Warehouse storage robot balance structure and warehouse storage robot

Abstract

The utility model discloses a warehouse storage robot balance structure and a warehouse storage robot, and relates to the technical field of robots, the warehouse storage robot balance structure comprises a mobile base and a plurality of balance parts; according to the technical scheme, the driving structure outputs power to drive the balance part to move, the balance part makes contact with the plane where the movable base is placed, the stability of the movable base in the goods lifting process is improved in the mode that the contact area between the movable base and the plane where the movable base is placed is enlarged, and the goods lifting efficiency is improved. The possibility that the gravity center of the whole movable base is changed and topples due to the fact that goods move too high is avoided, the stability of the movable base for conveying the movable goods is improved, the abutting part abuts against the balance part after rotating, the abutting part, the balance part and the side face of the movable base form a triangular structure, the supporting effect on the movable base is improved, and the service life of the movable base is prolonged. And the stability of the movable base during cargo lifting is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a balance structure for a warehouse storage robot and a warehouse storage robot. Background Art

[0002] In order to increase the warehouse storage capacity, the warehouse storage shelves are set to a height that conforms to the height inside the warehouse, so as to facilitate the setting of multiple storage positions. Therefore, in order to be able to store goods at high positions on the shelves, a lifting structure is generally provided on the warehouse storage robot.

[0003] However, in the related art, as the goods are lifted to high positions, it is easy for the center of gravity of the warehouse storage robot to shift, resulting in tipping, which affects the stability and efficiency of the storage process. Summary of the Utility Model

[0004] The main purpose of the utility model is to propose a balance structure for a warehouse storage robot and a warehouse storage robot, aiming to improve the stability of the warehouse storage robot during the process of lifting and storing goods.

[0005] To achieve the above purpose, the balance structure for a warehouse storage robot proposed by the utility model includes:

[0006] A moving base, and abutting parts are rotatably provided on two opposite sides of the moving base;

[0007] A plurality of balance parts, the plurality of balance parts are arranged on the moving base at intervals, and the balance parts are slidably connected to the moving base;

[0008] Wherein, a plurality of lifting grooves facing the balance parts are provided in the moving base, a driving structure is provided in one lifting groove, a part of one balance part extends into the lifting groove and is connected to the driving structure, and a sliding groove is provided on the side wall of the lifting groove, and the balance part extending into the lifting groove is slidably inserted into the sliding groove.

[0009] In an embodiment, the sliding groove includes a first sliding groove and a second sliding groove, the first sliding groove is arranged in the extending direction of the lifting groove, the second sliding groove communicates with the first sliding groove, and the second sliding groove is arranged in a curve on the side surface of the lifting groove, and the balance part extending into the lifting groove is slidably inserted into the first sliding groove or the second sliding groove.

[0010] In an embodiment, the balance part includes a balance member and a transmission member, the balance member is arranged on the side surface of the moving base, the transmission member is connected to the surface of the balance member, a part of the transmission member is inserted into the lifting groove and is connected to the driving structure.

[0011] In one embodiment, an extension portion is provided on the transmission member extending into the lifting groove, and the extension portion is slidably inserted into the first sliding groove or the second sliding groove.

[0012] In one embodiment, the driving structure includes a driving portion and a driving member. The driving portion is connected to the side surface of the lifting groove facing away from the balancing member, the driving member is connected to the driving portion, and a part of the driving member is rotatably connected to the transmission member.

[0013] In one embodiment, a ball groove with an opening facing the driving portion is provided on the transmission member, a ball portion is provided at one end of the driving member facing away from the driving portion, and the ball portion is inserted into the ball groove.

[0014] In one embodiment, a receiving groove with an opening facing away from the lifting groove is provided on the moving base, and the receiving groove communicates with the lifting groove. The receiving groove houses the balancing member.

[0015] In one embodiment, a friction pattern is provided on the surface of the balancing member facing the moving base.

