RGV carrying robot for intelligent stereoscopic warehouse

Abstract

The utility model discloses an intelligent RGV carrying robot for a stereoscopic warehouse. The intelligent RGV carrying robot comprises a frame body and a carrying base used for containing a material frame. The frame body is slidably connected with the track; the carrying base is connected to the frame body in a lifting mode. A linear guide rail is arranged on the carrying base in the length direction of the carrying base, a goods taking assembly used for taking out a material frame is connected to the linear guide rail in a sliding mode, the goods taking assembly comprises a goods taking arm capable of rotating by 360 degrees in the horizontal direction and a reversing driving mechanism driving the goods taking arm to rotate, and one end of the goods taking arm is a fixed end. The fixed end is fixedly connected with the power end of the reversing driving mechanism, the other end is provided with a hook-shaped connecting end capable of being connected with a material frame, and the hook-shaped connecting end rotates along with the reversing driving mechanism driving the goods taking arm to rotate in the horizontal direction. The method has the advantages of high working efficiency, better flexibility and the like.

Description

Technical Field

[0001] The utility model relates to the field of intelligent warehousing, and particularly relates to an RGV handling robot for an intelligent stereoscopic warehouse. Background Art

[0002] Intelligent warehousing is an important link in the logistics process. The RGV handling robot can replace manual labor to handle goods and plays an important role in intelligent warehousing logistics.

[0003] Chinese patent document with patent number CN211197464U discloses a handling device and a handling robot with this handling device, and discloses that a handling robot includes a handling device and a lifting mechanism for driving the handling device to lift. Specifically, the following content is also disclosed: the handling device includes a bracket, a pallet, and a telescopic arm assembly for pushing the goods placed on the pallet out of the pallet or pulling the goods to the pallet; the telescopic arm assembly includes a forklift driven by a rotating mechanism to rotate, and the telescopic arm can extend along a direction parallel to the pallet. In the direction perpendicular to the extending direction of the telescopic arm and parallel to the pallet, the telescopic arm is located on one side of the pallet: by installing a first image detection device on the telescopic arm, the first image detection device can extend along with the telescopic arm, so that when the handling device obtains goods, the distance between the first image detection device and the goods can be shortened, thereby improving the accuracy of the first image detection device in obtaining the image information of the goods and accurately identifying the position of the goods. However, it has the following deficiencies: the handling device takes out the material box by clamping with a picking arm, and the design of the picking arm is complex, which is not conducive to later maintenance and replacement. Moreover, due to the limitation of the design of the picking arm, only one material box can be clamped each time when picking up goods, and the material box must be unloaded before continuing to clamp the material box, resulting in low operation efficiency.

[0004] Therefore, it is necessary to propose a further solution to solve the above technical problems. Content of the Utility Model

[0005] The utility model provides an RGV handling robot for an intelligent stereoscopic warehouse to solve the above technical problems.

[0006] The purpose of the utility model is realized through the following technical scheme: an RGV handling robot for an intelligent stereoscopic warehouse includes a frame body and a load-carrying base for placing a material box; the frame body is slidably connected with the track; wherein:

[0007] The load-carrying base is liftably connected to the frame; the load-carrying base is provided with a linear guide along its length, and a picking component for taking out the material box is slidably connected to the linear guide. The picking component includes a picking arm that can rotate 360 degrees in the horizontal direction and a reversing drive mechanism for driving the rotation of the picking arm. One end of the picking arm is a fixed end, which is fixedly connected to the power end of the reversing drive mechanism, and the other end has a hook-shaped connecting end that can be connected to the material box. The hook-shaped connecting end rotates as the reversing drive mechanism drives the picking arm to rotate in the horizontal direction.

[0008] Further, the reversing drive mechanism includes a sliding plate, a first driving motor, and a reversing rotating shaft. The bottom of the sliding plate is slidably connected to the linear guide; the first driving motor is installed on the sliding plate, and its output shaft is fixedly connected with a main transmission gear; the reversing rotating shaft is rotatably connected to the sliding plate, its top is connected to the fixed end of the picking arm, and its bottom is fixedly connected with a sub-transmission gear. The sub-transmission gear is meshed with the main transmission gear to drive the rotation of the picking arm.

