Sorting robot capable of stacking material boxes

Abstract

The utility model relates to the field of sorting robots, and discloses a sorting robot capable of stacking workbins, which comprises a support frame fixedly mounted on a movable base, a threaded rod is rotatably mounted on the support frame, and a manipulator component is in threaded connection with the threaded rod; the manipulator assembly comprises an internal thread seat slidably mounted in the supporting frame, the internal thread seat is in threaded connection with the threaded rod, a transverse electric drive telescopic rod is fixed in the internal thread seat, the output end of the transverse electric drive telescopic rod is connected with a steering mechanism used for carrying and moving the material box in multiple directions, and a clamping mechanism used for clamping and carrying the material box is arranged on the steering mechanism; the supporting frame is provided with two sets of stacking combination frames used for placing the material boxes, and the stacking combination frames are symmetrically arranged on the supporting frame relative to the threaded rod. According to the sorting robot, the direction of the clamping mechanism can be controlled in multiple directions according to the positions of the material boxes, the material boxes are clamped and carried to the stacking combination frame, and sorting and carrying of the material boxes are convenient.

Description

Technical Field

[0001] The utility model relates to the field of picking robots, in particular to a picking robot capable of stacking bins. Background Art

[0002] Picking robots are widely used in warehousing and logistics. By means of automation technology, they can improve order processing efficiency, reduce human errors, and optimize warehouse operation processes. However, some existing picking robots place the picked bins on movable shelves and cooperate with the shelves to move and carry the bins during the picking and handling operations, lacking the function of autonomously stacking bins, which affects the warehousing management efficiency.

[0003] Chinese Patent CN209455443U discloses a bin picking and warehousing robot, which includes a robot housing, a robot frame structure arranged inside the robot housing, a guide rail structure arranged at both ends of the robot frame structure, and a driving mechanism arranged at the bottom end of the robot frame structure for providing power to the bin picking and warehousing robot; the picking mechanism includes a primary tray, a secondary tray, a tray mounting platform structure, and a picking structure base body. The tray mounting platform structure is connected to the picking structure base body, and the primary tray and the secondary tray cooperate with each other and are mounted on the tray mounting platform structure. The picking mechanism is fixedly connected to a lifting mechanism, and the lifting mechanism is used to drive the picking mechanism to rise or fall together. This bin picking and warehousing robot directly takes the bin from the shelf, with higher utilization rate and greater accuracy than traditional warehousing robots; the bin picking and warehousing robot delivers the bin in front of the staff without waiting for the staff to pick the goods, improving work efficiency.

[0004] The above patent can store the picked bins through the picking mechanism and directly take the bins from the shelf, with higher utilization rate and greater accuracy than traditional warehousing robots. However, the picking direction of this picking robot for bins is limited, and it cannot autonomously carry the bins on the warehousing shelf to its own shelf for storage and movement, requiring manual cooperation or the cooperation of other handling manipulators, with limited operation flexibility. In addition, the spacing between some warehousing shelves is small, and the picking robot carrying multiple bins occupies a large space and is restricted in moving between the warehousing shelves. Summary of the Utility Model

[0005] Aiming at the above problems, a picking robot capable of stacking bins is provided. The manipulator assembly can clamp and carry the bins in multiple directions, solving the problems that the picking direction of the picking robot for bins is limited, it cannot autonomously carry the bins on the warehousing shelf to its own shelf for storage and movement, requiring manual cooperation or the cooperation of other handling manipulators, with limited operation flexibility.

[0006] To solve the problems of the prior art, the utility model provides a picking robot for stackable bins, including a mobile base with intelligent movement. The picking robot further includes a support frame fixedly installed on the mobile base. A threaded rod is rotatably installed on the support frame, and a manipulator assembly is threadedly connected to the threaded rod. The manipulator assembly includes an internally threaded seat slidably installed in the support frame. The internally threaded seat is threadedly connected to the threaded rod. A transverse electric telescopic rod is fixed in the internally threaded seat. The output end of the transverse electric telescopic rod is connected to a steering mechanism for multi-directionally handling and moving bins. A clamping mechanism for clamping and handling bins is provided on the steering mechanism. A stacking combination rack for placing bins is provided on the support frame, and there are two groups of stacking combination racks symmetrically arranged on the support frame with respect to the threaded rod.

[0007] Preferably, the steering mechanism includes a displacement frame installed on the internally threaded seat. A first steering arm is rotatably installed on the displacement frame, and a second steering arm is rotatably installed on the first steering arm. The displacement frame is fixedly connected to the output end of the transverse electric telescopic rod.

[0008] Preferably, the clamping mechanism includes sliding sleeves slidably installed on the second steering arm. There are two sliding sleeves symmetrically arranged with respect to the axis of rotation of the second steering arm, and clamping arms are fixedly connected to the sliding sleeves.

