A warehouse shelving handling robot

Abstract

The application discloses a warehouse shelf carrying robot, which comprises a machine body, a supporting platform fixedly connected to the top of the machine body, telescopic columns installed at the top of four corners of the supporting platform, a supporting plate connected to the top of the telescopic column, and fixed housings installed on the two sides of the machine body. The application adopts a bottom embracing positioning mechanism and a top elastic limiting mechanism to form a double locking structure, relies on a double-side adjusting plate synchronously adjusted by a bidirectional screw rod, and a telescopic electric pushing assembly, so that the warehouse shelf with different foot distances, different cross-sectional shapes and different height specifications can be automatically adapted, manual replacement of tooling or manual adjustment of parts is not needed, and the device has high versatility. The spring buffer assembly arranged at the bottom of the supporting plate and the bottom auxiliary load-bearing pulley can double the load of the shelf during the transfer process, buffer the road bumps and start-stop impacts, and greatly reduce the risk of damage of the shelf and the internal goods caused by vibration and collision.

Description

Technical Field

[0001] This invention relates to the field of material handling and conveying technology, specifically to a warehouse racking handling robot. Background Technology

[0002] Currently, mobile robots for rack handling have achieved widespread application in the warehousing and logistics industry. These devices can autonomously complete the transfer of entire racks: after the system issues a picking instruction, the robot automatically drives to the corresponding storage location to pick up the rack and smoothly transfers it to the manual sorting area, where sorting personnel pick the goods; after all sorting processes are completed and the goods are sorted and collected, the robot accurately transports the rack back to its original storage location, completely replacing manual labor in the reciprocating movement of heavy racks.

[0003] Existing handling robots on the market generally suffer from poor structural stability, making them prone to shifting and shaking during heavy-duty handling, which can lead to misalignment and tipping of goods on shelves. They also have difficulty adapting to and fixing to shelves of different sizes, and cannot achieve precise docking with shelf positions. Furthermore, the overall integration of these devices is low, and their bulky size makes it difficult for them to pass through narrow warehouse aisles.

[0004] Therefore, it is necessary to provide a warehouse racking handling robot to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a warehouse racking handling robot to solve the problems existing in the background technology. The technical solution of this invention addresses the problem that the existing technical solutions are too simplistic and provides a solution that is significantly different from the existing technology.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a warehouse racking handling robot, comprising a body, a support platform fixedly connected to the top of the body, telescopic columns installed at the four corners of the top of the support platform, a support plate connected to the top of the telescopic columns, fixed housings installed on both sides of the body, adjustable plates that can move in opposite directions installed at the front and rear ends inside the fixed housings, a rectangular limiting ring plate connected to one end of the adjustable plate facing the opening of the fixed housing, a positioning mechanism for positioning extendable rack legs provided on one side of the adjustable plate, and limiting mechanisms for limiting rack legs installed at the four corners of the top of the support platform.

[0007] Preferably, the front and rear ends of the top two sides of the support platform are connected to springs fixed to the bottom of the support plate, and support rods are installed at equal intervals in an arc shape at the four corners of the top of the support platform, with support baffles connected to the top of the support rods.

[0008] Preferably, a bidirectional screw threaded through the front and rear ends of the adjusting plate is rotatably connected to the inner side of the fixed housing, and a motor for driving the bidirectional screw to rotate is installed on the front end face of the fixed housing.

[0009] Preferably, the adjusting plate has a slot inside, and an electric telescopic rod is installed inside the slot. The telescopic end of the electric telescopic rod is connected to a connecting plate that penetrates the rectangular limiting ring plate.

[0010] Preferably, the positioning mechanism includes a positioning plate fixed to one side of the connecting plate, an annular plate is installed at the top center of the positioning plate, a threaded rod is threaded through the outer wall of the annular plate at equal angles, and a flexible arc-shaped clamping block is connected to one end of the threaded rod extending to the inner side of the annular plate.

[0011] Preferably, the bottom of the positioning plate is rotatably connected to a mounting base, and the inner side of the mounting base is connected to a pulley.

[0012] Preferably, the limiting mechanism includes a fixed rod installed between the support platform and the support baffle. A rotating seat is rotatably connected to the outer wall of the fixed rod. A retractable movable plate is installed inside the rotating seat on the side away from the support platform. An arc-shaped limiting rod is connected to the end of the movable plate away from the support platform.

