Robot facilitating automatic storage and taking of material boxes of warehouse goods shelf

Abstract

The utility model relates to the technical field of warehouse logistics, in particular to a robot facilitating automatic storage and taking of material boxes of a warehouse shelf, which comprises an automatic walking AGV (automatic guided vehicle), a micro air pump, a material box temporary storage shelf, a synchronous belt automatic lifter, a servo lifting motor, a lifting plate and a material box storage and taking manipulator. The system has the advantages that material box storing and taking operation can be rapidly and efficiently conducted on layers of all goods shelves of all channels of a warehouse according to a storing and taking operation command issued by a warehouse management WMS, the operation efficiency is high, the labor intensity is small, and errors are not prone to occurring; specifically, according to a material box storing and taking operation command issued by a WMS warehouse management system, an automatic walking AGV automatically runs to any specified channel of a warehouse shelf, any specified shelf column or a warehouse in-out conveying table or a picking table, and a synchronous belt automatic lifter automatically lifts to any layer of the specified shelf; when the automatic walking AGV trolley and the synchronous belt automatic elevator reach the designated position, the material box storing and taking mechanical arm conducts automatic material box storing and taking operation.

Description

Technical Field

[0001] The utility model relates to the technical field of warehousing logistics, in particular to a robot for automatically accessing and storing material boxes on warehouse shelves. Background Technique

[0002] The shelves in warehousing logistics are used for storing or transferring goods. They are used to store various conventional materials. For example, medical drugs, daily necessities in e-commerce, and other small items of the same specification are temporarily stored in the same barcode material boxes, and material boxes with different barcodes are used for storing different specifications.

[0003] In warehouse or factory production, there are many types and large quantities of goods. Multi-layer, multi-column, and multi-channel shelves are used for storage, and the height is generally 3-5 meters to maximize the use of warehouse area. Generally, it is impossible for manual labor to access all the material boxes on the shelves. Usually, forklifts are used manually to access the material boxes, or cargo elevators are used to assist manual access to the material boxes. Moreover, the goods in the material boxes are generally about 30 kg. This manual-assisted access to the material boxes has low access efficiency, high labor intensity for workers, and is also prone to misplacement or misretrieval of the material boxes. The daily inbound and outbound requirements of pharmaceutical or e-commerce warehouses are large, and a large amount of manual labor is required for access operations, resulting in low shipping efficiency and directly affecting the economic benefits of the warehouse or factory. Content of the Utility Model

[0004] To overcome the technical defects in the prior art and effectively solve the technical problems in the background technique, the utility model provides the following technical solutions:

[0005] A robot for automatically accessing and storing material boxes on warehouse shelves, including an automatic walking AGV cart. On one side of the upper surface of the automatic walking AGV cart, a material box temporary storage shelf is fixedly installed. On one side of the material box temporary storage shelf, a synchronous belt automatic elevator is fixedly installed. On one side of the synchronous belt automatic elevator, a lifting plate is fixedly installed. On the outside of the lifting plate, a material box access and storage manipulator is fixedly installed. The material box access and storage manipulator includes a rotating device. The rotating device is fixedly installed on the upper surface of the lifting plate. At the top of the rotating device, a rotating bottom plate is fixedly installed. On the left and right sides of the rotating bottom plate, cylinder fixed side plates are symmetrically and fixedly installed. Inside the two cylinder fixed side plates, telescopic cylinders are respectively fixed. On the two telescopic cylinders, cylinder telescopic rods are respectively fixedly installed. At the telescopic ends of the two cylinder telescopic rods, telescopic side plates with photoelectric detection ends at both the middle and the end are respectively fixedly installed. At the rear ends of the two telescopic side plates, pushing small arms are respectively fixedly installed. At the front ends of the two telescopic side plates, rotating cylinders are respectively fixedly installed. Outside the two rotating cylinders, a zero-degree position detection magnetic switch and a ninety-degree position detection magnetic switch are sequentially and correspondingly fixedly installed. The output shafts of the two rotating cylinders are respectively fixedly connected with rotating shafts through couplings. At the outer ends of the two rotating shafts, pulling small arms are respectively fixedly installed.