[0009] Preferably, a cylinder is fixedly installed on the second steering arm. The output end of the cylinder is fixed with a lifting block. A push rod is rotatably connected to the lifting block, and the push rod is rotatably connected to the sliding sleeve.

[0010] Preferably, the stacking combination rack includes a plurality of bearing racks rotatably connected to the support frame at equal intervals. Vertical rods are rotatably installed on the plurality of bearing racks. The height of the vertical rods is less than the height of the support frame and the threaded rod. A protective fence for preventing the bins from falling downward when tilted is fixed on the bearing rack.

[0011] Preferably, a steering component for synchronously controlling the tilting rotation of a plurality of bearing racks is provided on the mobile base.

[0012] Preferably, the steering component includes a lower positioning column fixed on the mobile base, and an upper positioning column is fixedly installed on the vertical rod. An inclined electric telescopic rod is rotatably connected to the lower positioning column, and the output end of the inclined electric telescopic rod is rotatably connected to the upper positioning column.

[0013] The beneficial effects of the utility model compared with the prior art are as follows:

[0014] 1. The utility model is provided with a manipulator assembly capable of handling bins in multiple directions. By controlling the rotation of the first steering arm and the second steering arm, the direction of the clamping mechanism can be flexibly adjusted. The bins are clamped and limited by the clamping mechanism, and under the transmission of the threaded rod and the internally threaded seat, the bins are stacked on the bearing racks in sequence, without the need for manual or other manipulator assistance for handling, and the operation is flexible.

[0015] 2. The utility model is provided with a stacking and combining rack which can adjust the size of the stacking bin according to the moving environment. When the picking robot moves through a narrow space in the warehouse, the multi-bearing racks are synchronously tilted and rotated through the steering component, reducing the lateral dimension of the space occupied by the bearing racks. When the moving base moves in the narrow space of the warehouse, the movement of the bearing racks will not easily hit the wall or the shelf, etc., expanding the moving range of the picking robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional structural schematic diagram of the moving base of a picking robot with stackable bins.

[0017] Figure 2 is a three-dimensional structural schematic diagram of the support frame of a picking robot with stackable bins.

[0018] Figure 3 is a three-dimensional structural schematic diagram of the clamping mechanism of a picking robot with stackable bins.

[0019] Figure 4 is a three-dimensional structural schematic diagram of the first steering arm of a picking robot with stackable bins.

[0020] Figure 5 is a three-dimensional structural schematic diagram of the push rod of a picking robot with stackable bins.

[0021] Figure 6 is a three-dimensional structural schematic diagram of the clamping arm of a picking robot with stackable bins.

[0022] Figure 7 is a three-dimensional structural schematic diagram of the bearing rack of a picking robot with stackable bins.

[0023] Figure 8 is a three-dimensional structural schematic diagram of the oblique electric drive telescopic rod of a picking robot with stackable bins.

[0024] The reference numerals in the figure are:

[0025] 11, moving base; 12, support frame; 13, threaded rod; 2, manipulator assembly; 21, internal thread seat; 22, horizontal electric drive telescopic rod; 23, steering mechanism; 231, displacement frame; 232, first steering arm; 233, second steering arm; 24, clamping mechanism; 241, sliding sleeve; 242, clamping arm; 243, cylinder; 244, lifting block; 245, push rod; 3, stacking and combining rack; 31, bearing rack; 32, vertical rod; 33, protective fence; 34, steering component; 341, lower positioning column; 342, upper positioning column; 343, oblique electric drive telescopic rod. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] To further understand the features, technical means, specific purposes, and functions achieved by the present utility model, the following provides a more detailed description of the present utility model in conjunction with the accompanying drawings and specific embodiments.

[0027] Refer to Figures 1 - 6 As shown, a picking robot for stackable bins includes a moving base 11 that moves intelligently. The picking robot further includes a support frame 12 fixedly installed on the moving base 11. A threaded rod 13 is rotatably installed on the support frame 12, and a manipulator assembly 2 is threadedly connected to the threaded rod 13. The manipulator assembly 2 includes an internally threaded seat 21 slidably installed in the support frame 12. The internally threaded seat 21 is threadedly connected to the threaded rod 13. A horizontally electric telescopic rod 22 is fixed in the internally threaded seat 21. The output end of the horizontally electric telescopic rod 22 is connected to a steering mechanism 23 for multi-directionally handling and moving bins. A clamping mechanism 24 for clamping and handling bins is provided on the steering mechanism 23. A stacking combination rack 3 for placing bins is provided on the support frame 12, and two sets of stacking combination racks 3 are symmetrically arranged on the support frame 12 with respect to the threaded rod 13.

