Automatic goods shelf facilitating goods taking

Abstract

The utility model discloses an automatic goods shelf convenient for taking goods, which relates to the technical field of automatic goods shelves and specifically comprises a multi-layer goods shelf, a supporting platform is arranged at the top of the multi-layer goods shelf, a driving vehicle is arranged at the top of the supporting platform, and the driving vehicle is connected with a second linear driving module arranged on the supporting platform; a strip-shaped rack body matched with the height of the multi-layer goods shelf is arranged on one side of the multi-layer goods shelf, and the top of the strip-shaped rack body is bent in an L shape and extends to the position above the supporting platform to be connected with a driving vehicle; a support is arranged on the side, away from the multi-layer goods shelf, of the strip-shaped shelf body, the support is connected with the strip-shaped shelf body through a guide mechanism, and a first linear driving module connected with the support is further arranged on the strip-shaped shelf body. When the multi-layer goods shelf is used and the carrying manipulator clamps the goods, the goods are driven by the mechanical arm to be placed at a preset place of the multi-layer goods shelf, and when the goods need to be taken down, the carrying manipulator stretches into the multi-layer goods shelf to take out the goods after the mechanical arm is controlled to reach the preset place.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic shelves, in particular to an automatic shelf convenient for taking goods. Background Technique

[0002] ‌A shelf is a framework for storing goods. With numerous storage spaces on the shelf, it is inconvenient to store and retrieve goods by manual search when the shelf is full of goods, resulting in low efficiency of goods circulation. Thus, the automatic shelf emerged as the times require. It is a warehousing management system that realizes the automatic management and storage of goods by integrating RFID technology and other automation technologies. The automatic shelf system can automatically identify goods information, storage locations, and quantities, and update the data in the system in real time, thereby greatly improving the efficiency and accuracy of warehouse work. In addition, the automatic shelf also supports intelligent sorting functions, and can automatically sort and classify goods according to information such as the attributes, specifications, and destinations of the goods, with high work efficiency, safety, and reliability.

[0003] However, the existing automatic shelves need to be equipped with shelf robots. The automatic shelves completely realize the placement and picking of goods through robots, and the robots are separated from the shelves. For example, an automatic shelf convenient for taking goods proposed in the literature number "CN212268502U" includes a picking shelf. When in use, the goods are placed on the picking shelf, but the robot occupies a large space. For this reason, we propose an automatic shelf convenient for taking goods. Summary of the Utility Model

[0004] Aiming at the deficiency that the robot and the shelf are separated in the existing automatic shelves, the utility model provides an automatic shelf convenient for taking goods, which has the advantage of setting the robot on the shelf, and solves the problems raised in the above background technique.

[0005] To achieve the above objectives, the utility model is realized through the following technical solutions: an automatic shelf convenient for taking goods, including a multi-layer shelf. A support platform is provided at the top of the multi-layer shelf, and a driving vehicle is provided on the top of the support platform. The driving vehicle is connected to a second linear driving module provided on the support platform;

[0006] A strip-shaped frame body matching the height of the multi-layer shelf is provided on one side of the multi-layer shelf. The top of the strip-shaped frame body is bent in an "L" shape and extends above the support platform to be connected to the driving vehicle;

[0007] A support is provided on the side of the strip-shaped frame body away from the multi-layer shelf. The support is connected to the strip-shaped frame body through a guiding mechanism, and a first linear driving module connected to the support is further provided on the strip-shaped frame body; and,

[0008] It further includes a robotic arm provided on the support, and a handling manipulator is installed at the free end of the robotic arm.

[0009] Preferably, the support platform includes a reinforcement frame installed on the top of the multi-layer shelf. Along the length direction of the reinforcement frame, a plurality of support frames are provided, and two tracks are installed on the top of the support frames.

[0010] An installation plate is provided at the middle position between the two tracks. The installation plate is arranged on the support frame, and the second linear driving module is installed on the installation plate.

[0011] The driving vehicle includes a vehicle body. Track wheels are provided at the four corners of the vehicle body. The track wheels are placed on the tracks, and the vehicle body is connected to the second linear driving module through a second connecting frame.

[0012] Preferably, first guide rails are provided on both sides of the top of the reinforcement frame.

[0013] An L-shaped support arm is connected to the side of the driving vehicle away from the strip-shaped rack body. The end of the L-shaped support arm is located at the first guide rail. The L-shaped support arm and the strip-shaped rack body are respectively connected to the first guide rail through sliders.

