pushes the movable baffle to fit tightly against the outside of the first synchronous belt, cooperating with the fixed baffle to form a bidirectional limit on the first synchronous belt, ensuring that the first synchronous belt remains taut. The movable protrusion on it precisely engages with the fixed protrusion on the climbing rail, providing stable climbing power for the robot body. At this time, the traction rope is in a slack state, the swing arm maintains a natural drooping posture under its own weight, and the brake wheel maintains a preset safe distance from the brake rail on the side of the climbing rail, without generating frictional resistance and without affecting the normal operating trajectory and speed of the robot body.

[0031] 2. Fault Emergency Triggering Process When the robot malfunctions and gets stuck on the track, the operator pulls on the dangling traction rope from the ground, triggering a dual emergency action: Synchronous belt unlocking action: The traction rope pulls the guide column to move away from the synchronous belt along the sliding structure of the fixed baffle. The guide column drives the movable baffle to retract synchronously. The compression spring is compressed and deformed by the pressure of the fixed baffle and the movable baffle. After the movable baffle is no longer in close contact with the first synchronous belt, the back side of the synchronous belt loses its limiting constraint. Under the action of the robot's own weight and the inclination of the climbing rail (if any), the synchronous belt undergoes a slight deformation. The movable protrusion, which was originally engaged with the fixed protrusion of the climbing rail, successfully disengages, realizing the climbing, locking, and unlocking of the robot body.

[0032] Braking and deceleration linkage: As the traction rope pulls the guide column, it drives the connected swing arm to rotate around the pivot point on the climbing arm. The end of the swing arm away from the traction rope swings towards the brake rail, causing the brake wheel, which is rotatably connected to that end, to gradually approach and tightly press against the surface of the brake rail. After the robot body unlocks, it begins to slide down. The brake wheel rolls on the brake rail, and the friction between the two creates a stable braking force, controlling the robot body's sliding speed within a safe range and preventing it from falling rapidly.

[0033] 3. Emergency reset state After the robot body slides down to the bottom of the climbing rail or the docking position of the AGV, the operator releases the traction rope, compresses the spring to release elastic potential energy, pushes the movable baffle to re-adhere to the first synchronous belt, the guide column returns to its original position with the movable baffle, and the traction rope returns to a slack state. The swing arm swings in the opposite direction under its own gravity, the brake wheel disengages from the brake rail, and the equipment returns to its normal operating structural state. Climbing operations can be restarted after the fault is cleared.

[0034] The present invention relates to a mother-and-child climbing robot, which features a separate mother-and-child structure. During climbing, only the robot body carries the material-picking mechanism and goods, eliminating the need to support the weight of the AGV (Automated Guided Vehicle), significantly reducing the climbing load. Combined with a synchronous belt and its protruding precise drive, a low-power first motor can achieve stable climbing, reducing the cost and energy consumption of motors and transmission components, minimizing wear and tear, and improving operational stability and equipment lifespan. The separable design of the AGV and robot body supports parallel operation; while the robot climbs to pick up materials, the AGV can simultaneously transfer or connect to the next work unit, improving efficiency. The AGV's flexible mobility and the horizontal adjustment function of the climbing mechanism (second synchronous belt + linear guide rail), combined with the lifting platform and precise positioning structure, ensure that the robot can accurately connect to different storage locations. The symmetrical climbing mechanism on both sides and the multi-guide design further enhance climbing stability, making it adaptable to various shelving scenarios and solving the problems of poor flexibility and limited operating range of existing equipment. Furthermore, the newly added synchronous belt unlocking and braking linkage structure provides a low-cost, highly reliable emergency solution for the climbing robot, solving the problems of difficult and high-risk rescue when traditional equipment is stuck. The "unlock-brake" function can be linked by a single traction rope: pulling on the ground will release the timing belt lock, allowing the robot to get out of the jammed state. At the same time, the brake wheel will press against the brake rail to control the descent speed, avoiding equipment damage or safety accidents, greatly reducing emergency costs and ensuring safety. The overall function is complete and highly practical.

[0035] Unless otherwise specified, in this invention, terms such as "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the actual orientation or positional relationship shown. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe orientation or positional relationships in this invention are for illustrative purposes only and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood in conjunction with the embodiments and according to the specific circumstances.

