A warehouse handling robot
Patent Information
- Application Number
- CN202611076823.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-07-20
- Publication Date
- 2026-08-21
AI Technical Summary
[0003]针对重量较大且与外部箱子之间存在间隙的货物，依靠摩擦力和吸力的方式可靠性难以保证，因此只适用于依靠托举力将货物抬起的方式进行搬运
1、本发明通过设置翻起机构，通过第一驱动件带动托举条移动前，先将卡接座卡设在装有货物的箱子的顶部，然后通过第二驱动件带动卡接座的底部一端向上顶起，由于卡接座一端受力时另一端能够将装有货物的箱子卡得更紧，因此当卡接座的一端在受到向上的顶升力时，带动箱子整体发生翻转一定角度，从而使箱子的底部一侧处于倾斜状态；此时能够方便地通过第一驱动件带动托举条移动至箱子的底部，避免直接通过第一驱动件带动托举条与箱子发生刚性碰撞而导致箱子发生损伤。
Smart Images
Figure CN122607668A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of logistics and warehousing technology, and more specifically, to a warehouse handling robot. Background Technology
[0002] With the rapid development of robotics technology, handling robots play an important role in smart warehousing, replacing manual labor in handling goods and improving efficiency. For boxed goods, current handling robots typically employ three methods: one is to apply pressure from both sides of the box to grip the goods using friction; another is to lift the goods from the bottom of the box using lifting force; and the third is to use multiple suction cups to suck the goods up from the top of the box using suction.
[0003] For heavy goods with gaps between them and the outer casing, relying on friction and suction is unreliable. Therefore, it is only suitable for handling goods by lifting them with a lifting force. However, this method currently has a problem: before lifting, workers need to push one corner of the box upwards to create space for the lifting bar to enter the bottom of the box. This is cumbersome and labor-intensive when handling large quantities of goods. Summary of the Invention
[0004] The purpose of this invention is to provide a warehouse handling robot that can easily flip up one end of a box containing goods before each handling operation, so as to facilitate the placement of lifting bars at the bottom of the box for lifting.
[0005] The present invention is achieved through the following technical solution: a warehouse handling robot, including a base, a vertical seat is provided on the base, a lifting seat is slidably provided on the vertical seat along its own height direction, a handling mechanism is provided on the lifting seat, the handling mechanism includes a fixed seat and handling seats provided on both sides of the fixed seat, and the two handling seats are provided with lifting strips for clamping the bottom sides of the goods on the side that are close to each other. The fixed base is provided with a first driving member for driving the two transport seats to move in a direction closer to each other, and the fixed base is provided with a flipping mechanism above the transport seats. The flipping mechanism includes a support base, a mounting base slidably disposed on the top of the support base, a snap-fit seat hinged to the bottom of the mounting base away from the support base, and a second driving member disposed in the middle of the mounting base for lifting the bottom end of the snap-fit seat upward. The transport seat includes a fixed part, a sliding part, and a rotating part. The fixed part is fixedly mounted on the fixed seat. The sliding part is slidably mounted on the fixed part along the length direction of the fixed part. The rotating part is rotatably mounted at the end of the sliding part away from the fixed part. An elastic component is provided between the rotating part and the sliding part to keep the rotating part in an inclined state.
[0006] Furthermore, the first driving component includes a driving electric cylinder, a driving seat is provided on the piston rod of the driving electric cylinder, and driving sleeves are provided at both ends of the driving seat. The driving sleeves are slidably sleeved on the sliding part, and a raised ramp is provided on one side of the rotating part. When the driving electric cylinder drives the driving seat to move, the driving sleeves can first drive the sliding part to move away from the fixed part, and then drive the rotating part to rotate from the inclined state to the state parallel to the sliding part.
[0007] Furthermore, the sliding part is provided with a limiting slider, and the fixed part is provided with a limiting groove. When the limiting slider slides to the end of the limiting groove, it can restrict the relative sliding between the sliding part and the fixed part.