[0013] Preferably, the movable plate has a groove at the end away from the support platform, and a second spring is installed inside the groove. The other end of the second spring is connected to a clamp that abuts against the outer wall of the shelf leg.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention employs a bottom-encircling positioning mechanism combined with a top elastic limiting mechanism to form a double-locking structure. Relying on a double-sided adjusting plate with synchronous adjustment of bidirectional screws and a retractable electric pushing component, it can automatically adapt to storage racks with different leg spacings, cross-sectional shapes, and height specifications, without the need for manual tooling changes or manual adjustment of parts, making the equipment highly versatile. The bottom of the support plate is equipped with a spring buffer component and bottom auxiliary load-bearing pulleys, which can double the load of the rack during transportation, buffer road bumps and start-stop impacts, and greatly reduce the risk of damage to the racks and internal goods from vibration and collision. 2. This invention uses a motor-driven bidirectional screw to achieve synchronous opening and closing of the positioning mechanisms on both sides, featuring a threaded self-locking characteristic. After the positioning distance is adjusted, the position of the adjustment plate can be locked, preventing positioning deviation during the transfer process. Combined with a rectangular limit ring plate guiding the electric telescopic rod's extension and retraction, it avoids skewness and jamming during the positioning mechanism's pushing process, ensuring smooth equipment operation and high positioning accuracy, reducing the safety hazards of shelf slippage and tipping during transfer. The top limit mechanism integrates a rotatable rotating seat, a telescopic movable plate, and a spring-loaded elastic clamping plate, which can adapt to different outward expansion dimensions and placement positions of the shelf legs. The elastic clamping plate eliminates assembly gaps and continuously provides lateral limiting force. When the shelf travels, turns, or decelerates, the springs buffer and offset rigid impacts. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the support shelf of the present invention; Figure 2 This is a three-dimensional structural diagram of the present invention; Figure 3 This is a three-dimensional structural schematic diagram from another perspective of the present invention; Figure 4 This is a three-dimensional structural diagram of one side of the body of the present invention. Figure 5 This is a top view of one side of the structure of the body of the present invention; Figure 6 This is a three-dimensional structural diagram of the present invention, showing the adjustment plate separated from the fixed housing; Figure 7 This is a schematic diagram of the internal structure of the adjustment plate of the present invention.

[0016] In the diagram: 1. Body; 2. Support platform; 3. Telescopic column; 301. Support plate; 4. Fixed shell; 5. Adjusting plate; 6. Rectangular limiting ring plate; 7. Positioning mechanism; 701. Positioning plate; 702. Circular ring plate; 703. Threaded rod; 704. Flexible arc-shaped clamping block; 8. Limiting mechanism; 801. Fixed rod; 802. Rotating seat; 803. Movable plate; 804. Arc-shaped limiting rod; 9. Spring 1; 10. Support rod; 11. Support baffle; 12. Bidirectional screw; 13. Motor; 14. Slot; 15. Electric telescopic rod; 16. Connecting plate; 17. Mounting seat; 18. Pulley; 19. Groove; 20. Spring 2; 21. Clamping plate. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and 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, and therefore should not be construed as a limitation of this invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, it should be noted that unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," and "set up" 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 mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication 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. The following describes embodiments of the invention based on its overall structure.

[0019] Please see Figure 1-7 A warehouse racking handling robot includes a body 1, a support platform 2 fixedly connected to the top of the body 1, telescopic columns 3 installed at the four corners of the top of the support platform 2, and support plates 301 connected to the top of the telescopic columns 3. Fixed housings 4 are installed on both sides of the body 1. Adjustable plates 5, which can move in opposite directions, are installed at the front and rear ends inside the fixed housings 4. A rectangular limiting ring plate 6 is connected to the end of the adjustable plate 5 facing the opening of the fixed housing 4. A positioning mechanism 7 for positioning extendable racking legs is provided on one side of the adjustable plate 5. Racking legs are installed at the four corners of the top of the support platform 2. The limiting mechanism 8 and the body 1 serve as the foundation for walking and bearing. The support platform 2, together with the telescopic column 3 and the support plate 301, realizes the overall lifting and bearing of the rack. The fixed shells on both sides are equipped with openable and adjustable plates 5 and positioning mechanisms 7, which can complete the clamping and positioning from the outside of the bottom support legs of the rack. The four corner limiting mechanisms 8 at the top limit and constrain from the top of the rack support legs. The double positioning from the top and bottom can form a full-range locking and fixing of warehouse racks of different specifications, preventing the racks from shifting or slipping during the robot's transfer of racks. At the same time, the telescopic column 3 can adapt to the height of the rack, and is compatible with the handling operations of various types of racks.

[0020] like Figure 1-7As shown, the front and rear ends of the top sides of the support platform 2 are connected to springs 9 fixed to the bottom of the support plate 301. Support rods 10 are installed at equal intervals in an arc shape at the four corners of the top of the support platform 2. Support baffles 11 are connected to the top of the support rods 10. Springs 9 are set between the support plate 301 and the support platform 2. They can play an elastic buffering and shock absorption role when the robot starts, stops, turns, or passes through bumpy road sections. The support rods 10 arranged at equal intervals in an arc shape, together with the support baffles 11, form a ring support structure, which distributes the weight of the shelf borne by the support plate 301, improves the overall load-bearing rigidity of the support plate 301, and avoids deformation of the support plate 301 under long-term heavy load.

