A warehouse picking robot

Abstract

This invention belongs to the technical field of automated warehousing and logistics equipment, and discloses a warehouse picking robot, including a vehicle body. The vehicle body has a lifting structure, a telescopic structure, and a clamping structure on its upper part. Through the damping springs and hinged design inside the shock-absorbing frame, this invention effectively buffers ground bumps, and the anti-slip teeth on the inner side of the drive tracks also improve grip, making the robot move more smoothly on the warehouse floor and preventing goods from shaking and falling. Through multi-stage transmission of the first, second, third, and fourth bevel gears, combined with the opening and closing structure of the cross rack, the platform's lifting process is smoother, and the height adjustment is more precise, adapting to shelves of different heights, improving picking efficiency, and facilitating practical application and operation.

Description

Technical Field

[0001] This invention relates to the field of automated warehousing and logistics equipment, and in particular to a warehouse picking robot. Background Technology

[0002] With the rapid development of the e-commerce industry and the continuous expansion of warehousing and logistics, the efficiency and accuracy of warehouse goods picking operations directly affect the operational efficiency of the entire logistics chain.

[0003] In practical applications, most existing equipment uses hydraulic lifting or simple linkage structures, which not only suffer from poor stability during lifting and insufficient height adjustment accuracy, making it difficult to adapt to the picking needs of shelves of different heights, but also prone to problems such as jamming and abnormal noise after long-term use, resulting in high maintenance costs. Some equipment's telescopic structure lacks a synchronous transmission design, with inconsistent movements of the telescopic arms on both sides, which can easily lead to the misalignment of the clamping structure, affecting picking accuracy and potentially damaging the equipment due to uneven force. Most existing moving mechanisms are not equipped with effective shock absorption structures, and uneven warehouse floors can easily cause the equipment to shake, affecting the safety of goods handling and potentially causing internal precision components to loosen. Most clamping structures rely solely on clamping force to fix goods, lacking support design and pressure detection functions, making it easy for goods to slip or be damaged. They are also unable to adapt to goods of different sizes and weights, which is not conducive to practical application and operation. Summary of the Invention

[0004] One of the objectives of this invention is to provide a warehouse picking robot.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a warehouse picking robot, including a vehicle body: the vehicle body is provided with a lifting structure, a telescopic structure and a clamping structure on its upper part;

[0006] The lifting structure includes a third slide groove, a first threaded rod, a threaded block, a first bevel gear, a second bevel gear, a slot, a rotating rod, a third bevel gear, a cross frame, and a platform; the telescopic structure includes a rotating cylinder, a drive block, a second threaded rod, a first slider, and a synchronous chain; and the clamping structure includes a connecting frame, a clamping frame, a second slide groove, a second slider, a first connecting shaft, a second connecting shaft, and an electric push rod.

[0007] Shock absorber frames are installed on both sides of the vehicle body, and drive tracks are installed on one end of each shock absorber frame. Two third slide grooves are opened on the top of the vehicle body. A first threaded rod is rotatably connected inside the third slide groove. Threaded blocks are threaded to the outside of each first threaded rod. A cross frame is rotatably connected between the top of the vehicle body and the corresponding threaded block. A platform is rotatably connected to the top of the cross frame.

[0008] Preferably, the platform has two rotating cylinders rotatably connected inside, each rotating cylinder has a drive block slidably connected inside, each drive block has a first slider fixedly connected to both sides, each rotating cylinder has a first groove opened on both sides, the first slider is slidably connected to the corresponding first groove, each drive block has a second threaded rod fixedly connected to one side, one end of each second threaded rod extends to the outside of the platform and is rotatably connected to a connecting rod.

[0009] Preferably, a connecting frame is fixedly connected to the top of the connecting rod, a second sliding groove is provided on the top of the connecting frame, a second slider is slidably connected inside the second sliding groove, a clamping frame is fixedly connected to the outside of the second slider and inside the connecting frame, one end of each clamping frame is rotatably connected to a first connecting shaft, a second connecting shaft is rotatably connected between the two first connecting shafts, an electric push rod is installed and connected to the outside of the connecting frame, and the piston rod of the electric push rod is fixedly connected to the second connecting shaft.