[0036] Unless otherwise explicitly specified and limited, the terms "set up," "connected," and "linked" in this invention should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0037] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A mother-and-child climbing robot, characterized in that, The system includes an AGV (Automated Guided Vehicle) with a detachable robot body. The robot body has a material handling mechanism and a climbing mechanism. It also includes a vertically extending climbing rail mounted on a shelf. The climbing rail has several fixed protrusions arranged at equal intervals along its extension path. The climbing mechanism includes a climbing arm with a first driving synchronous wheel and a first driven synchronous wheel rotatably connected to it. A first synchronous belt is drivenly connected to the first driven synchronous wheel and the first driving synchronous wheel. The first synchronous belt has several movable protrusions arranged at equal intervals along its extension path, with the distance between two adjacent movable protrusions equal to the distance between two adjacent fixed protrusions. A first motor controlling the rotation of the first driving synchronous wheel is drivenly connected to the first driving synchronous wheel, which is mounted on the climbing arm. A guide wheel frame mounted on the climbing arm is located on the left and / or right side of the first synchronous belt. At least two first guide wheels, arranged vertically at intervals and rolling up and down on the climbing rail, are rotatably connected to the guide wheel frame. The first guide wheels are located on the side of the climbing rail opposite to the fixed protrusions.

2. The mother-daughter climbing robot according to claim 1, characterized in that, A lift is provided between the robot body and the AGV guide vehicle, located at the bottom of the robot body or the top of the AGV guide vehicle.

3. The mother-daughter climbing robot according to claim 2, characterized in that, The lifting platform includes a scissor lift or a rigid chain lift.

4. The mother-daughter climbing robot according to any one of claims 1-3, characterized in that, The robot body is also equipped with an adjustment mechanism that controls the climbing mechanism to move horizontally left and right. The adjustment mechanism includes an adjustment frame, on which a second driving synchronous wheel and a second driven synchronous wheel are rotatably connected in a left-right arrangement. A second synchronous belt is drivenly connected to the second driven synchronous wheel and the second driving synchronous wheel. A fixing block is provided on the second synchronous belt and is connected to the climbing mechanism. A second motor that controls the rotation is drivenly connected to the second driving synchronous wheel and is located on the adjustment frame.

5. The mother-daughter climbing robot according to claim 4, characterized in that, The adjustment frame is also equipped with a linear guide rail that extends to the left and right. A linear slider is slidably connected to the linear guide rail, and the linear slider is connected to the climbing mechanism.

6. The mother-daughter climbing robot according to claim 1, characterized in that, The climbing rail is provided with a concave limiting groove that extends vertically. Both ends of the limiting groove are open to the outside. The fixing protrusion is located at the bottom of the limiting groove. A second guide wheel is rotatably connected to the climbing arm inside the limiting groove.

7. The mother-daughter climbing robot according to claim 1, characterized in that, A fixed baffle is provided on the climbing arm between the first active synchronous pulley and the first driven synchronous pulley. A movable baffle is provided at the end of the fixed baffle facing the movable protrusion. A guide post is slidably connected to the fixed baffle. One end of the guide post is connected to the movable baffle, and the other end is provided with a hanging traction rope. A compression spring is fitted on the guide post, with one end abutting against the fixed baffle and the other end abutting against the movable baffle. The first synchronous belt is arranged around the fixed baffle and the movable baffle, and the movable baffle is tightly attached to the first synchronous belt.

8. The mother-daughter climbing robot according to claim 7, characterized in that, The side of the climbing rail is provided with a brake rail that extends vertically along its extended trajectory. A brake wheel that rolls on the brake rail is provided on the brake rail. A swing arm is rotatably connected to the climbing arm. One end of the swing arm is connected to the traction rope, and the brake wheel is rotatably connected to the other end of the swing arm.

9. The mother-daughter climbing robot according to claim 1, characterized in that, There are two climbing mechanisms, which are symmetrically arranged on the left and right sides of the material handling mechanism.

10. The mother-daughter climbing robot according to claim 1, characterized in that, The material handling mechanism includes a material handling fork and a linear module for controlling its forward and backward movement.

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