[0006] As a preferred technical solution of the present utility model, the rotating device includes a rotating fixed base, the rotating fixed base is fixedly installed at the top of the lifting plate, a rotating servo motor is fixedly installed on the rotating fixed base, the top of the output shaft of the rotating servo motor is fixedly installed with a rotating mechanism, and the upper surface of the rotating mechanism is fixedly connected to the bottom of the rotating base plate.

[0007] As a preferred technical solution of the present utility model, telescopic slide rails corresponding to the telescopic side plates are arranged on the fixed side plates of the cylinders.

[0008] As a preferred technical solution of the present utility model, a micro air pump corresponding to the telescopic cylinder and the rotating cylinder is fixedly installed on one side of the upper surface of the automatic guided vehicle (AGV) for automatic walking.

[0009] As a preferred technical solution of the present utility model, a servo lifting motor corresponding to the synchronous belt automatic elevator is fixedly installed on one side of the upper surface of the automatic guided vehicle (AGV) for automatic walking.

[0010] Compared with the prior art, the beneficial effects of the present utility model are as follows: This automatic storage and retrieval bin robot for warehouse shelves can quickly and efficiently perform bin storage and retrieval operations on all layers and columns of all shelves in all channels of the warehouse according to the storage and retrieval operation commands issued by the warehouse management WMS. The operation efficiency is relatively high (6 - 10 times that of manual assistance), the labor intensity is small, and it is not easy to make mistakes. Specifically, according to the storage and retrieval bin operation commands issued by the WMS warehouse management system, the automatic guided vehicle (AGV) for automatic walking automatically runs to any designated channel of the warehouse shelves, any designated shelf column, or the warehouse inbound and outbound conveyor platform or picking station. The synchronous belt automatic elevator automatically lifts to any layer of the designated shelf. When the automatic guided vehicle (AGV) for automatic walking and the synchronous belt automatic elevator reach the designated positions, the storage and retrieval bin manipulator performs automatic storage and retrieval bin operations (specifically, by controlling the front and back telescoping of the cylinder telescopic rod, the telescopic side plate, and the pushing arm by the telescopic cylinder, controlling the rotation of the rotating shaft and the pulling arm by the rotating cylinder, and the cooperative action of the rotating device, the storage and retrieval operation of the bin can be realized. Through the zero-degree position detection magnetic switch, the ninety-degree position detection magnetic switch, and the photoelectric detection end, automatic detection and control can be cooperatively realized). BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a schematic structural diagram of the present utility model.

[0012] Figure 2 is a schematic side view structure diagram inside the storage and retrieval bin manipulator of the present utility model.

[0013] Figure 3 For the present utility model Figure 2 is a schematic structure diagram of part A.

[0014] Figure 4This is the top view of the manipulator for the storage and retrieval box of the present utility model.

[0015] In the figure: automatic walking AGV cart 1, micro air pump 2, temporary storage shelf for boxes 3, synchronous belt automatic elevator 4, servo lifting motor 5, lifting plate 6, right-angle connector one 7, manipulator for storage and retrieval box 8, zero-position detection magnetic switch 9, cylinder fixed side plate 10, telescopic cylinder 11, telescopic slide rail 12, right-angle connector two 13, telescopic side plate 14, ninety-degree position detection magnetic switch 15, rotary cylinder 16, fixed bracket 17, coupling 18, support seat 19, rotating shaft 20, material pulling small arm 21, locking nut one 22, fixing piece 23, connecting piece 24, cylinder telescopic rod 25, locking nut two 26, rotary bottom plate 27, rotating mechanism 28, rotary fixed base 29, rotary servo motor 30, material pushing small arm 31. Specific embodiments

[0016] 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. 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.