[0010] Preferably, the inner wall of each of the third slide grooves is rotatably connected to a second bevel gear, and the outer side of each of the first threaded rods is fixedly connected to a first bevel gear. The first bevel gear meshes with the corresponding second bevel gear. An empty slot is provided inside the vehicle body and located between the two third slide grooves. A rotating rod is rotatably connected inside the empty slot. Both ends of the rotating rod are fixedly connected to the corresponding second bevel gear. A first drive motor is provided inside the vehicle body. The output shaft of the first drive motor extends into the empty slot and is fixedly connected to a fourth bevel gear. A third bevel gear is fixedly connected to the outer side of the rotating rod, and the fourth bevel gear meshes with the third bevel gear.

[0011] Preferably, the platform has a synchronous chain inside, the drive wheel of the synchronous chain is fixedly connected to the corresponding rotating drum, and a second drive motor is fixedly connected to the outside of the platform, the output shaft of the second drive motor is fixedly connected to the synchronous chain.

[0012] Preferably, a first camera detector is installed and connected to both ends of the vehicle body, a second camera detector is installed and connected to the outside of the connecting rod, a pressure detector is provided on the side of the clamping frame that is close to each other, and a plug plate is fixedly connected to the bottom of the clamping frame that is close to each other.

[0013] Preferably, the shock absorber frame is equipped with a damping spring inside, and both ends of the shock absorber frame are respectively hinged to the mounting seats of the vehicle body and the drive track, and the inner side of the drive track is provided with anti-slip teeth.

[0014] Preferably, the middle part of the cross frame is rotatably connected by a pin, one end of the cross frame is hinged to the bottom of the platform, and the other end of the cross frame is hinged to the top of the threaded block.

[0015] Preferably, the inner side of the clamping frame is provided with rubber anti-slip pads, the pressure detector is embedded in the inner side of the rubber anti-slip pads, the end of the insert plate is wedge-shaped, and the top of the insert plate is welded and fixed to the bottom of the clamping frame.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] (1) The present invention can effectively buffer ground bumps through the damping spring and hinge design inside the shock-absorbing frame, and the anti-slip teeth on the inner side of the drive track can also improve the grip, making the robot move more smoothly on the warehouse floor and preventing goods from shaking and falling. Through the multi-stage transmission of the first bevel gear, the second bevel gear, the third bevel gear and the fourth bevel gear, combined with the opening and closing structure of the cross frame, the lifting process of the platform is more stable and the height adjustment is more precise, which can adapt to shelves of different heights and improve picking efficiency.

[0018] (2) The present invention can ensure that the two drums rotate synchronously through the synchronous chain, so that the extension and retraction of the second threaded rod are consistent, the movement of the connecting rod and the clamping structure is more stable, and there will be no jamming or deviation, thus improving the accuracy of picking; the wedge-shaped insert at the bottom of the clamping frame can be inserted into the bottom of the goods first to support them and prevent them from slipping; the rubber anti-slip pad and pressure detector on the inner side can increase the friction to prevent the goods from sliding and can detect the clamping force in real time to prevent the goods from being damaged, thus improving the safety and stability of picking; the cooperation of the first camera detector and the second camera detector can enable the robot to autonomously identify the road conditions and the position of the goods, realize autonomous navigation and accurate picking, reduce human intervention, and improve the automation level of the warehouse. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 This is a cross-sectional structural diagram of the present invention.

[0021] Figure 3 This is a top view of the structure of the present invention.

[0022] Figure 4 This is a cross-sectional side view of the present invention.

[0023] Figure 5 For the present invention Figure 4 Enlarged structural diagram at point A in the middle.

[0024] In the diagram: 1. Vehicle body; 2. Shock absorber frame; 3. Drive track; 4. First threaded rod; 5. Threaded block; 6. First bevel gear; 7. Second bevel gear; 8. Empty slot; 9. Rotating rod; 10. Third bevel gear; 11. First drive motor; 12. Cross frame; 13. Platform; 14. Rotary drum; 15. First slide groove; 16. Drive block; 17. Second threaded rod; 18. First slider; 19. Synchronous chain; 20. Second drive motor; 21. Connecting rod; 22. Connecting frame; 23. Clamping frame; 24. Second slide groove; 25. Second slider; 26. First connecting shaft; 27. Second connecting shaft; 28. Electric push rod; 29. ​​Insert plate; 30. Pressure detector; 31. First camera detector; 32. Second camera detector; 33. Fourth bevel gear; 34. Third slide groove. Detailed Implementation

[0025] The present invention will now be further described in conjunction with specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0026] In the description of this invention, it should be noted that directional terms such as "center," "lateral," "longitudinal," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are 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. They should not be construed as limiting the specific protection scope of this invention.

