Storage robot

Abstract

The utility model provides a storage robot, and belongs to the technical field of storage equipment. Comprising a robot body and a tray and further comprises a lifting mechanism, the lifting mechanism comprises an electric push rod and two side rods which are rotationally connected into the robot body, a circular shaft is fixed between the two side rods, a circular sleeve is fixed to the telescopic end of the electric push rod, and the circular sleeve is movably connected to the surface of the circular shaft in a sleeving mode; and the surface of the rotating shaft fixed between the two side rods is movably sleeved with a roller. Through the arrangement of the lifting mechanism, the push rod of the electric push rod is shortened, the side rod drives the rolling wheel to rotate upwards, the rolling wheel extrudes the bottom of the lifting plate to enable the lifting plate to drive the tray to move upwards, the tray can ascend and descend, and the electric push rod drives the rolling wheel to rotate downwards when the tray ascends and descends, so that the tray can descend. The friction force in the lifting process is reduced through the rolling wheels, abrasion in the lifting process can be reduced, and therefore the service life of the lifting mechanism is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of storage equipment, in particular to a storage robot. Background Art

[0002] Warehouse robots refer to automated robot systems used in warehouses and logistics to carry out tasks such as cargo handling, storage, picking and packaging. Warehouse robots mainly include automated guided vehicles, intelligent forklifts, shelf robots, picking robots and conveying robots. The automated guided vehicles are used to carry cargo. The automated guided vehicles move to the bottom of the cargo, and then the pallet of the automated guided vehicle rises to hold the cargo, and then the cargo is moved to separate it from the bracket. After moving to the storage location, the pallet drops to place the cargo at the storage location.

[0003] After searching, the patent with publication number CN212101869U discloses a pallet lifting device for a storage robot, including a robot, a carriage on the robot, a support frame installed inside the robot, a rotating rod connected to the support frame, a section of external thread on one side of the rotating rod, an adjustment cylinder sleeved on the rotating rod, an internal thread corresponding to the external thread of the rotating rod in the adjustment cylinder, a lifting cylinder fixedly connected to the adjustment cylinder, the lifting cylinder connected to the lifting plate, a clearance hole on the carriage, and the lifting plate and the clearance hole are set correspondingly; a motor is connected to the motor through a fixed frame on one side of the support frame, and the motor drives the rotating rod through a transmission device. When in use, the trolley is inserted under the storage shelf, and the shelf is lifted off the ground by this device, and then the shelf is adjusted to a suitable position by rotating the lifting plate for easy transfer.

[0004] The above patent adopts a threaded design at the connection between the adjusting cylinder and the rotating rod, and utilizes the threaded lifting method to realize the lifting and lowering of the lifting plate, thereby realizing the lifting or lowering of the goods. However, when the threaded lifting method is used for lifting, the friction between the threads of the adjusting cylinder and the rotating rod at the connection between the adjusting cylinder and the rotating rod is relatively large, which easily causes greater wear at the threads, and the service life needs to be improved. Therefore, this application provides a warehouse robot to meet the needs. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a storage robot to solve the problem that at the connection between the adjusting cylinder and the rotating rod, the friction between the threads of the two is large, which is easy to cause large wear at the threads and the service life needs to be improved.

[0006] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0007] A storage robot, comprising a robot body and a pallet, and further comprising:

[0008] The lifting mechanism includes an electric push rod and a side rod rotatably connected to the robot body, there are two side rods, a round shaft is fixed between the two side rods, a round sleeve is fixed to the telescopic end of the electric push rod, the round sleeve is movably sleeved on the surface of the round shaft, a roller is movably sleeved on the surface of the rotating shaft fixed between the two side rods, a lifting plate is movably connected inside the robot body, the roller is movably connected to the bottom of the lifting plate, a hollow guide column is fixed to the top of the lifting plate, the top of the hollow guide column passes through the robot body and is fixedly connected to the bottom of the tray.

[0009] Preferably, a connecting seat is fixed at the bottom of the inner wall of the robot body, and a connecting block fixed on the side of the electric push rod is rotatably connected to the inside of the connecting seat.

[0010] Preferably, a retaining ring is fixedly sleeved on the surface of the circular shaft, and the side surface of the retaining ring is movably connected to the end of the circular sleeve.

[0011] Preferably, a fixing block is fixed to the bottom of the inner wall of the robot body, a fixing shaft is fixed to the side of the side rod, and the fixing shaft is rotatably connected to the inner wall of the through groove opened on the side of the fixing block.

[0012] Preferably, the fixed axis is located at one third of the length of the side rod, and the distance between the fixed axis and the roller is twice the distance between the fixed axis and the circular axis.