[0014] Preferably, a strip-shaped support is installed on the bottom of the strip-shaped rack body near one side of the strip-shaped rack body. A third guide rail is provided on the surface of the strip-shaped support. The third guide rail and the bottom of the strip-shaped rack body are connected through sliders.

[0015] Preferably, the guiding mechanism includes second guide rails provided on both sides of the strip-shaped rack body. A support seat is connected to each second guide rail through a slider.

[0016] A connecting arm extending towards the support is connected to the middle of each of the two support seats. The connecting arms are both connected to the support.

[0017] Preferably, the first linear driving module passes between the connecting arms, and the first linear driving module is connected to the support through a first connecting frame.

[0018] Preferably, the robotic arm is a six-axis robotic arm.

[0019] Preferably, the first linear driving module and the second linear driving module are linear motors or belt linear modules.

[0020] Compared with the prior art, when the present utility model is in use, the second linear driving module can drive the robotic arm to reciprocate along the length direction of the multi-layer shelf, and the first linear driving module can drive the robotic arm to move up and down at the side of the multi-layer shelf. Therefore, the robotic arm can reach any location on the side of the multi-layer shelf. When the handling manipulator clamps the goods, the goods can be placed at the preset location on the multi-layer shelf under the drive of the robotic arm. Moreover, when it is necessary to remove the goods, after controlling the robotic arm to reach the preset location, the handling manipulator extends into the multi-layer shelf to take out the goods. The operation is simple and convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Structural Schematic of the Present Utility ModelFigure 1 。

[0022] Figure 2 This is a schematic diagram of the structure of the present utility model Figure 2 。

[0023] Figure 3 This is a schematic diagram of the specific connection structure of the strip-shaped frame body, driving vehicle and robotic arm of the present utility model Figure 1 。

[0024] Figure 4 This is a schematic diagram of the specific connection structure of the strip-shaped frame body, driving vehicle and robotic arm of the present utility model Figure 2 。

[0025] Figure 5 This is a schematic diagram of the specific connection structure of the strip-shaped frame body, driving vehicle and robotic arm of the present utility model Figure 3 。

[0026] In the figure: 1, multi-layer shelf; 2, reinforcement frame; 3, track; 4, support frame; 5, first current collector; 6, L-shaped support arm; 7, driving vehicle; 8, first linear drive module; 9, first sliding contact wire group; 10, mounting plate; 11, handling manipulator; 12, robotic arm; 13, support; 14, strip-shaped bracket; 15, strip-shaped frame body; 16, first guide rail; 17, second current collector; 18, second guide rail; 19, connecting arm; 20, support seat; 21, second sliding contact wire group; 22, first connecting frame; 23, third guide rail; 24, second linear drive module; 25, second connecting frame. Specific embodiments

[0027] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with 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. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0028] Please refer to Figures 1 to 5 , the present utility model provides a technical solution: an automatic shelf convenient for taking items, including a multi-layer shelf 1, as Figure 1 shown, a plurality of storage spaces are provided in the multi-layer shelf 1. During use, the goods can be placed on each layer of the multi-layer shelf 1.

[0029] The top of the shelf proposed in this application is provided with a support platform. The specific structure of the support platform includes a reinforcement frame 2 installed on the top of the multi-layer shelf 1. Along the length direction of the reinforcement frame 2, multiple support frames 4 are provided. The support frames 4 are specifically arranged at the bottom of the reinforcement frame 2. The intermittently arranged support frames 4 can not only strengthen the strength of the reinforcement frame, but also support the track 3 when the track 3 is installed on the top of the support frame 4. The number of tracks is two and they are symmetrically installed on the top of the support frame 4;

[0030] An installation plate 10 is provided at the middle position between the two tracks 3. The installation plate 10 is fixed on the support frame 4. A second linear drive module 24 is installed on the installation plate 10. The stroke length of the second linear drive module 24 is at least as long as the length of the multi-layer shelf 1;

[0031] As Figure 1 shown, a drive vehicle 7 is provided on the top of the support platform. The drive vehicle 7 includes a vehicle body (not labeled in the figure). Track wheels are provided at the four corners of the vehicle body. A flange is provided at the edge of the track wheel. The track wheel is placed on the track 3. The vehicle body is connected to the second linear drive module 24 through a second connecting frame 25. The second connecting frame 25 is of a "T" shape. When in use, one end of the "T" shape is connected to the second linear drive module 24, and the other end is connected to the vehicle body. In this way, when the drive vehicle 7 is driven by the second linear drive module 24, the drive vehicle 7 reciprocates on the track 3.