[0027] It should be noted that the terms "first" and "second" in the specification and claims of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0028] One preferred embodiment of the present invention, such as Figures 1 to 5 As shown, a warehouse picking robot includes a vehicle body 1: the vehicle body 1 is equipped with a lifting structure, a telescopic structure and a clamping structure on its upper part;

[0029] The lifting structure includes a third slide rail 34, a first threaded rod 4, a threaded block 5, a first bevel gear 6, a second bevel gear 7, a slot 8, a rotating rod 9, a third bevel gear 10, a cross frame 12, and a platform 13. The telescopic structure includes a rotating cylinder 14, a drive block 16, a second threaded rod 17, a first slider 18, and a synchronous chain 19. The clamping structure includes a connecting frame 22, a clamping frame 23, a second slide rail 24, a second slider 25, a first connecting shaft 26, a second connecting shaft 27, and an electric push rod 28.

[0030] Shock absorber frames 2 are installed on both sides of the vehicle body 1. Drive tracks 3 are installed on one end of each shock absorber frame 2. Two third slide grooves 34 are opened on the top of the vehicle body 1. A first threaded rod 4 is rotatably connected inside the third slide groove 34. Threaded blocks 5 are threadedly connected to the outside of the first threaded rod 4. A cross frame 12 is rotatably connected between the top of the vehicle body 1 and the corresponding threaded block 5. A platform 13 is rotatably connected to the top of the cross frame 12.

[0031] The platform 13 has two rotating cylinders 14 rotatably connected inside. Each rotating cylinder 14 has a drive block 16 slidably connected inside. Each drive block 16 has a first slider 18 fixedly connected to both sides. Each rotating cylinder 14 has a first groove 15 on both sides. The first slider 18 is slidably connected to the corresponding first groove 15. Each drive block 16 has a second threaded rod 17 fixedly connected to one side. One end of each second threaded rod 17 extends to the outside of the platform 13 and is rotatably connected to a connecting rod 21.

[0032] A connecting frame 22 is fixedly connected to the top of the connecting rod 21. A second sliding groove 24 is provided on the top of the connecting frame 22. A second slider 25 is slidably connected inside the second sliding groove 24. A clamping frame 23 is fixedly connected to the outside of the second slider 25 and inside the connecting frame 22. A first connecting shaft 26 is rotatably connected to one end of the clamping frame 23. A second connecting shaft 27 is rotatably connected between the two first connecting shafts 26. An electric push rod 28 is installed and connected to the outside of the connecting frame 22. The piston rod of the electric push rod 28 is fixedly connected to the second connecting shaft 27.

[0033] The inner wall of the third slide groove 34 is rotatably connected to the second bevel gear 7, and the outer side of the first threaded rod 4 is fixedly connected to the first bevel gear 6. The first bevel gear 6 meshes with the corresponding second bevel gear 7. A slot 8 is provided inside the vehicle body 1 and between the two third slide grooves 34. A rotating rod 9 is rotatably connected inside the slot 8. Both ends of the rotating rod 9 are fixedly connected to the corresponding second bevel gear 7. A first drive motor 11 is provided inside the vehicle body 1. The output shaft of the first drive motor 11 extends into the slot 8 and is fixedly connected to the fourth bevel gear 33. The outer side of the rotating rod 9 is fixedly connected to the third bevel gear 10. The fourth bevel gear 33 meshes with the third bevel gear 10.

[0034] The platform 13 is equipped with a synchronous chain 19 inside. The drive wheel of the synchronous chain 19 is fixedly connected to the corresponding rotating drum 14. A second drive motor 20 is fixedly connected to the outside of the platform 13. The output shaft of the second drive motor 20 is fixedly connected to the synchronous chain 19.

[0035] Both ends of the vehicle body 1 are equipped with a first camera detector 31, and the outside of the connecting rod 21 is equipped with a second camera detector 32. Pressure detectors 30 are provided on the side of the clamping frame 23 that are close to each other, and insert plates 29 are fixedly connected to the bottom of the clamping frame 23 that are close to each other.

[0036] The shock absorber 2 is equipped with a damping spring inside. The two ends of the shock absorber 2 are respectively hinged to the mounting seats of the vehicle body 1 and the drive track 3. The inner side of the drive track 3 is provided with anti-slip teeth.

