Three-dimensional storage robot

Abstract

The utility model relates to a three-dimensional storage robot. The three-dimensional storage robot comprises a jacking connecting rod, a jacking fork and a weighing module, and the jacking connecting rod can ascend and descend. The jacking fork is arranged at the upper end of the jacking connecting rod, a preset gap is formed between the jacking fork and the jacking connecting rod, and the jacking connecting rod is used for driving the jacking fork to ascend and descend. The weighing module is arranged in the preset gap, the two sides of the weighing module abut against the jacking pallet fork and the jacking connecting rod correspondingly, and the jacking pallet fork extrudes and applies force to the weighing module after bearing goods so that the weighing module can weigh the goods. According to the three-dimensional storage robot, the weighing module is arranged in the preset gap between the jacking fork and the jacking connecting rod, the overall height of the three-dimensional storage robot cannot be increased due to the fact that the weighing module is additionally arranged, and an existing three-dimensional storage robot can be directly transformed. Due to the fact that the overall height of the three-dimensional storage robot is not changed, an existing goods shelf does not need to be adjusted, and the effective storage space proportion of the goods shelf can be guaranteed.

Description

Technical Field

[0001] The present application relates to the field of warehousing and logistics technology, and in particular to a three-dimensional warehousing robot. Background Art

[0002] With the development of artificial intelligence technology, intelligent warehousing has emerged. Intelligent warehousing is a link in the logistics process. Intelligent warehousing uses intelligent equipment to replace most manual operations, ensuring the speed and accuracy of data input in each link of cargo warehouse management, ensuring that enterprises can grasp the real data of inventory in a timely and accurate manner, and reasonably maintain and control enterprise inventory.

[0003] In a three-dimensional warehouse, a three-dimensional storage robot is generally set up to transport, store and retrieve goods located on three-dimensional shelves. In the process of transporting and storing goods, it is necessary to accurately perceive the goods information. In particular, weighing and obtaining the weight information of the goods will help the above process and facilitate warehouse management.

[0004] However, the relevant weighing device is directly set on the support plate of the three-dimensional storage robot, which increases the overall height of the three-dimensional storage robot. This requires corresponding adjustments to the shelves so that the three-dimensional storage robot can pass through the bottom of the shelf pallet. Doing so will reduce the effective storage space ratio of the shelf. Summary of the invention

[0005] Based on this, it is necessary to provide a three-dimensional storage robot that can realize the installation of a weighing module without increasing the overall height of the three-dimensional storage robot.

[0006] A three-dimensional storage robot, comprising:

[0007] A lifting connecting rod, the lifting connecting rod being able to be raised and lowered;

[0008] A lifting fork is arranged at the upper end of the lifting connecting rod, and a preset gap is arranged between the lifting fork and the lifting connecting rod, and the lifting connecting rod is used to drive the lifting fork to rise and fall;

[0009] The weighing module is arranged in the preset gap, and the two sides of the weighing module are respectively in contact with the lifting fork and the lifting connecting rod. After the lifting fork carries the goods, it squeezes and applies force to the weighing module so that the weighing module weighs the goods.

[0010] In one of the embodiments, a guide column is provided on a side of the lifting fork facing the lifting connecting rod, and the guide column is plugged into the lifting connecting rod and / or the weighing module.

[0011] In one embodiment, the weighing module comprises:

[0012] A weighing sensor is connected to one of the lifting connecting rod and the lifting fork, and a bearing platform is arranged on the other of the lifting connecting rod and the lifting fork, and the bearing platform abuts against the weighing sensor.

[0013] In one of the embodiments, the weighing sensor is connected to the lifting rod or the lifting fork through a first fastener, and a deformation space is provided on a side of the weighing sensor away from the supporting platform.

[0014] In one of the embodiments, one end of the weighing sensor is connected to the side of the lifting fork facing the lifting connecting rod, the other end of the weighing sensor is abutted against the supporting platform, and the lifting fork is provided with an avoidance groove at a position facing the other end of the weighing sensor, and the avoidance groove defines the deformation space so that the other end of the weighing sensor can be deformed into the avoidance groove.

[0015] In one embodiment, the weighing module further comprises:

[0016] A connecting block is provided between the other of the lifting connecting rod and the lifting fork and the weighing sensor, and the bearing platform is provided on the connecting block.

[0017] In one embodiment, the connecting block is slidably disposed on the guide column.

[0018] In one embodiment, the connecting block is connected to the lifting link or the lifting fork via a second fastener.

[0019] In one embodiment, there are two lifting rods, which are arranged horizontally and in parallel, the lifting fork is arranged perpendicular to the lifting rod, and both ends of the lifting fork are supported by the two lifting rods, and the weighing module is arranged between the lifting fork and each lifting rod.