[0013] Preferably, a reinforcing rib is fixed at the connection position between the fixing block and the robot body, so as to improve the connection strength between the fixing block and the robot body.

[0014] Preferably, the central axis of the circular shaft is perpendicular to the central axis of the side rod.

[0015] Preferably, the number of the hollow guide pillars is four, and the hollow guide pillars are in a regular hexagon.

[0016] Preferably, a guide sleeve is fixed to the top of the inner wall of the robot body, and the inner wall of the guide sleeve is slidably connected to the surface of the hollow guide column.

[0017] Preferably, an adsorption assembly is provided in the robot body, and the adsorption assembly includes a vacuum pump fixed in the robot body, and a suction cup is fixed in the notch opened on the top of the tray, and the suction cup is connected to the suction port of the vacuum pump through a hollow guide column and a pipeline.

[0018] Compared with the prior art, the utility model has at least the following beneficial effects:

[0019] In the above scheme, through the setting of the lifting mechanism, the push rod of the electric push rod is shortened and drives the roller to rotate upward through the side rod. The roller squeezes the bottom of the lifting plate so that the lifting plate drives the pallet to move upward, thereby realizing the lifting of the pallet. When descending, the electric push rod drives the roller to rotate downward, and the pallet can be lowered. The friction force during the lifting process is reduced by the roller, and the wear during the lifting process can be reduced, thereby increasing the service life of the lifting mechanism.

[0020] Through the setting of the adsorption component, after the pallet contacts the bottom of the goods, the vacuum pump starts to adsorb and position the goods through the suction cup, so that the robot body can move the goods more stably and prevent the goods from shaking or falling on the pallet. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, further serve to explain the principles of the present disclosure and to enable those skilled in the relevant art to make and use the present disclosure.

[0022] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0023] Figure 2 It is a cross-sectional structural diagram of the hollow guide column of the utility model;

[0024] Figure 3 It is a cross-sectional view of the side rod of the utility model;

[0025] Figure 4 It is a structural schematic diagram of the lifting mechanism of the utility model.

[0026] [reference numerals]

[0027] 1. Robot body; 2. Tray; 3. Lifting mechanism; 31. Electric push rod; 32. Connecting seat; 33. Side rod; 34. Round shaft; 35. Roller; 36. Fixed shaft; 37. Fixed block; 38. Round sleeve; 39. Retaining ring; 4. Hollow guide column; 5. Adsorption assembly; 51. Vacuum pump; 52. Suction cup; 6. Lifting plate; 7. Guide sleeve.

[0028] As shown in the figure, in order to clearly implement the structure of the embodiment of the utility model, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the utility model to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments, and the adjustments or modifications made are still included in the scope of the attached claims. DETAILED DESCRIPTION

[0029] The following is a detailed description of a storage robot provided by the utility model in combination with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternative methods to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the utility model.

[0030] It should be noted that the references to "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0031] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0032] like Figure 1-Figure 4 As shown, an embodiment of the utility model provides a storage robot, including a robot body 1 and a pallet 2, wherein the robot body 1 is an automatic guided vehicle in the storage robot, and further includes:

[0033] The lifting mechanism 3 includes an electric push rod 31 and a side rod 33 rotatably connected in the robot body 1. The electric push rod 31 is powered by a battery in the robot body 1. There are two side rods 33. A round shaft 34 is fixed between the two side rods 33. A round sleeve 38 is fixed to the telescopic end of the electric push rod 31. The round sleeve 38 is movably sleeved on the surface of the round shaft 34. A roller 35 is movably sleeved on the surface of the rotating shaft fixed between the two side rods 33. When the roller 35 rotates, it rotates around the rotating shaft as the axis. A lifting plate 6 is movably connected inside the robot body 1. The roller 35 is movably connected to the bottom of the lifting plate 6. A hollow guide column 4 is fixed to the top of the lifting plate 6. The top of the hollow guide column 4 penetrates the robot body 1 and is fixedly connected to the bottom of the tray 2. The hollow guide column 4 is used for guiding the tray 2 during the lifting process, so that the vertical movement of the tray 2 is more stable. The friction between the rotating shaft and the lifting plate 6 is reduced by the roller 35, thereby reducing the wear on the lifting plate 6, and the service life of the lifting mechanism 3 can be extended.

[0034] like Figure 2 As shown, in this embodiment, a connecting seat 32 is fixed to the bottom of the inner wall of the robot body 1, and a connecting block fixed on the side of the electric push rod 31 is rotatably connected to the inside of the connecting seat 32. The connecting sleeve is movably sleeved on the axis inside the connecting seat 32. When the electric push rod 31 drives the side rod 33 to rotate, the side of the electric push rod 31 corresponding to the connecting seat 32 also rotates. During rotation, the connecting block rotates around the axis inside the connecting seat 32. The rotational connection between the electric push rod 31 and the robot body 1 is realized through the cooperation between the connecting seat 32 and the connecting block.