[0037] The middle part of the cross frame 12 is rotatably connected by a pin. One end of the cross frame 12 is hinged to the bottom of the platform 13, and the other end of the cross frame 12 is hinged to the top of the threaded block 5.

[0038] The inner side of the clamping frame 23 is provided with rubber anti-slip pads, the pressure detector 30 is embedded in the inner side of the rubber anti-slip pads, the end of the insert plate 29 is wedge-shaped, and the top of the insert plate 29 is welded and fixed to the bottom of the clamping frame 23.

[0039] Working principle:

[0040] In use, when the robot needs to move within the warehouse, the drive tracks 3 on both sides of the vehicle body 1 will rotate under power, propelling the entire robot forward or turning. The shock absorber 2 is hinged at both ends to the mounting bases of the vehicle body 1 and the drive tracks 3, respectively. The internal damping springs effectively cushion bumps caused by uneven ground, making the robot move more smoothly and preventing goods from swaying. If the height of the platform 13 needs to be adjusted to accommodate goods on different shelves, the first drive motor 11 will start. Its output shaft will rotate the fourth bevel gear 33 in the slot 8. The fourth bevel gear 33 meshes with the third bevel gear 10 on the rotating rod 9, allowing the rotating rod 9 to rotate smoothly in the slot 8. The second bevel gears 7 at both ends of the rotating rod 9 will also rotate, meshing with the first bevel gear 6 on the first threaded rod 4, causing the first threaded rod 4 to rotate within the third sliding groove 34. Because the threaded block 5 is threadedly connected to the first threaded rod 4, it slides along the inner wall of the third slide groove 34, causing the bottom of the cross frame 12 to open and close, thus allowing the platform 13 at the top of the cross frame 12 to rise and fall smoothly and accurately reach the target height. When it is necessary to move the clamping structure closer to or away from the goods, the second drive motor 20 will start, driving the two rotating drums 14 inside the platform 13 to rotate synchronously through the synchronous chain 19. The drive block 16 inside the rotating drum 14 will not rotate with the rotating drum 14 because the first sliders 18 on both sides are restricted in the first slide groove 15 of the rotating drum 14. Instead, it will move along the axial direction of the rotating drum 14, causing the second threaded rod 17 to extend and retract back and forth. The other end of the second threaded rod 17 is connected to the connecting rod 21, so that the connecting rod 21 and the clamping structure above can move back and forth together to accurately approach the target goods.

[0041] When the gripper 23 approaches the goods, the electric push rod 28 is activated, pushing the second connecting shaft 27 forward. The second connecting shaft 27 drives the first connecting shafts 26 on both sides to rotate, and the first connecting shafts 26 pull the gripper 23, causing the second slider 25 at the bottom of the gripper 23 to slide in the second groove 24 of the connecting frame 22, thus allowing the two grippers 23 to close together. Before closing, the insert plate 29 at the bottom of the gripper 23 is inserted into the bottom of the goods to support and position them, and then the gripper 23 clamps the goods. The pressure detector 30 inside the gripper 23 monitors the clamping force in real time. When the preset value is reached, the electric push rod 28 stops to avoid damaging the goods. The first camera detectors 31 at both ends of the vehicle body 1 capture real-time images of the road conditions in front and behind, identify obstacles and shelf positions, and guide the robot to move safely. The second camera detector 32 outside the connecting rod 21 aligns with the goods, accurately identifies the position and size of the goods, and completes accurate picking in conjunction with the telescopic and gripping structure.

[0042] The basic principles, main features, and advantages of this invention have been described above. Those skilled in the art should understand that this invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made without departing from the spirit and scope of the invention, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection claimed by this invention is defined by the appended claims and their equivalents.

Claims

1. A warehouse picking robot, characterized in that, Includes vehicle body (1): The vehicle body (1) is provided with a lifting structure, a telescopic structure and a clamping structure on its upper part; The lifting structure includes a third slide groove (34), a first threaded rod (4), a threaded block (5), a first bevel gear (6), a second bevel gear (7), a slot (8), a rotating rod (9), a third bevel gear (10), a cross frame (12), and a platform (13). The telescopic structure includes a rotating cylinder (14), a drive block (16), a second threaded rod (17), a first slider (18), and a synchronous chain (19). The clamping structure includes a connecting frame (22), a clamping frame (23), a second slide groove (24), a second slider (25), a first connecting shaft (26), a second connecting shaft (27), and an electric push rod (28). Shock absorber frames (2) are installed on both sides of the vehicle body (1). Drive tracks (3) are installed on one end of each shock absorber frame (2). Two third slide grooves (34) are opened on the top of the vehicle body (1). A first threaded rod (4) is rotatably connected inside the third slide groove (34). Threaded blocks (5) are threadedly connected to the outside of the first threaded rod (4). A cross frame (12) is rotatably connected between the top of the vehicle body (1) and the corresponding threaded block (5). A platform (13) is rotatably connected to the top of the cross frame (12).