[0008] Furthermore, the rotating part is provided with a hinge block, and the sliding part is provided with a hinge groove for the hinge block to rotate. The upper and lower sides of the hinge block are rotatably connected to the sliding part through a rotating shaft. The elastic component is a torsion spring sleeved on the rotating shaft. One end of the torsion spring is fixedly connected to the hinge block, and the other end is fixedly connected to the sliding part.
[0009] Furthermore, the second driving component includes a fixed beam, a tilting electric cylinder is hinged to the bottom of the fixed beam, a tilting block is hinged to the piston rod of the tilting electric cylinder, a first inclined surface is provided at the bottom of the locking seat, and a second inclined surface is provided on the tilting block. When the tilting electric cylinder drives the tilting block to move upward, the second inclined surface and the first inclined surface come into contact and can drive one end of the locking seat to tilt upward.
[0010] Furthermore, a telescopic rod is connected between the fixed beam and the tilting block. One end of the telescopic rod is hinged to the fixed beam at the end away from the tilting cylinder barrel, and the other end is hinged to the tilting block on the side away from the tilting electric cylinder piston rod.
[0011] Furthermore, sleeves are fixedly installed on the piston rod and telescopic rod of the tilting electric cylinder, and rotating columns are installed on both sides of the tilting block, with the rotating columns on both sides rotatably connected to the two sleeves respectively.
[0012] Furthermore, the rotating column is located at the center of the length direction of the flipping block, and the center of gravity of the flipping block is located below the rotating column.
[0013] Furthermore, the mounting base is slidably disposed within the support base, and the support base is provided with a lifting component for driving the mounting base to rise or fall; the snap-fit seat is rotatably disposed at the bottom of the mounting base via a ball joint, and a spring plate is provided between the snap-fit seat and the mounting base for holding the snap-fit seat in a horizontal state.
[0014] Furthermore, the lifting component includes a drive motor, a gear, and a rack. The rack is fixedly mounted on the mounting base in a vertical direction. The gear is rotatably mounted on one side of the support base via a support block and meshes with the rack. The drive motor is fixedly mounted on the support block, and the output shaft of the drive motor is fixedly connected to the gear.
[0015] The technical solution of the present invention has at least the following advantages and beneficial effects: 1. This invention, by setting up a flipping mechanism, firstly secures the locking seat to the top of the box containing goods before the first driving member moves the lifting bar. Then, the second driving member pushes one end of the locking seat upward. Since the other end can hold the box containing goods more tightly when one end of the locking seat is under force, when one end of the locking seat is subjected to an upward lifting force, it causes the entire box to flip at a certain angle, thus tilting one side of the bottom of the box. At this time, the first driving member can easily move the lifting bar to the bottom of the box, avoiding a rigid collision between the lifting bar and the box caused by the first driving member, which would damage the box.