[0035] like Figure 4 As shown, in this embodiment, a retaining ring 39 is fixedly sleeved on the surface of the circular shaft 34, and the side surface of the retaining ring 39 is movably connected to the end of the circular sleeve 38. The retaining ring 39 fits with the end of the circular sleeve 38 to prevent the circular sleeve 38 from axially moving on the circular shaft 34.

[0036] like Figure 3 and Figure 4 As shown, in this embodiment, a fixed block 37 is fixed to the bottom of the inner wall of the robot body 1, and a fixed shaft 36 is fixed to the side of the side rod 33. The fixed shaft 36 is rotatably connected to the inner wall of the through groove opened on the side of the fixed block 37. When the side rod 33 rotates, the fixed shaft 36 is driven to rotate along the inner wall of the through groove on the fixed block 37. The electric push rod 31 makes the side rod 33 rotate around the fixed shaft 36 as the axis through the cooperation of the round sleeve 38 and the round shaft 34, thereby realizing the lifting and lowering of the tray 2.

[0037] like Figure 4 As shown, in this embodiment, the fixed shaft 36 is located at one-third of the length of the side rod 33, and the distance between the fixed shaft 36 and the roller 35 is twice the distance between the fixed shaft 36 and the circular shaft 34. When the circular shaft 34 rotates a smaller distance, the roller 35 can rotate a larger distance, thereby enlarging the rotation distance of the roller 35, thereby facilitating the lifting and lowering of the tray 2.

[0038] like Figure 3 As shown, in this embodiment, a reinforcing rib is fixed at the connection position between the fixed block 37 and the robot body 1, which is used to improve the connection strength between the fixed block 37 and the robot body 1. The reinforcing rib is used to increase the contact area between the fixed block 37 and the robot body 1, thereby improving the connection strength between the fixed block 37 and the robot body 1 and preventing the fixed block 37 from deforming.

[0039] like Figure 4 As shown, in this embodiment, the central axis of the circular shaft 34 is perpendicular to the central axis of the side rod 33, so that the central axis of the circular shaft 34 and the central axis of the fixed shaft 36 are parallel to each other, thereby ensuring that the circular shaft 34 drives the side rod 33 to rotate smoothly around the fixed shaft 36.

[0040] like Figure 4As shown, in the present embodiment, the number of hollow guide columns 4 is four, and the hollow guide columns 4 are in the shape of a regular hexagon. The four hollow guide columns 4 jointly guide the lifting and lowering of the tray 2, thereby improving the guiding ability of the tray 2. The regular hexagonal shape makes the overall structure of the hollow guide columns 4 stable, and will not bend or deform when subjected to force, thereby ensuring the guiding ability of the tray 2.

[0041] like Figure 2 As shown, in this embodiment, a guide sleeve 7 is fixed to the top of the inner wall of the robot body 1, and the inner wall of the guide sleeve 7 is slidably connected to the surface of the hollow guide column 4. When the hollow guide column 4 moves, it moves along the inner wall of the guide sleeve 7. The guide sleeve 7 improves the guiding ability of the hollow guide column 4, thereby improving the guiding ability of the pallet 2, and further making the lifting and lowering of the pallet 2 more stable and smooth.

[0042] like Figure 2 As shown, in this embodiment, a suction component 5 is provided in the robot body 1, and the suction component 5 includes a vacuum pump 51 fixed in the robot body 1, and a suction cup 52 is fixed in the notch opened on the top of the tray 2, and the suction cup 52 is connected to the suction port of the vacuum pump 51 through the hollow guide column 4 and the pipeline. The vacuum pump 51 is started when the push rod of the electric push rod 31 is shortened, and the vacuum pump 51 stops running after the goods are adsorbed. The suction cup 52 is always in a negative pressure state. When placing the goods, the vacuum pump 51 is restarted to allow air to enter the suction cup 52, so that the suction cup 52 is converted into a positive pressure, thereby releasing the suction and positioning of the goods by the suction cup 52, and the goods are adsorbed and positioned by the suction cup 52. After the goods are adsorbed and positioned by the suction cup 52, the goods are prevented from shaking or falling from the tray 2 during the movement of the robot body 1. When the goods arrive at the storage location, the vacuum pump 51 is restarted to allow air to enter the suction cup 52, thereby releasing the adsorption and positioning of the goods. After the adsorption is released, the tray 2 can be separated from the goods.