[0032] As Figure 1 shown, a strip-shaped frame body 15 matching the height of the multi-layer shelf 1 is provided on one side of the multi-layer shelf 1. The top of the strip-shaped frame body 15 is bent in an "L" shape and extends above the support platform to be connected to the drive vehicle 7, so that the strip-shaped frame body 15 can move along with the movement of the drive vehicle 7. The strip-shaped frame body 15 is parallel to the side surface of the multi-layer shelf 1, and the bottom of the strip-shaped frame body 15 should be higher than the bottom of the multi-layer shelf 1, that is, there is a certain distance between the bottom of the strip-shaped frame body 15 and the ground to prevent the strip-shaped frame body 15 from touching the ground during driving;

[0033] As Figure 3 and Figure 4 shown, second guide rails 18 are installed on both sides of the strip-shaped frame body 15. A support seat 20 is respectively connected to each second guide rail 18 through a slider. Each support seat 20 is respectively connected to a support 13. Here, the second guide rail 18, the support seat 20 and the connecting arm 19 constitute a guiding mechanism. A support 13 is installed on the guiding mechanism, that is, the connecting arm 19 extends towards the support 13. The connecting arms 19 are all connected to the support 13. The support 13 is located at the side of the strip-shaped frame body 15 and there is a distance between them. A robotic arm 12 is installed on the support 13. The robotic arm 12 is a six-axis robotic arm. A handling manipulator 11 is installed at the free end of the robotic arm 12;

[0034] The bar-shaped frame body 15 is also provided with a first linear drive module 8 connected to the support 13. The first linear drive module 8 passes between the connecting arms 19, and the first linear drive module 8 is connected to the support 13 through a first connecting frame 22. The first connecting frame 22 and the second connecting frame 25 have the same structure, both of which are "T"-shaped structures. During use, one end of the "T"-shaped structure is connected to the first linear drive module 8, and the other end is connected to the support 13. In this way, when the first linear drive module 8 moves, it can drive the support 13 to move up and down along the second guide rail 18.

[0035] It should be noted that the second linear drive module 24 can drive the robotic arm 12 to travel back and forth along the length direction of the multi-layer shelf 1, and the first linear drive module 8 can drive the robotic arm 12 to travel up and down on the side of the multi-layer shelf 1, giving the robotic arm 12 two degrees of freedom in the horizontal and vertical directions. Therefore, the robotic arm 12 can reach any location on the side of the multi-layer shelf 1. So when the handling manipulator 11 clamps the goods, the goods can be placed at the preset location of the multi-layer shelf 1 under the drive of the robotic arm 12.

[0036] Conversely, when it is necessary to remove the goods, after controlling the robotic arm to reach the preset location, the handling manipulator extends into the multi-layer shelf 1 to take out the goods.

[0037] Furthermore, in order to make the movement of the drive vehicle 7 and the bar-shaped frame body 15 more stable, first guide rails 16 are provided on both sides of the top of the reinforcement frame 2; as Figure 1 and Figure 2 shown, one side of the drive vehicle 7 away from the bar-shaped frame body 15 is connected with an L-shaped support arm 6. The end of the L-shaped support arm 6 is located at the first guide rail 16. The L-shaped support arm 6 and the bar-shaped frame body 15 are respectively connected to the first guide rail 16 through sliders; and a bar-shaped support 14 is installed on the bottom of the bar-shaped frame body 15 close to one side of the bar-shaped frame body 15. A third guide rail 23 is provided on the surface of the bar-shaped support 14, and the third guide rail 23 and the bottom of the bar-shaped frame body 15 are connected through sliders. In this way, not only can the drive vehicle 7 be supported by the first guide rail 16, but also both ends of the bar-shaped frame body 15 are simultaneously supported by the first guide rail 16 and the second guide rail 18, keeping the drive vehicle 7 and the bar-shaped frame body 15 stable during movement.

[0038] Furthermore, the first linear drive module 8 and the second linear drive module 24 of the present application are linear motors or belt linear modules. The length and height of the multi-layer shelf 1 of the present application can be designed to be very long, so that the multi-layer shelf 1 can store more goods, and both the robotic arm 12 and the handling manipulator 11 can take down or put in goods from the multi-layer shelf 1.