[0028] The moving base 11 moves in the storage space to pick and handle bins. The moving base 11 drives the manipulator assembly 2 to move in front of the storage shelves, and picks the bins according to the classification of the goods in the bins. The threaded rod 13 is connected to the output end of a motor. The motor is operated to control the rotation of the threaded rod 13. Under the screw drive, the internally threaded seat 21 is controlled to slide in the support frame 12. The internally threaded seat 21 controls the clamping mechanism 24 to move to the corresponding height. The direction of the clamping mechanism 24 is adjusted through the steering mechanism 23, so that the clamping mechanism 24 transports the goods on the storage shelves to the stacking combination rack 3, realizing autonomous picking and handling of bins.

[0029] Refer to Figures 3 - 6 As shown, the steering mechanism 23 includes a displacement frame 231 installed on the internally threaded seat 21. A first steering arm 232 is rotatably installed on the displacement frame 231. A second steering arm 233 is rotatably installed on the first steering arm 232. The displacement frame 231 is fixedly connected to the output end of the horizontally electric telescopic rod 22.

[0030] A motor is installed on the displacement frame 231. The first steering arm 232 is connected to the output end of the motor. And a motor is also installed on the first steering arm 232. The second steering arm 233 is connected to the output end of the motor. The motor is operated to control the rotation of the first steering arm 232 and the second steering arm 233, thereby adjusting the direction of the clamping mechanism 24 in multiple directions.

[0031] According to the distance between the clamping mechanism 24 and the shelf, the horizontally electric telescopic rod 22 is operated to push the displacement frame 231 to move, which can adjust the distance between the clamping mechanism 24 and the shelf, and assist the clamping mechanism 24 in handling bins.

[0032] Refer to Figures 3 - 6As shown, the clamping mechanism 24 includes sliding sleeves 241 slidably mounted on the second steering arm 233. There are two sliding sleeves 241 symmetrically arranged about the axis of rotation of the second steering arm 233, and clamping arms 242 are fixedly connected to the sliding sleeves 241.

[0033] Position the clamping arms 242 on both sides of the bin respectively, control the two sliding sleeves 241 to move relatively on the second steering arm 233, drive the two clamping arms 242 to move relatively so as to clamp on both sides of the bin, and quickly realize the clamping and limitation of the bin.

[0034] See Figures 3 - 6 As shown, a cylinder 243 is fixedly mounted on the second steering arm 233. A lifting block 244 is fixed to the output end of the cylinder 243. A push rod 245 is rotatably connected to the lifting block 244, and the push rod 245 is rotatably connected to the sliding sleeve 241.

[0035] Operate the cylinder 243 to control the longitudinal movement of the lifting block 244. The two ends of the push rod 245 connected between the lifting block 244 and the sliding sleeve 241 rotate correspondingly. The rotating push rod 245 pushes the sliding sleeve 241 to move on the second steering arm 233, achieving the purpose of driving the clamping arm 242 to move.

[0036] See Figure 1 、 Figure 2 、 Figure 7 and Figure 8 As shown, the stacking and combination rack 3 includes a plurality of carrier racks 31 rotatably connected to the support frame 12 at equal intervals. A vertical rod 32 is rotatably mounted on the plurality of carrier racks 31; the height of the vertical rod 32 is less than the heights of the support frame 12 and the threaded rod 13; a protective fence 33 for preventing the bin from falling downward when tilted is fixed on the carrier rack 31.

[0037] When the distance between the vertical rod 32 and the support frame 12 is adjusted by moving the vertical rod 32, the plurality of carrier racks 31 connected between the vertical rod 32 and the support frame 12 rotate synchronously and obliquely. After the distance between the vertical rod 32 and the support frame 12 is reduced, the lateral occupied space of the entire picking robot is reduced, thus facilitating the movement of the picking robot in a narrow space.

[0038] See Figure 7 and Figure 8 As shown, a direction-changing component 34 for synchronously controlling the oblique rotation of the plurality of carrier racks 31 is provided on the moving base 11.

[0039] Through the direction-changing component 34, the plurality of carrier racks 31 can be synchronously controlled to rotate obliquely together, shortening the distance between the vertical rod 32 and the support frame 12.

[0040] See Figure 7 and Figure 8As shown in the figure, the direction-changing component 34 includes a lower positioning post 341 fixed on the moving base 11, and an upper positioning post 342 is fixedly installed on the vertical rod 32; an inclined electric telescopic rod 343 is rotatably connected to the lower positioning post 341, and the output end of the inclined electric telescopic rod 343 is rotatably connected to the upper positioning post 342.

[0041] Operate the inclined electric telescopic rod 343. The two ends of the inclined electric telescopic rod 343 are connected and rotate between the upper positioning post 341 and the lower positioning post 342 to adjust the distance between the vertical rod 32 and the support frame 12. At this time, the carrier 31 connected between the vertical rod 32 and the support frame 12 rotates obliquely, reducing the occupied space of the picking robot and expanding its moving range in the storage space.