[0020] In one embodiment, two lifting forks are provided, and the two lifting forks are respectively provided at two ends of the lifting connecting rod, and the two lifting forks and the two lifting connecting rods form a square structure.

[0021] The above-mentioned three-dimensional storage robot, by setting the weighing module in the preset gap between the lifting fork and the lifting connecting rod, makes full use of the original structural space of the three-dimensional storage robot, does not increase the overall height of the three-dimensional storage robot due to the addition of the weighing module, and can directly transform the existing three-dimensional storage robot without purchasing a new storage robot. Since the overall height of the three-dimensional storage robot remains unchanged, there is no need to adjust the existing shelves, and the three-dimensional storage robot can be ensured to pass through the bottom of the shelf pallet, thereby ensuring the effective storage space ratio of the shelf. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] FIG1 is a schematic diagram of the structure of a three-dimensional storage robot provided in Example 1 of the present application.

[0023] FIG. 2 is a schematic diagram of the disassembled structure of the lifting fork and the weighing module provided in Example 1 of the present application.

[0024] FIG3 is a schematic structural diagram of the lifting fork provided in Example 1 of the present application.

[0025] FIG. 4 is a schematic diagram of the structure of a weighing sensor provided in Example 1 of the present application.

[0026] FIG5 is a schematic diagram of the partial structure of the three-dimensional storage robot provided in Example 2 of the present application.

[0027] FIG. 6 is a schematic diagram of the disassembled structure of the lifting fork and the weighing module provided in the second embodiment of the present application.

[0028] FIG. 7 is a schematic diagram of the partial structure of the lifting fork provided in the second embodiment of the present application.

[0029] Description of reference numerals:

[0030] 1. Lifting connecting rod;

[0031] 2. Lifting fork; 21. Guide column; 22. Second bearing platform; 221. Connecting part; 222. Pressing part; 23. Avoidance groove;

[0032] 3. Weighing module; 31. Weighing sensor; 311. U-shaped groove; 312. Strain gauge; 313. Pressure-bearing hole; 32. Connecting block; 321. First bearing platform;

[0033] 4. Base; 5. Driving assembly; 6. Lifting assembly. DETAILED DESCRIPTION

[0034] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0035] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0036] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0037] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0038] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0039] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0040] Embodiment 1:

[0041] Refer to FIG. 1, which shows a schematic diagram of the structure of the three-dimensional storage robot in the first embodiment of the present application. The three-dimensional storage robot provided in the first embodiment of the present application includes a base 4, a lifting connecting rod 1 and a lifting fork 2. A driving assembly 5 and a lifting assembly 6 are arranged on the base 4. The driving assembly 5 is connected to the lifting assembly 6 by transmission. The lifting connecting rod 1 is connected to the lifting assembly 6 by transmission. The lifting fork 2 is arranged at the upper end of the lifting connecting rod 1. The lifting fork 2 is preferably detachably connected to the lifting connecting rod 1 to facilitate the removal of the lifting fork 2 from the lifting connecting rod 1. For example, it can be connected in a plug-in manner. The driving assembly 5 can drive the lifting assembly 6 to move, thereby driving the lifting connecting rod 1 to rise and fall, and then driving the lifting fork 2 to rise and fall, so as to achieve the purpose of lifting the cargo pallet on the lifting fork 2 and switching the driving track. The driving assembly 5 and the lifting assembly 6 can adopt the mode of cooperation between a motor and a plurality of connecting rods, or adopt other conventional structural forms in the prior art, which can drive the lifting connecting rod 1 to rise and fall. The present application mainly provides a weighing solution for the cargo on the lifting fork 2, and the structures of the driving assembly 5 and the lifting assembly 6 are not described in detail.

[0042] Further, as shown in FIG1 , the lifting fork 2 is arranged at the upper end of the lifting connecting rod 1, and a preset gap is arranged between the lifting fork 2 and the lifting connecting rod 1, and the lifting connecting rod 1 is used to drive the lifting fork 2 to rise and fall. The weighing module 3 is arranged in the preset gap, and the two sides of the weighing module 3 are respectively in contact with the lifting fork 2 and the lifting connecting rod 1. After the lifting fork 2 carries the goods, it squeezes and applies force to the weighing module 3, so that the weighing module 3 weighs the goods.

[0043] The three-dimensional storage robot proposed in this embodiment makes full use of the original structural space of the three-dimensional storage robot by setting the weighing module 3 in the preset gap between the lifting fork 2 and the lifting connecting rod 1. The overall height of the three-dimensional storage robot will not be increased due to the addition of the weighing module 3, and the existing three-dimensional storage robot can be directly modified without the need to purchase a new storage robot. Since the overall height of the three-dimensional storage robot remains unchanged, there is no need to adjust the existing shelves, and the three-dimensional storage robot can be ensured to pass through the bottom of the shelf pallet, thereby ensuring the effective storage space ratio of the shelf.