[0016] In one embodiment, the moving base includes a guiding portion, a moving portion and a supporting platform. The supporting platform is provided on the moving portion, the guiding portion is provided on the side surface of the moving portion, and the guiding portion is connected to the supporting platform. Distance sensors are provided on the opposite surfaces of the moving portion and the supporting platform.

[0017] The present utility model also provides a warehouse storage robot, including the warehouse storage robot balancing structure.

[0018] The technical solution of the present utility model drives the driving structure to output power to drive the balancing portion to move, and makes the balancing portion contact the plane on which the moving base is placed. By expanding the contact area between the moving base and the plane on which the moving base is placed, the stability of the moving base during the process of lifting goods is improved, and the possibility of tipping due to the change of the center of gravity of the entire moving base caused by the excessive movement of the goods is avoided. The stability of the moving base for transporting moving goods is improved, and after the abutting portion rotates, it abuts against the balancing portion. A triangular structure is formed by the abutting portion, the balancing portion and the side surface of the moving base, so as to improve the supporting effect on the moving base and further improve the stability of the moving base when lifting goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

[0020] Figure 1 Schematic diagram of a structure of an embodiment of the balance structure of a warehouse storage robot provided by the present utility model;

[0021] Figure 2 Schematic diagram of a structure of another embodiment of the balance structure of a warehouse storage robot provided by the present utility model;

[0022] Figure 3 is Figure 1 Partial enlarged view of part A in

[0023] Explanation of the reference numerals in the drawings:

[0024] 100, balance structure of a warehouse storage robot; 10, moving base; 11, moving part; 12, support platform; 13, distance sensor; 14, guiding part; 15, receiving groove; 20, balancing part; 21, transmission part; 22, balancing member; 30, abutting part; 31, rotating groove; 40, driving structure; 41, driving part; 42, first sliding groove; 43, second sliding groove; 44, driving member; 45, spherical part.

[0025] The realization of the purpose, functional features and advantages of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0026] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0027] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present utility model, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0028] In addition, if the embodiments of the present utility model involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes scenario A, scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0029] The present utility model provides a balance structure for a warehouse storage robot.

[0030] Please refer to Figure 1 , in an embodiment of the present utility model, the balance structure of the warehouse storage robot includes:

[0031] A moving base 10, and abutting portions 30 are rotatably provided on two opposite sides of the moving base 10;

[0032] A plurality of balance portions 20, the plurality of balance portions 20 are spaced on the moving base 10, and the balance portions 20 are slidably connected to the moving base 10;

[0033] Wherein, a plurality of lifting grooves 50 facing the balance portions 20 are provided in the moving base 10, a driving structure 40 is provided in one of the lifting grooves 50, a part of one of the balance portions 20 extends into the lifting groove 50 and is connected to the driving structure 40, and a sliding groove is provided on the side wall of the lifting groove 50, and the balance portion 20 extending into the lifting groove 50 is slidably inserted into the sliding groove.

[0034] As Figure 1 shown in Figure 2 , rotation grooves 31 are provided on the left and right sides of the moving base 10, and the opening of the rotation groove 31 faces away from the center of the moving base 10, and the abutting portion 30 is rotatably connected in the rotation groove 31.

[0035] It can be understood that a power member is provided in the rotation groove 31, and the power member is in power connection with the abutting portion 30, and the power output by the power member drives the abutting portion 30 to contact the balance portion 20, so as to improve the stability of the moving base 10 when transporting goods.

[0036] It should be noted that the mobile base 10 is provided with a structure capable of driving the movement of the mobile base 10, which can be a roller or a track, etc.

[0037] In the technical solution of the present utility model, the driving structure 40 outputs power to drive the movement of the balancing part 20, and makes the balancing part 20 contact the plane on which the mobile base 10 is placed. By expanding the contact area between the mobile base 10 and the plane on which the mobile base 10 is placed, the stability of the mobile base 10 during the process of lifting goods is improved, and the possibility of tipping caused by the change of the center of gravity of the entire mobile base 10 due to the excessive movement of the goods is avoided, and the stability of the mobile base 10 for transporting mobile goods is improved. Moreover, after the abutting part 30 rotates, it abuts against the balancing part 20, and a triangular structure is formed by the abutting part 30, the balancing part 20 and the side surface of the mobile base 10, so as to improve the supporting effect on the mobile base 10 and further improve the stability of the mobile base 10 when lifting goods.