[0016] 2. The present invention comprises a fixed part, a sliding part, and a rotating part to form a transport seat. By having the first driving member first drive the sliding part to move away from the fixed part, and then drive the rotating part to rotate from an inclined state to a state parallel to the sliding part, the lifting bar first moves as a whole towards the box, and then rotates to reach the bottom sides of the box. This avoids the lifting bar from colliding with or pressing against the box before the flipping mechanism flips the box, thus affecting the subsequent transport process. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the handling mechanism and the lifting mechanism of the present invention; Figure 3 This is a schematic diagram of the transport mechanism of the present invention; Figure 4 for Figure 3 Enlarged view of part A; Figure 5 This is a schematic diagram showing the state when the driving sleeve drives the sliding part and the fixed part to move relative to each other. Figure 6This is a schematic diagram of the state when the driving sleeve of the present invention drives the sliding part to move to the end of the fixed part, and the driving sleeve starts to drive the rotating part to rotate. Figure 7 This is a schematic diagram of the state when the drive sleeve drives the rotating part to rotate to be parallel with the sliding part according to the present invention; Figure 8 This is a schematic diagram of the lifting mechanism of the present invention; Figure 9 This is a schematic diagram of the structure of the second driving member and the card holder of the present invention; Reference numerals: 1-base, 2-vertical seat, 3-lifting seat, 4-transfer mechanism, 41-fixed seat, 42-transfer seat, 421-fixed part, 4211-limiting slide groove, 422-sliding part, 4221-limiting slider, 423-rotating part, 4231-protruding ramp, 4232-hinge block, 4233-rotating shaft, 424-elastic component, 43-lifting bar, 44-first driving component, 441-drive cylinder, 442-drive seat, 443-drive Set, 5-flipping mechanism, 51-support base, 52-mounting base, 53-clamping base, 531-first inclined surface, 532-ball joint, 533-spring plate, 54-second driving component, 541-fixed beam, 542-flipping electric cylinder, 543-flipping block, 5431-second inclined surface, 5432-rotating column, 544-telescopic rod, 545-sleeve, 55-lifting component, 551-drive motor, 552-gear, 553-rack, 554-support block. Detailed Implementation
[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0019] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.
[0020] The following is for reference Figures 1-9 As shown in the illustration, and further illustrated with specific embodiments, this embodiment provides a warehouse handling robot, referring to... Figure 1 , Figure 2As shown, the system includes a base 1, a vertical seat 2 mounted on the base 1, a lifting seat 3 slidably mounted on the vertical seat 2 along its height, and a conveying mechanism 4 mounted on the lifting seat 3. The conveying mechanism 4 includes a fixed seat 41 and conveying seats 42 mounted on both sides of the fixed seat 41. Each of the two conveying seats 42 has lifting bars 43 on its adjacent sides for clamping the bottom sides of the goods. The fixed seat 41 has a first driving member 44 for driving the two conveying seats 42 to move closer together. The lifting unit inside the vertical seat 2 drives the lifting seat 3 to slide vertically to a specified height to accommodate the stacking height of the goods. Then, the first driving member 44 moves the two conveying seats 42 closer together, causing the lifting bars 43 to move to the bottom of the box containing the goods for subsequent lifting.
[0021] Reference Figure 2 As shown, a flipping mechanism 5 is provided on the fixed base 41 and above the transport base 42. The flipping mechanism 5 includes a support base 51, a mounting base 52 is slidably provided on the top of the support base 51, a snap-fit seat 53 is hinged to the bottom of the mounting base 52 away from the support base 51, and a second driving member 54 is provided in the middle of the mounting base 52 for lifting the bottom end of the snap-fit seat 53 upward. Before the lifting bar 43 is moved by the first driving member 44, the locking seat 53 is first locked onto the top of the box containing the goods. Then, the bottom end of the locking seat 53 is pushed upward by the second driving member 54. Since the other end of the locking seat 53 can hold the box containing the goods more tightly when one end of the locking seat 53 is subjected to force, it will not detach from the box when one end of the locking seat 53 is subjected to upward lifting force. Instead, it will cause the box to flip over at a certain angle, so that the bottom side of the box is tilted. At this time, the lifting bar 43 can be easily moved to the bottom of the box by the first driving member 44, avoiding the rigid collision between the lifting bar 43 and the box caused by the first driving member 44, which would damage the box.
[0022] Reference Figure 3 , Figure 4 As shown, the transport seat 42 includes a fixed part 421, a sliding part 422, and a rotating part 423. The fixed part 421 is fixedly mounted on the fixed seat 41. The sliding part 422 is slidably disposed on the fixed part 421 along its length. A limit slider 4221 is provided on the sliding part 422, and a limit groove 4211 is formed on the fixed part 421. When the limit slider 4221 slides to the end of the limit groove 4211, it can restrict the relative sliding between the sliding part 422 and the fixed part 421. The rotating part 423 is rotatably connected to the end of the sliding part 422 away from the fixed part 421. An elastic member 424 is provided between the rotating part 423 and the sliding part 422 to keep the rotating part 423 in an inclined state.