[0017] Please refer to Figures 1-4, the present utility model provides a technical solution: a robot for automatically storing and retrieving material boxes on a warehouse shelf, including an automatic walking AGV cart 1. On one side of the upper surface of the automatic walking AGV cart 1, a temporary storage shelf 3 for material boxes is fixedly installed. On one side of the temporary storage shelf 3 for material boxes, a synchronous belt automatic elevator 4 is fixedly installed. On one side of the synchronous belt automatic elevator 4, a lifting plate 6 is fixedly installed. On the outer side of the lifting plate 6, a material box storage and retrieval manipulator 8 is fixedly installed. The material box storage and retrieval manipulator 8 includes a rotating device. The rotating device is fixedly installed on the upper surface of the lifting plate 6. At the top of the rotating device, a rotating bottom plate 27 is fixedly installed. On the left and right sides of the rotating bottom plate 27, cylinder fixing side plates 10 are symmetrically and fixedly installed. Inside the two cylinder fixing side plates 10, telescopic cylinders 11 are respectively fixed. Specifically, the telescopic cylinder 11 is a three-stage telescopic cylinder. The telescopic cylinder 11 and the cylinder fixing side plate 10 are fixedly connected through a fixing member 23. Its principle is a mature existing technology and will not be described in detail here. On the two telescopic cylinders 11, cylinder telescopic rods 25 are respectively fixedly installed. On the telescopic ends of the two cylinder telescopic rods 25, telescopic side plates 14 with photoelectric detection ends (using conventional products of existing technologies) at both the middle and the end are respectively fixedly installed. Specifically, the telescopic side plate 14 and the cylinder telescopic rod 25 are fixedly connected through a right-angle connecting member two 13, a connecting member 24, and a locking nut two 26. Its principle is a mature existing technology and will not be described in detail here. At the rear ends of the two telescopic side plates 14, pushing small arms 31 are respectively fixedly installed. At the front ends of the two telescopic side plates 14, rotating cylinders 16 are respectively fixedly installed. Specifically, the rotating cylinder 16 and the telescopic side plate 14 are fixedly connected through a fixing bracket 17. Its principle is a mature existing technology and will not be described in detail here. Outside the rotating cylinder 16, a zero-degree position detection magnetic switch 9 and a ninety-degree position detection magnetic switch 15 are sequentially and correspondingly fixedly installed. The output shafts of the two rotating cylinders 16 are respectively fixedly connected to a rotating shaft 20 through a coupling 18. Specifically, the rotating shaft 20 is rotatably connected to the outer side of the telescopic side plate 14 through a support seat 19. Its principle is a mature existing technology and will not be described in detail here. At the outer ends of the two rotating shafts 20, pulling small arms 21 are respectively fixedly installed. Specifically, the pulling small arm 21 is fixedly connected to the front end of the rotating shaft 20 through an aluminum alloy pull rod and a locking nut one 22. Its principle is a mature existing technology and will not be described in detail here.

[0018] By controlling the front and back telescoping of the cylinder telescopic rod 25, the telescopic side plate 14, and the pushing small arm 31 through the telescopic cylinder 11, controlling the rotation of the rotating shaft 20 and the pulling small arm 21 through the rotating cylinder 16, and the cooperative action of the rotating device, the operation of storing and retrieving the material box can be realized. Through the zero-degree position detection magnetic switch 9, the ninety-degree position detection magnetic switch 15, and the photoelectric detection end, automatic detection and control can be cooperatively realized.

[0019] Further, the rotating device includes a rotating fixed base 29, which is fixedly installed at the top of the lifting plate 6. Specifically, the lifting plate 6 is fixedly connected to the rotating fixed base 29 through a right-angle connecting piece 7. The principle is a mature existing technology and will not be elaborated here. A rotating servo motor 30 is fixedly installed on the rotating fixed base 29. The top of the output shaft of the rotating servo motor 30 is fixedly installed with a rotating mechanism 28. The upper surface of the rotating mechanism 28 is fixedly connected to the bottom of the rotating base plate 27. By driving the rotation of the rotating mechanism 28 and the rotating base plate 27 by the rotating servo motor 30, the overall rotation of the storage and retrieval box manipulator 8 can be realized.

[0020] Further, telescopic slide rails 12 corresponding to the telescopic side plates 14 are provided on the cylinder fixed side plates 10. Specifically, the telescopic slide rails 12 are three-stage telescopic slide rails, and the telescopic slide rails 12 are used to strengthen the rigidity and strength of the left and right telescopic side plates 14 so that the pushing and pulling small arms can smoothly push and pull the storage boxes.

[0021] Further, a micro air pump 2 corresponding to the telescopic cylinder 11 and the rotating cylinder 16 is fixedly installed on one side of the upper surface of the automatic guided vehicle (AGV) 1. The micro air pump 2 provides pneumatic power for the cylinders.