[0038] In an embodiment, the sliding groove includes a first sliding groove 42 and a second sliding groove 43. The first sliding groove 42 is arranged in the extending direction of the lifting groove 50, the second sliding groove 43 communicates with the first sliding groove 42, and the second sliding groove 43 is arranged in a curve on the side surface of the lifting groove 50. The balancing part 20 extending into the lifting groove 50 is slidably inserted into the first sliding groove 42 or the second sliding groove 43.

[0039] As Figure 1 With Figure 3 shown, the first sliding groove 42 extends in the up-and-down direction.

[0040] It can be understood that when the driving structure 40 drives the movement of the balancing part 20, the balancing part 20 is first restricted by the first sliding groove 42 and moves along the extending direction of the first sliding groove 42, so that the balancing part 20 can be separated from the mobile base 10.

[0041] As Figure 1 With Figure 3 shown, the second sliding groove 43 is arranged in a curve, and the curve extends in the up-and-down direction.

[0042] It can be understood that when the balancing part 20 moves and transitions from the first sliding groove 42 to the second sliding groove 43, the balancing part 20 moves along the second sliding groove 43 arranged in a curve, so that the balancing part 20 starts to rotate.

[0043] It should be noted that, as Figure 2As shown, in order to prevent the balance portion 20 of the peripheral device from increasing the occupied space of the moving base 10 during the movement of the moving base 10, the balance portion 20 is received on one side of the bottom surface of the moving base 10.

[0044] It can be understood that when the balance portion 20 needs to be used, through the limitation of the second sliding groove 43, the balance portion 20 rotates while moving, so that the balance portion 20 moves away from directly below the moving base 10 and is located on one side of the moving base 10. When the balance portion 20 contacts the plane on which the moving base 10 is placed, the contact area between the moving base 10 and the plane on which the moving base 10 is placed is increased through the balance portion 20 of the peripheral device, improving the stability of parking the moving base 10.

[0045] To improve the stability of supporting the moving base 10, a plurality of the balance portions 20 are provided on the bottom surface of the moving base 10.

[0046] It can be understood that in order to prevent interference among the plurality of balance portions 20 during the lifting process, the set length of the second sliding groove 43 is such that the balance portion 20 can rotate 180 degrees, and the rotation directions of two adjacent balance portions 20 are opposite.

[0047] In an embodiment, the balance portion 20 includes a balance member 22 and a transmission member 21. The balance member 22 is provided on the side surface of the moving base 10. The transmission member 21 is connected to the surface of the balance member 22. A part of the transmission member 21 is inserted into the lifting groove 50 and is connected to the driving structure 40.

[0048] As Figures 1 to 3 shown, the balance member 22 is a plate member.

[0049] It can be understood that a part of the transmission member 21 extends into the lifting groove 50 and is connected to the driving structure 40. Through the output power of the driving structure 40, the lifting and rotation of the balance member 22 are controlled under the transmission of the transmission member 21.

[0050] It should be noted that the shape of the transmission member 21 can rotate in the lifting groove 50, that is, the shape of the transmission member 21 is cylindrical.

[0051] In an embodiment, an extension portion is provided on the transmission member 21 extending into the lifting groove 50, and the extension portion is slidably inserted into the first sliding groove 42 or the second sliding groove 43.

[0052] In order to enable the transmission member 21 to move along the sliding groove during the process of being driven by the driving structure 40, an extension portion is provided on the side surface of the transmission member 21, and the extension portion extends into the first sliding groove 42 or the second sliding groove 43.