[0021] like Figure 1-7 As shown, a bidirectional screw 12 with threads passing through the front and rear ends of the adjusting plate 5 is rotatably connected to one side of the interior of the fixed housing 4. A motor 13 that drives the bidirectional screw 12 to rotate is installed on one side of the front end of the fixed housing 4. The motor 13 drives the bidirectional screw 12 to rotate synchronously, which can drive the two sets of adjusting plates 5 to synchronously close in opposite directions or open in opposite directions, realizing synchronous spacing adjustment of the double-sided positioning mechanism 7. It can stably adapt to the leg spacing of shelves of different widths, and the automatic adjustment does not require manual disassembly and adjustment.

[0022] like Figure 1-7 As shown, the adjustment plate 5 has a slot 14 inside, and an electric telescopic rod 15 is installed inside the slot 14. The telescopic end of the electric telescopic rod 15 is connected to a connecting plate 16 that passes through the rectangular limiting ring plate 6. The electric telescopic rod 15 can extend and push the connecting plate 16 in the horizontal direction, driving the outer positioning mechanism 7 to extend outward or retract inward as a whole. The rectangular limiting ring plate 6 guides and constrains the telescopic path of the connecting plate 16 to prevent the connecting plate 16 from tilting or getting stuck when it extends or retracts.

[0023] like Figure 1-7 As shown, the positioning mechanism 7 includes a positioning plate 701 fixed to one side of the connecting plate 16. A circular ring plate 702 is installed at the top center of the positioning plate 701. A threaded rod 703 is threaded through the outer wall of the circular ring plate 702 at equal angles. A flexible arc-shaped clamping block 704 is connected to one end of the threaded rod 703 extending to the inner side of the circular ring plate 702. Multiple sets of threaded rods 703 are evenly arranged around the circumference of the circular ring plate 702. By rotating the threaded rods 703 synchronously, the flexible arc-shaped clamping block 704 can be driven to hug and clamp the shelf leg from all sides. The multi-point surrounding clamping is evenly force-bearing. The flexible arc-shaped clamping block 704 can fit tightly against the outer wall of the leg, increasing the clamping friction and improving the positioning and locking effect. At the same time, it can be adapted to shelf legs with various cross-sectional specifications such as round and square.

[0024] like Figure 1-7 As shown, the bottom of the positioning plate 701 is rotatably connected to the mounting base 17, and the inner side of the mounting base 17 is connected to the pulley 18. During the transfer process, the pulley 18 can help to share the partial weight of the shelf and reduce the load pressure on the support plate 301.

[0025] like Figure 1-7 As shown, the limiting mechanism 8 includes a fixed rod 801 installed between the support platform 2 and the support baffle 11. A rotating seat 802 is rotatably connected to the outer wall of the fixed rod 801. A retractable movable plate 803 is installed inside the side of the rotating seat 802 away from the support platform 2. An arc-shaped limiting rod 804 is connected to the end of the movable plate 803 away from the support platform 2. The rotating seat 802 can rotate freely around the fixed rod 801 and can adaptively adjust the orientation of the arc-shaped limiting rod 804 according to the position of the shelf leg. The movable plate 803 can extend and adjust the extension length of the limiting rod to adapt to shelf legs of different heights and different outward expansion dimensions. The arc-shaped limiting rod 804 can fit against the upper outer side of the shelf leg to form a limiting block from above the shelf, forming a two-way constraint with the bottom positioning mechanism 7.

[0026] like Figure 1-7 As shown, the movable plate 803 has a groove 19 at the end away from the support platform 2. A spring 20 is installed inside the groove 19. The other end of the spring 20 is connected to a clamping plate 21 that abuts against the outer wall of the shelf leg. The spring 20 drives the clamping plate 21 to elastically press against the outer wall of the shelf leg, which can eliminate the assembly gap between the limit rod and the shelf leg. When the shelf shakes slightly during the transfer process, the spring 20 can buffer the vibration, avoid the clamping plate 21 from rigidly colliding with the shelf leg to produce abnormal noise and scratches, and always keep the clamping plate 21 and the leg in close contact, continuously providing lateral limiting force, further improving the stability of the shelf during the transfer process.