[0039] Based on the above embodiments, further optimization can be carried out, such as Figure 1 and Figure 2As shown in the figure, when the vertical span of the strip-shaped frame 15 is relatively large, the traditional wire power supply method cannot meet the working requirements, because too long wires will hinder the movement of the equipment. Therefore, a second sliding contact line group 21 can be arranged on the surface of the strip-shaped frame 15, and a second current collector 17 in contact with the second sliding contact line group 21 is arranged on the support 13. After the second current collector 17 is connected to the handling manipulator 11 and the robotic arm 12 respectively, the power supply and signal transmission can be realized; and,

[0040] A first sliding contact line group 9 is installed on the mounting plate 10, and a first current collector 5 in contact with the first sliding contact line group 9 is arranged on the vehicle body of the driving vehicle 7. The first current collector 5 is connected to the top of the second sliding contact line group 21 through a wire;

[0041] Specifically, external electric energy and signals can be connected to the first sliding contact line group 9. The first sliding contact line group 9 transmits the electric energy and signals to the second sliding contact line group 21 through the first current collector 5, and the second sliding contact line group 21 transmits them to the handling manipulator 11 and the robotic arm 12 through the second current collector 17, so that the handling manipulator 11 and the robotic arm 12 can be powered when traveling with a large span.

[0042] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention; the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0043] Although embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. An automatic shelf convenient for fetching goods, comprising multiple layers of shelves (1), characterized in that, A support platform is provided at the top of the multi-layer shelf (1), and a driving vehicle (7) is provided on the top of the support platform. The driving vehicle (7) is connected to a second linear driving module (24) provided on the support platform; A strip-shaped frame body (15) matching the height of the multi-layer shelf (1) is provided on one side of the multi-layer shelf (1). The top of the strip-shaped frame body (15) is bent in an "L" shape and extends above the support platform to be connected to the driving vehicle (7); A support (13) is provided on the side of the strip-shaped frame body (15) away from the multi-layer shelf (1). The support (13) is connected to the strip-shaped frame body (15) through a guiding mechanism, and a first linear driving module (8) connected to the support (13) is also provided on the strip-shaped frame body (15); and, It further includes a robotic arm (12) provided on the support (13), and a handling manipulator (11) is installed at the free end of the robotic arm (12).

2. The automatic shelf facilitating item retrieval according to claim 1, wherein, The support platform includes a reinforcement frame (2) installed on the top of the multi-layer shelf (1). A plurality of support frames (4) are provided along the length direction of the reinforcement frame (2), and two tracks (3) are installed on the top of the support frames (4); An installation plate (10) is provided at the middle position between the two tracks (3). The installation plate (10) is arranged on the support frame (4), and the second linear driving module (24) is installed on the installation plate (10); The driving vehicle (7) includes a vehicle body. Track wheels are provided at the four corners of the vehicle body. The track wheels are placed on the tracks (3), and the vehicle body is connected to the second linear driving module (24) through a second connecting frame (25).

3. The automatic shelf facilitating item retrieval according to claim 2, wherein First guide rails (16) are provided on both sides of the top of the reinforcement frame (2); An L-shaped support arm (6) is connected to the side of the driving vehicle (7) away from the strip-shaped frame body (15). The end of the L-shaped support arm (6) is located at the first guide rail (16). The L-shaped support arm (6) and the strip-shaped frame body (15) are respectively connected to the first guide rail (16) through sliders.

4. The automatic shelf facilitating item retrieval according to claim 3, wherein A strip-shaped support (14) is installed on the bottom of the strip-shaped frame body (15) near the side of the strip-shaped frame body (15). A third guide rail (23) is provided on the surface of the strip-shaped support (14), and the third guide rail (23) and the bottom of the strip-shaped frame body (15) are connected through sliders.

5. The automatic shelf facilitating item retrieval according to claim 1, wherein The guiding mechanism includes second guide rails (18) provided on both sides of the strip-shaped frame body (15). A support seat (20) is respectively connected to each second guide rail (18) through a slider; Connecting arms (19) extending towards the support (13) are connected to the middle parts of the two support seats (20), and the connecting arms (19) are all connected to the support (13).

6. The automatic shelf facilitating item retrieval according to claim 5, wherein The first linear driving module (8) passes between the connecting arms (19), and the first linear driving module (8) is connected to the support (13) through a first connecting frame (22).

7. The automatic shelf facilitating item retrieval according to claim 1, wherein The robotic arm (12) is a six-axis robotic arm.

8. The automatic shelf facilitating item retrieval according to claim 6, wherein, The first linear driving module (8) and the second linear driving module (24) are linear motors or belt linear modules.

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