[0053] It should be noted that, in order to ensure the balance of the transmission member 21 during its movement in the lifting groove 50, two mirror-image sliding grooves are provided in the lifting groove 50, and two extension portions are provided on the transmission member 21, and the two extension portions respectively extend into the two sliding grooves.

[0054] It can be understood that through the restriction of the movement path of the extension portion by the first sliding groove 42 and the second sliding groove 43, during the process of the transmission member 21 being driven by the driving structure 40, the lifting and rotation of the balancing member 22 can be realized, ensuring that the balancing member 22 can rotate away from below the moving base 10 and abut against the plane supporting the moving base 10 to ensure the stability of the moving base 10 when placed.

[0055] It should be noted that, in order to ensure the smooth movement of the extension portion in the second sliding groove 43, the extension portion is provided in a cylindrical shape.

[0056] In an embodiment, the driving structure 40 includes a driving portion 41 and a driving member 44. The driving portion 41 is connected to the side surface of the lifting groove 50 facing away from the balancing member 22. The driving member 44 is connected to the driving portion 41, and a part of the driving member 44 is rotationally connected to the transmission member 21.

[0057] It can be understood that the driving portion 41 outputs power to drive the driving member 44 to move, thereby driving the transmission member 21 to move along the sliding groove, realizing the lifting and rotation of the transmission member 21.

[0058] It should be noted that the driving portion 41 is a hydraulic pump, and the driving member 44 is a hydraulic rod, and the movement of the transmission member 21 is realized by hydraulic drive.

[0059] In order to ensure that when the transmission member 21 is driven by the driving member 44 to move in the lifting groove 50, the rotation of the transmission member 21 does not interfere with the driving member 44, the transmission member 21 is rotationally connected to the driving member 44.

[0060] In an embodiment, a ball groove with an opening facing the driving portion 41 is provided on the transmission member 21. A ball portion 45 is provided at one end of the driving member 44 facing away from the driving portion 41, and the ball portion 45 is inserted into the ball groove.

[0061] It can be understood that one end of the driving member 44 is set as a spherical structure, and a ball groove is set on the end face of the transmission member 21 facing the driving member 44. Through the cooperation between the sphere and the ball groove, the transmission member 21 will not interfere with the driving member 44 when it rotates.

[0062] In one embodiment, a receiving groove 15 with an opening facing away from the lifting groove 50 is provided on the movable base 10 , and the receiving groove 15 is connected to the lifting groove 50 , and the receiving groove 15 receives the balancing member 22 .

[0063] like Figure 2 As shown, in order to hide the balancing member 22, a receiving groove 15 is opened on the bottom surface of the mobile base 10, so that the flat balancing member 22 can be hidden in the receiving groove 15, thereby preventing the balancing member 22 protruding from the surface of the mobile base 10 from affecting the movement of the mobile base 10.

[0064] In one embodiment, a surface of the balancing member 22 facing the movable base 10 is provided with friction lines.

[0065] In order to ensure the abutting friction force between the abutting portion 30 and the balancing member 22 and avoid relative sliding between the abutting portion 30 and the balancing member 22 , the friction texture is provided on the surface of the balancing member 22 .

[0066] It can be understood that by providing friction textures and increasing the friction coefficient on the surface of the abutment portion 30 , the abutment friction force between the abutment portion 30 and the balancing member 22 is increased, thereby avoiding relative sliding between the abutment portion 30 and the balancing member 22 during the process of supporting the mobile base 10 and affecting the supporting effect on the mobile base 10.

[0067] In one embodiment, a plurality of grooves arranged at intervals are disposed on the surface of the balancing member 22 for clamping the abutting portion 30 .

[0068] In one embodiment, the movable base 10 includes a guide portion 14, a movable portion 11 and a support platform 12, the support platform 12 is provided on the movable portion 11, the guide portion 14 is provided on the side of the movable portion 11, and the guide portion 14 is connected to the support platform 12, and distance sensors 13 are provided on the opposite surfaces of the movable portion 11 and the support platform 12.

[0069] It can be understood that the support platform 12 is used to support goods.