[0023] In this embodiment, the elastic component 424 is a torsion spring. Specifically, the rotating part 423 has a hinge block 4232, and the sliding part 422 has a hinge groove for the hinge block 4232 to rotate. Both the upper and lower sides of the hinge block 4232 are rotatably connected to the sliding part 422 via a rotating shaft 4233. The torsion spring is sleeved on the rotating shaft 4233, with one end fixedly connected to the hinge block 4232 and the other end fixedly connected to the sliding part 422. Initially, the torsion spring causes the rotating part 423 to be in an inclined state. Only when an external force exceeds the spring force will the rotating part 423 rotate under the influence of the external force.
[0024] Reference Figure 5 , Figure 6 and Figure 7 As shown, when the first driving member 44 drives the transport seat 42 to move, it initially causes the sliding part 422 and the rotating part 423 to slide relative to the fixed part 421. When the limiting slider 4221 slides to the end of the limiting groove 4211, the sliding part 422 no longer slides relative to the fixed part 421. Only when the first driving member 44 continues to drive the transport seat 42 to move will the rotating part 423 and the sliding part 422 rotate relative to each other. Therefore, in the initial state, the lifting bar 43 is located on both sides of the outside of the box and does not contact the box (see reference). Figure 5 When the flipping mechanism 5 causes the box to flip at a certain angle, the first driving member 44 drives the sliding part 422 and the rotating part 423 to move forward a certain distance as a whole. Only after the lifting bar 43 moves forward a certain distance will it be partially located under the box (see reference). Figure 6 Then, the first driving member 44 continues to drive the rotating part 423 to rotate, causing the lifting bar 43 to rotate until it is parallel to the sliding part 422. At this time, the two lifting bars 43 are located on both sides of the bottom of the box (see reference). Figure 7 This allows the box to be lifted upwards for easier handling later.
[0025] Reference Figure 3 , Figure 4 As shown, the first driving component 44 includes a driving electric cylinder 441. The piston rod of the driving electric cylinder 441 is provided with a driving seat 442. Both ends of the driving seat 442 are provided with driving sleeves 443. The driving sleeves 443 are slidably sleeved on the sliding part 422. A raised ramp 4231 is provided on one side of the rotating part 423. When the driving electric cylinder 441 drives the driving seat 442 to move, the driving sleeves 443 can first drive the sliding part 422 to move away from the fixed part 421, and then drive the rotating part 423 to rotate from the inclined state to the state parallel to the sliding part 422. This causes the lifting bar 43 to first move as a whole towards the box, and then rotate to reach the bottom sides of the box.
[0026] Reference Figure 2 , Figure 8 As shown, the support base 51 is welded to the top of the fixed base 41, and the mounting base 52 is slidably disposed within the support base 51. The support base 51 is provided with a lifting component 55 for driving the mounting base 52 to rise or fall. A snap-fit base 53 is rotatably disposed at the bottom of the mounting base 52 via a ball joint 532. A spring plate 533 is disposed between the snap-fit base 53 and the mounting base 52 to hold the snap-fit base 53 in a horizontal state. The lifting component 55 includes a drive motor 551, a gear 552, and a rack 553. The rack 553 is fixedly disposed vertically on the mounting base 52. The gear 552 is rotatably disposed on one side of the support base 51 via a support block 554 and meshes with the rack 553. The drive motor 551 is fixedly disposed on the support block 554, and the output shaft of the drive motor 551 is fixedly connected to the gear 552.
[0027] In the initial state, the locking seat 53 is kept horizontal under the action of the spring plate 533, and the locking seat 53 is located directly above the box containing the goods. The drive motor 551 drives the gear 552 to rotate, and the rack 553 meshing with the gear 552 can drive the mounting seat 52 to move downward and drive the locking seat 53 to lock onto the top of the box containing the goods. Then, the second drive member 54 drives one end of the locking seat 53 to flip upward, which can drive the box containing the goods to flip at a specified angle so that the bottom of the box can leave space for the transport seat 42 and the lifting bar 43 to enter.