[0044] In this embodiment, as shown in FIG1 , two lifting links 1 are provided, the two lifting links 1 are arranged horizontally and in parallel, the lifting fork 2 is arranged perpendicular to the lifting links 1, and both ends of the lifting fork 2 are supported by the two lifting links 1, and a weighing module 3 is arranged between the lifting fork 2 and each lifting link 1. By arranging the weighing modules 3 at both ends of the lifting fork 2, the cargo on the lifting fork 2 can be weighed more accurately.

[0045] Specifically, two lifting forks 2 are provided, and the two lifting forks 2 are respectively provided at both ends of the lifting connecting rod 1, and the two lifting forks 2 and the two lifting connecting rods 1 form a square structure. Weighing modules 3 are provided at the four corners of the square structure at the connection between the lifting forks 2 and the lifting connecting rod 1, thereby further improving the weighing accuracy.

[0046] The lifting fork 2 is movably connected to the lifting connecting rod 1. In order to limit the installation position of the lifting fork 2 on the lifting connecting rod 1, as shown in FIG2 , a guide column 21 is provided on the side of the lifting fork 2 facing the lifting connecting rod 1, and the guide column 21 is plugged into the lifting connecting rod 1 and / or the weighing module 3. When the lifting fork 2 is installed, the guide column 21 is aligned with the through hole on the weighing module 3 and / or the lifting connecting rod 1 to limit the installation position of the lifting fork 2. At the same time, the guide column 21 plays a certain connecting role to ensure that the lifting fork 2 is installed firmly, so that the goods can be stably carried.

[0047] Optionally, two or more guide posts 21 are provided, and the two or more guide posts 21 are arranged at intervals to provide better limiting and connecting effects.

[0048] In some embodiments, as shown in FIG. 2 , the weighing module 3 includes a weighing sensor 31, which is connected to one of the lifting link 1 and the lifting fork 2, and a bearing platform is provided on the other of the lifting link 1 and the lifting fork 2, and the bearing platform abuts against the weighing sensor 31. In this embodiment, the weighing sensor 31 is provided on the bottom side of the lifting fork 2.

[0049] Since the preset gap between the lifting link 1 and the lifting fork 2 is relatively large, the weighing sensor 31 cannot directly rest on the lifting link 1. Therefore, the weighing module 3 further includes a connecting block 32, and a connecting block 32 is provided between the other of the lifting link 1 and the lifting fork 2 and the weighing sensor 31. In this embodiment, the connecting block 32 is provided between the lifting link 1 and the weighing sensor 31, and a first bearing platform 321 is provided on the connecting block 32. By providing the connecting block 32 and providing the first bearing platform 321 on the connecting block 32, the weighing sensor 31 is supported.

[0050] It is understandable that when the preset gap between the lifting link 1 and the lifting fork 2 is relatively small, the connecting block 32 can be omitted, and a direct bearing platform is provided on the lifting link 1 to press against the weighing sensor 31 .

[0051] Optionally, the connecting block 32 is slidably disposed on the guide column 21, and the connecting block 32 is positioned by the guide column 21. When the lifting fork 2 is installed, the guide column 21 is first passed through the connecting block 32 and then inserted into the lifting connecting rod 1. In other embodiments, the connecting block 32 can also be connected and fixed to the lifting connecting rod 1 by a second fastener, and the horizontal movement of the connecting block 32 can be limited. The specific fixing method is not limited here.

[0052] Optionally, the weighing sensor 31 is connected to the lifting fork 2 through a first fastener, and a deformation space is provided on the side of the weighing sensor 31 away from the load platform. When the lifting fork 2 carries goods, the weighing sensor 31 will be deformed by force to achieve weighing of the goods. The first fastener can be a screw, and four screws are provided to fix the weighing sensor 31 more firmly.

[0053] Optionally, as shown in FIG. 2 and FIG. 3 , one end of the weighing sensor 31 is connected to the side of the lifting fork 2 facing the lifting connecting rod 1, and the other end of the weighing sensor 31 is in contact with the first bearing platform 321. The lifting fork 2 is provided with an avoidance groove 23 at the position facing the other end of the weighing sensor 31, and the avoidance groove 23 defines a deformation space so that the other end of the weighing sensor 31 can be deformed into the avoidance groove 23. By providing the avoidance groove 23, a deformation space is provided for the weighing sensor 31, and there is no need to reserve additional space between the lifting fork 2 and the weighing sensor 31, which is conducive to reducing the installation height of the lifting fork 2 on the lifting connecting rod 1.

[0054] As shown in Fig. 4, a U-shaped groove 311 is provided at one end of the weighing sensor 31 facing the avoidance groove 23, and a strain gauge 312 is attached around the U-shaped groove 311. The U-shaped groove 311 makes it easier for the weighing sensor 31 to deform, and the strain gauge 312 is attached around the U-shaped groove 311, making it easier to detect the strain amount.