[0042] Working principle: Control the moving base 11 to move in the storage space. According to the height of the storage bin placed on the storage shelf, operate the motor to control the rotation of the threaded rod 13. Under the screw drive, drive the internal thread seat 21 to move longitudinally in the support frame 12 to adjust the height of the manipulator assembly 2. Operate the motor to control the rotation of the first steering arm 232 and the second steering arm 233 respectively to adjust the direction of the clamping mechanism 24, and operate the horizontal electric telescopic rod 22 to adjust the distance between the clamping mechanism 24 and the storage bin, so that the clamping arms 242 in the clamping mechanism 24 are corresponding to both sides of the storage bin, preparing to clamp and carry the storage bin.

[0043] Operate the cylinder 243 to control the lifting block 244 to move upward. The two ends of the push rod 245 connected between the lifting block 244 and the sliding sleeve 241 rotate. The rotating push rod 245 pushes the sliding sleeve 241 to slide on the second steering arm 233, so that the two groups of clamping arms 242 move relatively and clamp the outside of the storage bin. Then adjust the direction of the clamping mechanism 24 and the distance from the stacking and combination rack 3, and place the clamped storage bin on the carrier 31.

[0044] When the moving base 11 is moving, operate the inclined electric telescopic rod 343 to adjust the distance between the vertical rod 32 and the support frame 12, so that the carrier 31 connected between the vertical rod 32 and the support frame 12 rotates obliquely, reducing the space occupied by the overall picking robot, so that the picking robot can move in a narrow storage space.

[0045] The above embodiments only represent one or several implementation manners of the present invention, and the description is relatively specific and detailed, but it cannot be understood as a limitation to the scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A picking robot for stackable bins, comprising a mobile base (11) that moves intelligently, characterized in that: The picking robot further includes a support frame (12) fixedly installed on the mobile base (11). A threaded rod (13) is rotatably installed on the support frame (12), and a manipulator assembly (2) is threadedly connected to the threaded rod (13). The manipulator assembly (2) includes an internally threaded seat (21) slidably installed in the support frame (12). The internally threaded seat (21) is threadedly connected to the threaded rod (13). A transverse electric telescopic rod (22) is fixed in the internally threaded seat (21). The output end of the transverse electric telescopic rod (22) is connected to a steering mechanism (23) for multi-directionally transporting and moving the material box. A clamping mechanism (24) for clamping and transporting the material box is provided on the steering mechanism (23). A stacking and combination rack (3) for placing the material boxes is provided on the support frame (12), and two sets of stacking and combination racks (3) are symmetrically arranged on the support frame (12) with respect to the threaded rod (13).

2. The picking robot for stackable bins according to claim 1, wherein: The steering mechanism (23) includes a displacement frame (231) installed on the internally threaded seat (21). A first steering arm (232) is rotatably installed on the displacement frame (231), and a second steering arm (233) is rotatably installed on the first steering arm (232). The displacement frame (231) is fixedly connected to the output end of the transverse electric telescopic rod (22).

3. The picking robot for stackable bins according to claim 2, wherein: The clamping mechanism (24) includes sliding sleeves (241) slidably installed on the second steering arm (233). There are two sliding sleeves (241) symmetrically arranged with respect to the axis of rotation of the second steering arm (233). Clamping arms (242) are fixedly connected to the sliding sleeves (241).

4. The picking robot for stackable bins according to claim 3, wherein: A cylinder (243) is fixedly installed on the second steering arm (233). The output end of the cylinder (243) is fixed with a lifting block (244). A push rod (245) is rotatably connected to the lifting block (244), and the push rod (245) is rotatably connected to the sliding sleeve (241).

5. The picking robot for stackable bins according to claim 1, characterized in that: The stacking and combination rack (3) includes a plurality of carrier racks (31) rotatably connected to the support frame (12) at equal intervals. A vertical rod (32) is rotatably installed on the plurality of carrier racks (31). The height of the vertical rod (32) is less than the heights of the support frame (12) and the threaded rod (13). A protective fence (33) for preventing the material box from falling downward when tilted is fixed on the carrier rack (31).

6. The picking robot for stackable bins according to claim 5, characterized in that: A direction-changing assembly (34) for synchronously controlling the tilting rotation of the plurality of carrier racks (31) is provided on the mobile base (11).

7. The picking robot for stackable bins according to claim 6, wherein: The direction-changing assembly (34) includes a lower positioning column (341) fixed on the mobile base (11), and an upper positioning column (342) is fixedly installed on the vertical rod (32). An inclined electric telescopic rod (343) is rotatably connected to the lower positioning column (341), and the output end of the inclined electric telescopic rod (343) is rotatably connected to the upper positioning column (342).

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