[0028] Reference Figure 8 , Figure 9 As shown, the second driving component 54 includes a fixed beam 541. A tilting electric cylinder 542 is hinged to the bottom of the fixed beam 541. A tilting block 543 is hinged to the piston rod of the tilting electric cylinder 542. A telescopic rod 544 is also connected between the fixed beam 541 and the tilting block 543. One end of the telescopic rod 544 is hinged to the end of the fixed beam 541 away from the cylinder of the tilting electric cylinder, and the other end is hinged to the side of the tilting block 543 away from the piston rod of the tilting electric cylinder 542. When the tilting electric cylinder 542 is activated, the tilting block 543 moves upward. The telescopic rod 544 extends and retracts as the tilting block 543 moves to adapt to the change in the position of the tilting block 543, providing support and stability for the tilting block 543. During the movement of the tilting block 543, it can drive the locking seat 53 to flip, thereby causing the box containing the goods to flip synchronously.
[0029] Reference Figure 9As shown, sleeves 545 are fixedly installed on the piston rod of the tilting electric cylinder 542 and the telescopic rod 544. Rotating columns 5432 are provided on both sides of the tilting block 543, and the rotating columns 5432 on both sides are rotatably connected to the two sleeves 545 respectively. The bottom of the locking seat 53 is provided with a first inclined surface 531, and the tilting block 543 is provided with a second inclined surface 5431. When the tilting electric cylinder 542 drives the tilting block 543 to move upward, the second inclined surface 5431 and the first inclined surface 531 come into contact and merge, which can drive one end of the locking seat 53 to tilt upward.
[0030] It should be noted that the rotating column 5432 is located at the center of the length of the flipping block 543, and the center of gravity of the flipping block 543 is located below the rotating column 5432. When no external force is applied, because the center of gravity of the flipping block 543 is below the rotating column 5432, the flipping block 543 will remain in a state where the second inclined surface 5431 faces the first inclined surface 531. When the flipping block 543 moves upward, the second inclined surface 5431 can come into contact with and press against the first inclined surface 531. Further driving the flipping block 543 to move will cause one end of the locking seat 53 to tilt upward, thus achieving the flipping process of the box containing the goods.
[0031] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the technical scope disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A warehouse carrying robot, comprising a base (1), a vertical seat (2) is arranged on the base (1), a lifting seat (3) is arranged on the vertical seat (2) in the direction of its own height, and a carrying mechanism (4) is arranged on the lifting seat (3), characterized in that, The conveying mechanism (4) includes a fixed seat (41) and conveying seats (42) arranged on both sides of the fixed seat (41). The two conveying seats (42) are provided with lifting strips (43) for clamping the bottom sides of the goods on the side that are close to each other. The fixed base (41) is provided with a first driving member (44) for driving the two transport seats (42) to move in a direction closer to each other, and a flipping mechanism (5) is provided on the fixed base (41) and above the transport seats (42). The flipping mechanism (5) includes a support base (51), a mounting base (52) is slidably provided on the top of the support base (51), a snap-fit seat (53) is hinged to the bottom of the mounting base (52) away from the support base (51), and a second driving member (54) is provided in the middle of the mounting base (52) for lifting the bottom end of the snap-fit seat (53) upward. The transport seat (42) includes a fixed part (421), a sliding part (422), and a rotating part (423). The fixed part (421) is fixedly disposed on the fixed seat (41). The sliding part (422) is slidably disposed on the fixed part (421) along the length direction of the fixed part (421). The rotating part (423) is rotatably disposed at one end of the sliding part (422) away from the fixed part (421). An elastic member (424) is provided between the rotating part (423) and the sliding part (422) to keep the rotating part (423) in an inclined state.