[0009] Further, two sets of lifting mechanisms are also provided on the frame. The two sets of lifting mechanisms are symmetrically arranged on both sides of the load-carrying base respectively. The lifting mechanism includes a mounting bracket, a lead screw, a nut block slidably connected to the lead screw, and a second driving motor for driving the rotation of the lead screw. The mounting bracket is fixedly connected to the frame, and the second driving motor is fixedly connected to the mounting bracket; the lead screw is fixedly connected to the power end of the second driving motor; the load-carrying base is fixedly connected with the nut block to drive the load-carrying base to move up or down relative to the frame.

[0010] Further, a picking transmission mechanism for driving the picking component to move left and right along the length of the linear guide is also provided on the load-carrying base. The picking transmission mechanism includes a driving wheel arranged on the output shaft of a third driving motor, a driven wheel transmission-connected to the driving wheel through a first transmission belt, a driving rotating shaft linked to the driven wheel, a first belt pulley fixedly connected to the driving rotating shaft, a second belt pulley rotatably connected to the base, a second transmission belt is tensioned between the first belt pulley and the second belt pulley, and a connecting block is fixedly connected to the second transmission belt. The second transmission belt is fixedly connected to the sliding plate through the connecting block to drive the sliding plate to move along the linear guide.

[0011] Further, a positioning sensor is also provided on the load-carrying base to position the position of the load-carrying base.

[0012] Further, wheels are rotatably connected to the four corners of the frame, and a moving drive mechanism for driving the rotation of the wheels is provided on the frame. The wheels are slidably connected to the track and rotate and travel along the track under the drive of the moving drive mechanism.

[0013] Further, the picking arm is designed in an inverted "L" shape.

[0014] Further, one insertion slot and one insertion block are respectively arranged on two sides of the feeding frame; the insertion block of one feeding frame is vertically inserted into the insertion slot of another adjacent feeding frame.

[0015] Further, an insertion and picking slot for inserting the hook-shaped connection end of the picking arm is also arranged on the feeding frame.

[0016] The beneficial technical effects achieved by the present utility model are as follows:

[0017] 1. In this application, the RGV handling robot and the lifting frame adopt a split design. The lifting frame is arranged at one end of the conveying roadway. The RGV handling robot moves inside the stereoscopic warehouse to pick up goods, and shuttles inside the stereoscopic warehouse through this lifting frame and reaches any layer of the conveying roadway to pick up the feeding frame.

[0018] 2. In the stereoscopic warehouse of this application, RGV handling robots can be arranged between two adjacent inventory areas on each layer of the bracket. One lifting frame is used by multiple RGV handling robots. There is no need to configure a separate lifting frame for each RGV handling robot, which can reduce the manufacturing cost and improve the flexibility and working efficiency of the RGV handling robot at the same time.

[0019] 3. The picking arm of the RGV handling robot can rotate 360 degrees, and can realize the two-way picking of the feeding frame between two adjacent inventory areas. Description of the Drawings

[0020] Figure 1 is the overall structural schematic diagram of an RGV handling robot for an intelligent stereoscopic warehouse of the present utility model;

[0021] Figure 2 is the structural schematic diagram of another angle of an RGV for an intelligent stereoscopic warehouse of the present utility model;

[0022] Figure 3 is the structural schematic diagram of the transfer frame body in an RGV handling robot for an intelligent stereoscopic warehouse of the present utility model;

[0023] Figure 4 is the structural schematic diagram of the connection mechanism in an RGV handling robot for an intelligent stereoscopic warehouse of the present utility model;

[0024] Figure 5 is one of the structural schematic diagrams of the turntable of the present utility model;

[0025] Figure 6 is the second structural schematic diagram of the turntable of the present utility model. Detailed Embodiments