[0027] Working principle: During operation, the machine body 1 moves into the bottom of the storage rack using the walking mechanism. The system first starts the motor 13 to drive the bidirectional screw 12 to rotate, causing the front and rear adjusting plates 5 to open synchronously in opposite directions to a distance greater than the rack support legs. Then, the electric telescopic rod 15 in the slot 14 of the adjusting plate 5 is controlled to extend outward and push the positioning mechanism 7 through the connecting plate 16 to move it to the position directly below the rack support legs. The operator or the scheduling system rotates each threaded rod 703, causing multiple sets of flexible arc-shaped clamps 704 to circumferentially clamp the rack support legs, completing the bottom clamping and positioning. The pulleys 18 at the bottom of the positioning plate 701 simultaneously contact the ground to form auxiliary support.

[0028] After the bottom positioning is completed, the telescopic columns 3 at the four corners of the support platform 2 simultaneously lift the support plate 301, lifting the entire rack off the ground. The spring 9 at the bottom of the support plate 301 forms a buffer support in advance. Then, the rotating seat 802 of the limiting mechanism 8 is rotated and the movable plate 803 is stretched, so that the arc-shaped limiting rod 804 abuts against the upper outer side of the rack support leg. The spring 20 in the groove 19 drives the clamping plate 21 to elastically fit the support leg, realizing the upper and lower bidirectional locking and limiting of the rack support leg.

[0029] The robot autonomously travels within the warehouse area, transporting shelves to manual sorting stations for operators to pick. During transport, spring 9 absorbs the impact and vibration caused by road bumps, acceleration, and deceleration, while bottom pulleys 18 share some of the load. The double positioning structure at the top and bottom constrains the shelves to prevent slippage. After the sorting process is completed, the robot carries the shelves back to the original storage location. First, it controls the telescopic column 3 to descend and place the shelves on the ground. Then, it retracts the limit mechanism 8 and releases the flexible arc-shaped clamp 704 of the positioning mechanism 7. The electric telescopic rod 15 drives the positioning mechanism 7 to retract, and the motor 13 reverses to drive the adjustment plate 5 to retract and reset. The robot body 1 can then leave the shelves, completing a closed-loop operation for a single shelf transport.

[0030] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A warehouse racking handling robot, comprising a body (1), characterized in that: A support platform (2) is fixedly connected to the top of the body (1). Telescopic columns (3) are installed at the four corners of the top of the support platform (2). A support plate (301) is connected to the top of the telescopic columns (3). Fixed housings (4) are installed on both sides of the body (1). Adjustment plates (5) that can move in opposite directions are installed at the front and rear ends inside the fixed housings (4). A rectangular limiting ring plate (6) is connected to one end of the adjustment plate (5) facing the opening of the fixed housing (4). A positioning mechanism (7) for positioning the extendable shelf legs is provided on one side of the adjustment plate (5). A limiting mechanism (8) for limiting the shelf legs is installed at the four corners of the top of the support platform (2). The positioning mechanism (7) includes a positioning plate (701) fixed to one side of the connecting plate (16). A ring plate (702) is installed at the top center of the positioning plate (701). A threaded rod (703) is threaded through the outer wall of the ring plate (702) at an equal angle. A flexible arc-shaped clamping block (704) is connected to one end of the threaded rod (703) extending to the inner side of the ring plate (702). The bottom of the positioning plate (701) is rotatably connected to a mounting base (17), and a pulley (18) is connected to the inner side of the mounting base (17). The limiting mechanism (8) includes a fixed rod (801) installed between the support platform (2) and the support baffle (11). The outer wall of the fixed rod (801) is rotatably connected to a rotating seat (802). A retractable movable plate (803) is installed inside the side of the rotating seat (802) away from the support platform (2). An arc-shaped limiting rod (804) is connected to the end of the movable plate (803) away from the support platform (2). The movable plate (803) has a groove (19) at one end away from the support platform (2). A spring (20) is installed inside the groove (19). The other end of the spring (20) is connected to a clamp (21) that abuts against the outer wall of the shelf leg.

2. The warehouse racking handling robot according to claim 1, characterized in that: The front and rear ends of the top two sides of the support platform (2) are connected to springs (9) fixed to the bottom of the support plate (301). Support rods (10) are installed at equal intervals in an arc shape at the top four corners of the support platform (2). Support baffles (11) are connected to the top of the support rods (10).

3. The warehouse racking handling robot according to claim 1, characterized in that: The fixed housing (4) is rotatably connected to a bidirectional screw (12) threaded through the front and rear ends of the adjusting plate (5) on one side of its interior. A motor (13) for driving the bidirectional screw (12) to rotate is installed on one side of the front end face of the fixed housing (4).

4. A warehouse racking handling robot according to claim 1, characterized in that: The adjustment plate (5) has a slot (14) inside, and an electric telescopic rod (15) is installed inside the slot (14). The telescopic end of the electric telescopic rod (15) is connected to a connecting plate (16) that passes through the rectangular limiting ring plate (6).

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