2. The warehouse handling robot according to claim 1, characterized in that, The first driving component (44) includes a driving electric cylinder (441). A driving seat (442) is provided on the piston rod of the driving electric cylinder (441). Both ends of the driving seat (442) are provided with driving sleeves (443). The driving sleeves (443) are slidably sleeved on the sliding part (422). A raised ramp (4231) is provided on one side of the rotating part (423). When the driving electric cylinder (441) drives the driving seat (442) to move, the driving sleeves (443) can first drive the sliding part (422) to move away from the fixed part (421), and then drive the rotating part (423) to rotate from the inclined state to the state parallel to the sliding part (422).
3. The warehouse handling robot according to claim 2, characterized in that, The sliding part (422) is provided with a limiting slider (4221), and the fixed part (421) is provided with a limiting groove (4211). When the limiting slider (4221) slides to the end of the limiting groove (4211), it can restrict the relative sliding between the sliding part (422) and the fixed part (421).
4. The warehouse handling robot according to claim 1, characterized in that, The rotating part (423) is provided with a hinge block (4232), and the sliding part (422) is provided with a hinge groove for the hinge block (4232) to rotate. The upper and lower sides of the hinge block (4232) are rotatably connected to the sliding part (422) through a rotating shaft (4233). The elastic component (424) is a torsion spring sleeved on the rotating shaft (4233). One end of the torsion spring is fixedly connected to the hinge block (4232), and the other end is fixedly connected to the sliding part (422).
5. The warehouse handling robot according to claim 1, characterized in that, The second driving component (54) includes a fixed beam (541), a tilting electric cylinder (542) is hinged to the bottom of the fixed beam (541), a tilting block (543) is hinged to the piston rod of the tilting electric cylinder (542), a first inclined surface (531) is provided at the bottom of the locking seat (53), and a second inclined surface (5431) is provided on the tilting block (543). When the tilting electric cylinder (542) drives the tilting block (543) to move upward, the second inclined surface (5431) and the first inclined surface (531) come into contact and combine, which can drive one end of the locking seat (53) to tilt upward.
6. The warehouse handling robot according to claim 5, characterized in that, A telescopic rod (544) is also connected between the fixed beam (541) and the flipping block (543). One end of the telescopic rod (544) is hinged to the end of the fixed beam (541) away from the cylinder of the flipping cylinder, and the other end is hinged to the side of the flipping block (543) away from the piston rod of the flipping electric cylinder (542).
7. The warehouse handling robot according to claim 6, characterized in that, Sleeves (545) are fixedly installed on the piston rod of the lifting electric cylinder (542) and the telescopic rod (544). Rotating columns (5432) are provided on both sides of the lifting block (543), and the rotating columns (5432) on both sides are rotatably connected in the two sleeves (545).
8. The warehouse handling robot according to claim 7, characterized in that, The rotating column (5432) is located at the center of the length of the flipping block (543), and the center of gravity of the flipping block (543) is located below the rotating column (5432).
9. The warehouse handling robot according to claim 1, characterized in that, The mounting base (52) is slidably disposed within the support base (51), and the support base (51) is provided with a lifting member (55) for driving the mounting base (52) to rise or fall; the snap-fit seat (53) is rotatably disposed at the bottom of the mounting base (52) via a ball joint (532), and a spring plate (533) is provided between the snap-fit seat (53) and the mounting base (52) for holding the snap-fit seat (53) in a horizontal state.
10. The warehouse handling robot according to claim 9, characterized in that, The lifting component (55) includes a drive motor (551), a gear (552) and a rack (553). The rack (553) is fixedly mounted on the mounting base (52) in the vertical direction. The gear (552) is rotatably mounted on one side of the support base (51) via a support block (554) and meshes with the rack (553). The drive motor (551) is fixedly mounted on the support block (554) and the output shaft of the drive motor (551) is fixedly connected to the gear (552).