[0070] It can be understood that the moving part 11 drives the supporting platform 12 to move in translation.

[0071] It can be understood that an electric guide rail is provided on the guiding part 14 and is connected to the support table 12. The electric guide rail outputs power to enable the support table 12 to move along the direction of the guiding part 14, realizing the lifting and transmission of the supported goods.

[0072] In one embodiment, as Figure 2 described, the guiding part 14 is a telescopic member, and the telescoping of the guiding part 14 is realized through hydraulic pressure, thereby realizing the lifting of the support table 12.

[0073] The present utility model also proposes a warehouse storage robot, which includes the warehouse storage robot balance structure 100. The specific structure of the warehouse storage robot balance structure 100 refers to the above embodiment. Since this warehouse storage robot adopts all the technical solutions of the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated here one by one.

[0074] The above is only an exemplary implementation manner of the present utility model, and does not limit the patent scope of the present utility model. Any equivalent structural transformation made by using the content of the specification and drawings of the present utility model under the technical concept of the present utility model, or direct / indirect application in other related technical fields is included in the patent protection scope of the present utility model.

Claims

1. A balance structure for a warehouse storage robot, characterized in that, include: A movable base, wherein two opposite sides of the movable base are rotatably provided with abutment portions; A plurality of balancing parts, wherein the plurality of balancing parts are arranged at intervals on the movable base, and the balancing parts are slidably connected to the movable base; Among them, the mobile base is provided with a plurality of lifting grooves facing the balancing part, a driving structure is provided in one of the lifting grooves, a portion of the balancing part extends into the lifting groove and is connected to the driving structure, a sliding groove is provided on the side wall of the lifting groove, and the balancing part extending into the lifting groove is slidably inserted into the sliding groove.

2. The balance structure of the warehouse storage robot according to claim 1, characterized in that, The sliding groove includes a first sliding groove and a second sliding groove, the first sliding groove is arranged in the extension direction of the lifting groove, the second sliding groove is connected to the first sliding groove, and the second sliding groove is arranged in a curve on the side of the lifting groove, and the balancing part extending into the lifting groove is slidably inserted into the first sliding groove or the second sliding groove.

3. The balance structure of the warehouse storage robot according to claim 2, characterized in that, The balancing part includes a balancing member and a transmission member. The balancing member is arranged on the side of the movable base. The transmission member is connected to the surface of the balancing member. The transmission member is partially inserted into the lifting slot and connected to the driving structure.

4. The balance structure of the warehouse storage robot according to claim 3, characterized in that, An extension portion is provided on the transmission member extending into the lifting slot, and the extension portion is slidably inserted in the first sliding slot or the second sliding slot.

5. The balance structure of the warehouse storage robot according to claim 3, characterized in that, The driving structure comprises a driving part and a driving member, wherein the driving part is connected to the side of the lifting slot away from the balancing member, the driving member is connected to the driving part, and the driving member is partially rotatably connected to the transmission member.

6. The balance structure of the warehouse storage robot according to claim 5, wherein, The transmission member is provided with a ball groove with an opening facing the driving part, and the driving member is provided with a ball part at one end away from the driving part, and the ball part is inserted into the ball groove.

7. The balance structure of the warehouse storage robot according to claim 6, wherein, The movable base is provided with a receiving groove with an opening facing away from the lifting groove, and the receiving groove is connected with the lifting groove, and the receiving groove receives the balancing member.

8. The balance structure of the warehouse storage robot according to claim 7, characterized in that, The surface of the balancing piece facing the movable base is provided with friction lines.

9. The balance structure of the warehouse storage robot according to claim 1, characterized in that, The movable base comprises a guiding part, a movable part and a supporting platform, the movable part is provided with the supporting platform, the guiding part is provided on the side of the movable part, and the guiding part is connected with the supporting platform, and distance sensors are provided on the opposite surfaces of the movable part and the supporting platform.

10. A warehouse storage robot, characterized in that, It comprises a warehouse storage robot balancing structure as described in any one of claims 1 to 9.

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