[0043] Working principle: the robot body 1 moves to the bottom of the goods, the push rod of the electric push rod 31 shortens and drives the circular sleeve 38 to move, and the circular sleeve 38 drives the side rod 33 to rotate around the fixed axis 36 through the circular shaft 34, thereby driving the roller 35 to rotate upward through the rotating shaft between the two side rods 33. During the upward rotation of the roller 35, the bottom of the lifting plate 6 is squeezed, so that the roller 35 rolls along the bottom of the lifting plate 6 and drives the lifting plate 6 to move upward. The lifting plate 6 drives the pallet 2 to move upward through the hollow guide column 4, so that the pallet 2 fits with the bottom of the goods. After fitting, the pallet 2 continues to move upward to lift the goods. After lifting, the robot body 1 can move to move the goods to the storage location, and then the push rod of the electric push rod 31 extends and drives the circular sleeve 38 to move in the opposite direction. The circular sleeve 38 drives the side rod 33 to rotate in the opposite direction around the fixed axis 36 through the circular shaft 34, and the roller 35 no longer squeezes the bottom of the lifting plate 6. The lifting plate 6 and the pallet 2 descend under their own weight and the weight of the goods, thereby placing the goods in the storage location;

[0044] When the pallet 2 fits against the bottom of the cargo, the vacuum pump 51 is started to generate negative pressure at the suction cup 52, so that the cargo is adsorbed and positioned by the suction cup 52. After the cargo is adsorbed and positioned by the suction cup 52, the cargo is prevented from shaking or falling off the pallet 2 during the movement of the robot body 1. When the cargo arrives at the storage location, the vacuum pump 51 is restarted to allow air to enter the suction cup 52, thereby releasing the adsorption and positioning of the cargo. After the adsorption is released, the pallet 2 and the cargo can be separated.

[0045] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, the specific details are described in detail in the above preferred embodiments of the present invention, and those skilled in the art can fully understand the present invention without the description of these details.

[0046] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A storage robot, comprising a robot body (1) and a pallet (2), characterized in that: Also includes: A lifting mechanism (3) comprises an electric push rod (31) and a side rod (33) rotatably connected in a robot body (1), the number of the side rods (33) is two, a round shaft (34) is fixed between the two side rods (33), a round sleeve (38) is fixed at the telescopic end of the electric push rod (31), the round sleeve (38) is movably sleeved on the surface of the round shaft (34), a roller (35) is movably sleeved on the surface of the rotating shaft fixed between the two side rods (33), a lifting plate (6) is movably connected inside the robot body (1), the roller (35) is movably connected to the bottom of the lifting plate (6), a hollow guide column (4) is fixed to the top of the lifting plate (6), the top of the hollow guide column (4) passes through the robot body (1) and is fixedly connected to the bottom of the tray (2).

2. The storage robot according to claim 1, characterized in that: A connecting seat (32) is fixed at the bottom of the inner wall of the robot body (1), and a connecting block fixed on the side of the electric push rod (31) is rotatably connected to the inside of the connecting seat (32).

3. The storage robot according to claim 1, characterized in that: A retaining ring (39) is fixedly sleeved on the surface of the circular shaft (34), and the side surface of the retaining ring (39) is movably connected to the end of the circular sleeve (38).

4. The storage robot according to claim 1, characterized in that: A fixed block (37) is fixed at the bottom of the inner wall of the robot body (1), a fixed shaft (36) is fixed on the side of the side rod (33), and the fixed shaft (36) is rotatably connected to the inner wall of a through groove opened on the side of the fixed block (37).

5. The storage robot according to claim 4, characterized in that: The fixed shaft (36) is located at one third of the length of the side rod (33), and the distance between the fixed shaft (36) and the roller (35) is twice the distance between the fixed shaft (36) and the circular shaft (34).

6. The storage robot according to claim 4, characterized in that: A reinforcing rib is fixed at the connection position between the fixing block (37) and the robot body (1), so as to improve the connection strength between the fixing block (37) and the robot body (1).

7. The storage robot according to claim 1, characterized in that: The central axis of the circular shaft (34) is perpendicular to the central axis of the side rod (33).

8. The storage robot according to claim 1, characterized in that: The number of the hollow guide columns (4) is four, and the hollow guide columns (4) are in the shape of a regular hexagon.

9. The storage robot according to claim 1, characterized in that: A guide sleeve (7) is fixed to the top of the inner wall of the robot body (1), and the inner wall of the guide sleeve (7) is slidably connected to the surface of the hollow guide column (4).

10. The storage robot according to claim 1, characterized in that: The robot body (1) is provided with an adsorption assembly (5), which comprises a vacuum pump (51) fixed in the robot body (1), a suction cup (52) fixed in a notch opened on the top of the tray (2), and the suction cup (52) is connected to a suction port of the vacuum pump (51) through a hollow guide column (4) and a pipeline.

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