[0055] Embodiment 2:

[0056] As shown in FIG. 5 to FIG. 7 , this embodiment provides a three-dimensional storage robot, which is basically the same as the first embodiment, except that:

[0057] The weighing sensor 31 is connected to the lifting link 1 through a plurality of first fasteners. Two second bearing platforms 22 are arranged on the lifting fork 2 . The second bearing platforms 22 are pressed against the upper side of the weighing sensor 31 .

[0058] Optionally, the second bearing platform 22 is set to a stepped type, including a plug-in portion 221 and a pressing portion 222, and the diameter of the pressing portion 222 is larger than the diameter of the plug-in portion 221. A pressure hole 313 is provided on the weighing sensor 31, and the outer diameter of the pressing portion 222 is larger than the inner diameter of the pressure hole 313. The plug-in portion 221 of the second bearing platform 22 is inserted into the pressure hole 313, and the pressing portion 222 presses against the upper surface of the weighing sensor 31. The second bearing platform 22 presses against the weighing sensor 31, and at the same time, the second bearing platform 22 also plays the role of limiting and connecting the lifting fork 2, so that the lifting fork 2 is more stable when lifting goods.

[0059] If the preset gap between the lifting link 1 and the lifting fork 2 is relatively large, the weighing module 3 further includes a connecting block 32 (not shown in the figure), which is connected to the bottom side of the lifting link 1 through a second fastener. In this case, the bearing platform needs to be arranged on the bottom side of the connecting block 32.

[0060] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A three-dimensional storage robot, characterized in that: include: A lifting connecting rod (1), wherein the lifting connecting rod (1) is capable of being raised and lowered; A lifting fork (2) is arranged at the upper end of the lifting connecting rod (1), and a preset gap is provided between the lifting fork (2) and the lifting connecting rod (1), and the lifting connecting rod (1) is used to drive the lifting fork (2) to rise and fall; A weighing module (3) is arranged in the preset gap, and two sides of the weighing module (3) are respectively in contact with the lifting fork (2) and the lifting connecting rod (1), and after the lifting fork (2) carries the goods, it squeezes and applies force to the weighing module (3), so that the weighing module (3) weighs the goods.

2. The three-dimensional storage robot according to claim 1, characterized in that: A guide column (21) is provided on one side of the lifting fork (2) facing the lifting connecting rod (1), and the guide column (21) is plugged into the lifting connecting rod (1) and / or the weighing module (3).

3. The three-dimensional storage robot according to claim 2, characterized in that: The weighing module (3) comprises: A weighing sensor (31) is connected to one of the lifting connecting rod (1) and the lifting fork (2), and a bearing platform is provided on the other of the lifting connecting rod (1) and the lifting fork (2), and the bearing platform abuts against the weighing sensor (31).

4. The three-dimensional storage robot according to claim 3, characterized in that: The weighing sensor (31) is connected to the lifting connecting rod (1) or the lifting fork (2) via a first fastener, and a deformation space is provided on a side of the weighing sensor (31) facing away from the bearing platform.

5. The three-dimensional storage robot according to claim 4, characterized in that: One end of the weighing sensor (31) is connected to a side of the lifting fork (2) facing the lifting connecting rod (1), and the other end of the weighing sensor (31) is in contact with the bearing platform. The lifting fork (2) is provided with an avoidance groove (23) at a position facing the other end of the weighing sensor (31), and the avoidance groove (23) defines the deformation space so that the other end of the weighing sensor (31) can be deformed into the avoidance groove (23).

6. The three-dimensional storage robot according to claim 3, characterized in that: The weighing module (3) further comprises: A connecting block (32) is provided between the other of the lifting connecting rod (1) and the lifting fork (2) and the weighing sensor (31), and the bearing platform is provided on the connecting block (32).

7. The three-dimensional storage robot according to claim 6, characterized in that: The connecting block (32) is slidably disposed on the guide column (21).

8. The three-dimensional storage robot according to claim 7, characterized in that: The connecting block (32) is connected to the lifting connecting rod (1) or the lifting fork (2) via a second fastener.

9. The three-dimensional storage robot according to any one of claims 1 to 8, characterized in that: Two lifting links (1) are provided, and the two lifting links (1) are arranged horizontally and in parallel. The lifting fork (2) is arranged perpendicular to the lifting links (1), and both ends of the lifting fork (2) are supported by the two lifting links (1). The weighing module (3) is arranged between the lifting fork (2) and each lifting link (1).

10. The three-dimensional storage robot according to claim 9, characterized in that: Two lifting forks (2) are provided, and the two lifting forks (2) are respectively provided at two ends of the lifting connecting rod (1), and the two lifting forks (2) and the two lifting connecting rods (1) form a square structure.

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