[0026] Please refer to Figure 1-6 , as shown in the figure, an RGV handling robot for an intelligent three-dimensional warehouse in this utility model application is used for the automatic conveying of goods in the intelligent three-dimensional warehouse. The intelligent three-dimensional warehouse includes a three-dimensional shelf 1. The three-dimensional shelf 1 is provided with a lifting frame 3 along its height, and the three-dimensional shelf 1 is longitudinally and equidistantly provided with multiple layers of brackets. Each layer of brackets is transversely arranged with multiple storage areas 11 for placing the feeding frames 110. Goods are placed in the feeding frames 110; multiple cargo channels are arranged on the storage areas 11, and entrances and exits for the feeding frames to enter and exit are formed at both ends of each cargo channel; a conveying lane 111 is formed between two adjacent storage areas 11, and a track 12 is provided on the conveying lane 111; the lifting frame 3 is located at one end of the conveying lane 111, and a lifting platform that can move up and down along its height is slidably connected to the lifting frame 3; a connection port communicating with the lifting platform is provided on the conveying lane 111; the RGV handling robot 2 is slidably connected to the conveying lane 111 through the sliding track 12. Accordingly, when the lifting platform moves to one end of the conveying lane 111, the RGV handling robot 2 can enter the lifting platform from this connection port and arbitrarily switch to each layer of brackets through the lifting platform, improving its flexibility and reducing the manufacturing cost at the same time. The structure of the RGV handling robot 2 will be described in detail below, specifically as follows:

[0027] The RGV handling robot 2 includes a frame body 21 and a load-carrying base 22 for placing the feeding frame 110; the frame body 21 is slidably connected to the track 12; the load-carrying base 22 is liftably connected to the frame body 21; a linear guide rail 26 is provided along the length of the load-carrying base 22, and a picking component 23 for taking out the feeding frame 110 is slidably connected to the linear guide rail 26. The picking component 23 includes a picking arm 24 that can rotate 360 degrees in the horizontal direction and a reversing drive mechanism for driving the rotation of the picking arm 24. One end of the picking arm 24 is a fixed end 2402, and the fixed end 2402 is fixedly connected to the power end of the reversing drive mechanism. The other end has a hook-shaped connection end 2401 that can be connected to the feeding frame 110. The hook-shaped connection end 2401 rotates as the reversing drive mechanism drives the picking arm 24 to rotate in the horizontal direction, realizing the reversing to take out the feeding frame 110. Accordingly, the RGV handling robot 2 realizes the extraction of the feeding frame on the left storage area or the feeding frame on the right by rotating the picking arm 24.

[0028] In this design solution, the commutation drive mechanism includes a sliding plate 233, a first drive motor 231, and a commutation rotating shaft 232. The bottom of the sliding plate 233 is slidably connected to the linear guide rail 26. The first drive motor 231 is installed on the sliding plate 233, and its output shaft is fixedly connected with a main transmission gear 235. The commutation rotating shaft 232 is rotatably connected to the sliding plate 233. Its top is connected to the fixed end 2402 of the goods picking arm 24, and its bottom is fixedly connected with a secondary transmission gear 234. The secondary transmission gear 234 is meshed with the main transmission gear 235 to drive the goods picking arm 24 to rotate. Accordingly, when the first drive motor 231 drives the main transmission gear 235 to rotate, it drives the secondary transmission gear 234 to rotate, realizing the rotation of the commutation rotating shaft 232.

[0029] In this design solution, two sets of lifting mechanisms 25 are further provided on the frame 21. The two sets of lifting mechanisms 25 are symmetrically arranged on both sides of the load-carrying base 22 respectively. The lifting mechanism 25 includes a mounting bracket 254, a lead screw 252, a nut block 253 slidably connected to the lead screw 252, and a second drive motor 251 for driving the lead screw 252 to rotate. The mounting bracket 254 is fixedly connected to the frame 21, and the second drive motor 251 is fixedly connected to the mounting bracket 254. The lead screw 252 is fixedly connected to the power end of the second drive motor 251. The load-carrying base 22 is fixedly connected to the nut block 253 to drive the load-carrying base 22 to move up or down relative to the frame 21. Preferably, an insertion slot for inserting the hook-shaped connection end 2401 of the goods picking arm 24 is further provided on the feeding frame 110.

[0030] Accordingly, after the load-carrying base 22 can be lifted to a specified height, it is convenient for the hook-shaped connection end of the goods picking arm to be vertically inserted into the insertion slot of the material frame as the load-carrying base 22 descends. Of course, in the design solution of the present utility model, the hook-shaped connection end 2401 and the material frame 110 can also be connected by a magnetic attraction method to realize the material picking frame.