2. A warehouse picking robot as described in claim 1, characterized in that: The platform (13) has two rotating cylinders (14) rotatably connected inside. Each rotating cylinder (14) has a drive block (16) slidably connected inside. Each drive block (16) has a first slider (18) fixedly connected to both sides. Each rotating cylinder (14) has a first groove (15) opened on both sides. The first slider (18) is slidably connected to the corresponding first groove (15). Each drive block (16) has a second threaded rod (17) fixedly connected to one side. One end of the second threaded rod (17) extends to the outside of the platform (13) and is rotatably connected to a connecting rod (21).

3. A warehouse picking robot as described in claim 1 or 2, characterized in that: A connecting frame (22) is fixedly connected to the top of the connecting rod (21). A second sliding groove (24) is provided on the top of the connecting frame (22). A second slider (25) is slidably connected inside the second sliding groove (24). A clamping frame (23) is fixedly connected to the outside of the second slider (25) and inside the connecting frame (22). A first connecting shaft (26) is rotatably connected to one end of the clamping frame (23). A second connecting shaft (27) is rotatably connected between the two first connecting shafts (26). An electric push rod (28) is installed and connected to the outside of the connecting frame (22). The piston rod of the electric push rod (28) is fixedly connected to the second connecting shaft (27).

4. A warehouse picking robot as described in claim 1, characterized in that: The inner wall of each of the third slide grooves (34) is rotatably connected to a second bevel gear (7), and the outer side of each of the first threaded rods (4) is fixedly connected to a first bevel gear (6). The first bevel gear (6) meshes with the corresponding second bevel gear (7). An empty slot (8) is provided inside the vehicle body (1) and between the two third slide grooves (34). A rotating rod (9) is rotatably connected inside the empty slot (8). Both ends of the rotating rod (9) are fixedly connected to the corresponding second bevel gear (7). A first drive motor (11) is provided inside the vehicle body (1). The output shaft of the first drive motor (11) extends into the empty slot (8) and is fixedly connected to a fourth bevel gear (33). The outer side of the rotating rod (9) is fixedly connected to a third bevel gear (10). The fourth bevel gear (33) meshes with the third bevel gear (10).

5. A warehouse picking robot as described in claim 1 or 2, characterized in that: The platform (13) is equipped with a synchronous chain (19) inside. The drive wheel of the synchronous chain (19) is fixedly connected to the corresponding rotating drum (14). A second drive motor (20) is fixedly connected to the outside of the platform (13). The output shaft of the second drive motor (20) is fixedly connected to the synchronous chain (19).

6. A warehouse picking robot as described in claim 1, characterized in that: Both ends of the vehicle body (1) are equipped with a first camera detector (31), the outside of the connecting rod (21) is equipped with a second camera detector (32), the clamping frame (23) is provided with a pressure detector (30) on the side close to each other, and the bottom of the clamping frame (23) is fixedly connected with a plug plate (29).

7. A warehouse picking robot as described in claim 1, characterized in that: The shock absorber (2) is equipped with a damping spring inside. The two ends of the shock absorber (2) are respectively hinged to the mounting seats of the vehicle body (1) and the drive track (3). The inner side of the drive track (3) is provided with anti-slip teeth.

8. A warehouse picking robot as described in claim 6, characterized in that: The middle part of the cross frame (12) is rotatably connected by a pin. One end of the cross frame (12) is hinged to the bottom of the platform (13), and the other end of the cross frame (12) is hinged to the top of the threaded block (5).

9. A warehouse picking robot as described in claim 3, characterized in that: The inner side of each clamping frame (23) is provided with a rubber anti-slip pad. The pressure detector (30) is embedded in the inner side of the rubber anti-slip pad. The end of the insert plate (29) is wedge-shaped. The top of the insert plate (29) is welded and fixed to the bottom of the clamping frame (23).

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