[0031] In this design solution, a goods picking transmission mechanism 20 for driving the goods picking assembly 23 to move left and right along the length of the linear guide rail 26 is further provided on the load-carrying base 22. The goods picking transmission mechanism 20 includes a driving wheel arranged on the output shaft of a third drive motor 201, a driven wheel 202 transmission-connected to the driving wheel through a first transmission belt 206, a driving rotating shaft linked to the driven wheel 202, a first belt pulley 203 fixedly connected to the driving rotating shaft, a second belt pulley 204 rotatably connected to the base, a second transmission belt 205 is tensioned between the first belt pulley 203 and the second belt pulley 204, and a connecting block 234 is fixedly connected to the second transmission belt 205. The second transmission belt 205 is connected to the sliding plate 233 through the connecting block 234 to drive the sliding plate 233 to move along the linear guide rail 26.

[0032] In this design solution, a positioning sensor is also provided on the load-carrying base 22 for positioning the position of the load-carrying base 22.

[0033] In this design solution, wheels 211 are rotatably connected to the four corners of the frame 21, and a moving drive mechanism for driving the rotation of the wheels 211 is provided on the frame 21. The wheels 211 are slidably connected to the track 12 and rotate and travel along the track 12 under the drive of the moving drive mechanism. In this application, the moving drive mechanism is a prior art, and its main function is to provide power for the wheels 211 to rotate, and no detailed description will be made here.

[0034] In this design solution, the goods-taking arm 24 is designed in an inverted "L" shape. Accordingly, the goods-taking arm 24 of the RGV handling robot 2 has a simple structure, and is convenient for later maintenance, with low maintenance cost.

[0035] In this design solution, a plug-in slot and a plug-in block are respectively provided on both sides of the feeding frame 110; the plug-in block of one feeding frame 110 is vertically plugged into the plug-in slot of another feeding frame 110 between two adjacent feeding frames 110. Accordingly, when the first feeding frame 110 in the same goods lane is dragged, other feeding frames 110 can also move along.

[0036] As another embodiment of this application, a telescopic mechanism is further provided on the reversing rotating shaft 232, and the telescopic mechanism is fixedly connected to the goods-taking arm 24; for driving the goods-taking arm 24 to rise. Accordingly, the telescopic mechanism of this application can be an electric push rod for driving the goods-taking arm 24 to rise and separating it from the insertion slot of the feeding frame 110.

[0037] The working principle of the RGV handling robot 2 is as follows:

[0038] The RGV transfer robot 2 moves on the conveying roadway 111 and positions itself at the location where the material box 110 needs to be picked up. Then, the lifting mechanism 25 drives the load-carrying base 22 to rise to a preset height. At the same time, after the reversing drive mechanism drives the picking arm 24 to rotate to a preset direction, the picking drive mechanism 20 drives the picking arm 24 to move along the linear guide rail 26 on the load-carrying base 22 towards the material box 110 to be picked up. When the picking arm 24 reaches the preset position, the lifting mechanism 25 drives the hook-shaped connecting end 2401 of the picking arm 24 to descend with the load-carrying base 22, so that the hook-shaped connecting end 2401 is vertically inserted into the insertion slot of the first material box 110 located in the goods aisle. The picking drive mechanism 20 drives the picking arm 24 to return along the linear guide rail 26 on the load-carrying base 22 to the preset position, and at the same time pulls the connected material box 110 onto the load-carrying base 22. When the material box 110 connected to the picking arm 24 enters the load-carrying base 22, the second material box 110 connected to the first material box 110 also moves to the position of the first material box 110 synchronously. Finally, the lifting mechanism 25 drives the load-carrying base 22 to rise again, so that the insertion block of the first material box 110 is separated from the insertion slot of the adjacent material box 110, completing the removal of the material box 110 from the inventory area 11 to the RGV transfer robot 2. After the RGV transfer robot 2 enters the lifting platform from the connection port, the lifting platform descends along the lifting frame 3 to the ground, and then the RGV transfer robot 2 drives out of the lifting platform and conveys the material box to the designated position.

[0039] The above has introduced in detail a kind of RGV transfer device for the intelligent stereoscopic warehouse 1 provided by the embodiments of the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the core idea of the present invention. At the same time, for those of ordinary skill in the art, according to the idea and method of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

[0040] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An RGV handling robot for an intelligent stereoscopic warehouse, comprising a frame body and a load base for placing a feeding frame; the frame body is slidably connected to a track; characterized in that: The load base is liftably connected to the frame body; the load base is provided with a linear guide along its length, and a picking component for taking out the feeding frame is slidably connected to the linear guide. The picking component includes a picking arm that can rotate 360 degrees in the horizontal direction and a reversing drive mechanism for driving the rotation of the picking arm. One end of the picking arm is a fixed end, which is fixedly connected to the power end of the reversing drive mechanism, and the other end has a hook-shaped connecting end that can be connected to the feeding frame. The hook-shaped connecting end rotates as the reversing drive mechanism drives the picking arm to rotate in the horizontal direction.

2. The RGV handling robot for an intelligent stereoscopic warehouse according to claim 1, characterized in that, The reversing drive mechanism includes a sliding plate, a first drive motor, and a reversing rotating shaft. The bottom of the sliding plate is slidably connected to the linear guide; the first drive motor is installed on the sliding plate, and its output shaft is fixedly connected with a main transmission gear; the reversing rotating shaft is rotatably connected to the sliding plate, its top is connected to the fixed end of the picking arm, and its bottom is fixedly connected with a secondary transmission gear. The secondary transmission gear is meshed with the main transmission gear to drive the rotation of the picking arm.

3. The RGV handling robot for an intelligent stereoscopic warehouse according to any one of claims 1 or 2, characterized in that, Two sets of lifting mechanisms are further provided on the frame body. The two sets of lifting mechanisms are symmetrically arranged on both sides of the load base respectively. The lifting mechanism includes a mounting bracket, a lead screw, a nut block slidably connected to the lead screw, and a second drive motor for driving the rotation of the lead screw. The mounting bracket is fixedly connected to the frame body, and the second drive motor is fixedly connected to the mounting bracket; The lead screw is fixedly connected to the power end of the second drive motor; the load base is fixedly connected to the nut block to drive the load base to move up or down relative to the frame body.

4. The RGV handling robot for an intelligent three-dimensional warehouse according to claim 2, characterized in that, A picking transmission mechanism for driving the picking component to move left and right along the length of the linear guide is further provided on the load base. The picking transmission mechanism includes a driving wheel arranged on the output shaft of a third drive motor, a driven wheel drivingly connected to the driving wheel through a first transmission belt, a driving rotating shaft linked to the driven wheel, a first belt pulley fixedly connected to the driving rotating shaft, a second belt pulley rotatably connected to the base, a second transmission belt is tensioned between the first belt pulley and the second belt pulley, and a connecting block is fixedly connected to the second transmission belt. The second transmission belt is fixedly connected to the sliding plate through the connecting block to drive the sliding plate to move along the linear guide.

5. The RGV handling robot for an intelligent stereoscopic warehouse according to claim 4, wherein, A positioning sensor is further provided on the load base for positioning the position of the load base.

6. The RGV handling robot for an intelligent multi-tier warehouse according to claim 1, wherein Wheels are rotatably connected to the four corners of the frame body, and a moving drive mechanism for driving the rotation of the wheels is provided on the frame body. The wheels are slidably connected to the track and rotate and travel along the track under the drive of the moving drive mechanism.

7. The RGV handling robot for an intelligent three-dimensional warehouse according to claim 1, characterized in that, The picking arm is designed in an inverted "L" shape.

8. The RGV handling robot for an intelligent three-dimensional warehouse according to claim 1, characterized in that, One insertion slot and one insertion block are respectively provided on both sides of the feeding frame; the insertion block of one feeding frame is vertically inserted into the insertion slot of another feeding frame between two adjacent feeding frames.

9. An RGV handling robot for an intelligent three-dimensional warehouse according to claim 8, characterized in that, An insertion and picking slot for inserting the hook-shaped connecting end of the picking arm is further provided on the feeding frame.

10. The RGV handling robot for an intelligent stereoscopic warehouse according to claim 2, characterized in that, A telescopic mechanism is provided on the commutation rotating shaft, and the telescopic mechanism is fixedly connected to the goods-taking arm; it is used to drive the goods-taking arm to rise.

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