[0022] Further, a servo lifting motor 5 corresponding to the synchronous belt automatic elevator 4 is fixedly installed on one side of the upper surface of the automatic guided vehicle (AGV) 1. The servo lifting motor 5 drives the synchronous belt automatic elevator 4 to perform lifting operations. The principle is a mature existing technology and will not be elaborated here.

[0023] During use:

[0024] Connect the entire automatic storage and retrieval box robot device for warehouse shelves to an external WMS system (this connection control operation is a mature existing technology and its principle will not be further described), and then automatic control of goods picking and inventory operations can be carried out.

[0025] The specific goods picking and inventory operation processes are as follows:

[0026] 1. Robot warehouse shelf storage box picking (storage box) task process:

[0027] 1.1: When this automatic storage and retrieval box robot for warehouse shelves receives a goods picking task issued by the WMS, the automatic guided vehicle (AGV) 1 automatically runs to the corresponding aisle, corresponding shelf, and corresponding example. When the synchronous belt automatic elevator 4 automatically lifts to the corresponding shelf layer, the storage and retrieval box manipulator 8 automatically rotates to the designated shelf.

[0028] 1.2: When the automatic guided vehicle (AGV) 1 automatically runs to the corresponding shelf in the corresponding aisle, the synchronous belt automatic elevator 4 automatically lifts to the corresponding shelf layer, and the manipulator 8 for storing and retrieving the bin automatically rotates to the designated shelf. The pneumatic telescopic rods 25 on both the left and right sides drive the telescopic side plates 14 and the telescopic slide rails 12 on both the left and right sides to extend to the end of the bin on the shelf together. At this time, the photoelectric detection ends at the ends of the side telescopic plates 14 on both the left and right sides detect no foreign object blocking, and when the photoelectric detection ends in the middle of the side telescopic plates 14 on both the left and right sides detect a bin, the pulling small arms 21 at the ends of the side telescopic plates 14 on both the left and right sides are controlled by the rotary cylinder 16 to rotate 90°, so that they change from the original perpendicular to the ground (the zero-degree position detection magnetic switch 9 is ON) to parallel to the ground (the ninety-degree position detection magnetic switch 15 is ON).

[0029] 1.3: At this time, the pneumatic telescopic rods 25 on both the left and right sides drive the telescopic side plates 14 on both the left and right sides and the left and right pulling small arms 21 to pull the bin on the shelf into the manipulator 8 for storing and retrieving the bin. It is detected by the photoelectric detection end. After the bin completely enters the manipulator 8 for storing and retrieving the bin, the rotary servo motor 30 drives the rotary mechanism 28 and the manipulator 8 for storing and retrieving the bin to rotate 90° as a whole, so that the manipulator 8 for storing and retrieving the bin is docked with the bin temporary storage shelf 3. According to the operation command, the synchronous belt automatic elevator 4 automatically runs to the position corresponding to the bin temporary storage layer. The pneumatic telescopic rods 25 on both the left and right sides in the manipulator 8 for storing and retrieving the bin drive the telescopic side plates 14 and the pushing small arms 31 to push the bin to the corresponding layer of the bin temporary storage place and reset the pulling small arm 21 to the zero position (the zero-degree position detection magnetic switch 9 is ON). Then, the pneumatic telescopic rods 25 and the telescopic side plates 14 on both the left and right sides automatically retract to the origin position, completing an operation of picking up a bin from the warehouse shelf. When all the bin temporary storage positions on the robot are filled with bins, the automatic guided vehicle (AGV) 1 will automatically run to the warehouse shipping platform or the corresponding shipping production line or the picking station according to the operation command issued by the WMS, and send out the bins at the bin temporary storage place of the robot one by one to complete. Thus, a task of picking up bins from the warehouse shelf is completed.

[0030] 2. Task process of the robot for storing bins (bins) on the warehouse shelf:

[0031] 2.1: When the automatic storage and retrieval bin robot of this warehouse shelf receives the operation task of the WMS inventory bin, when the automatic guided vehicle 1 and the synchronous belt automatic elevator 4 automatically reach the corresponding designated warehouse loading platform or the corresponding incoming goods assembly line or picking platform, the bin handling manipulator 8 rotates automatically to the designated warehouse loading platform or the corresponding incoming goods assembly line or picking platform according to the storage task issued by the WMS. The pneumatic telescopic rods 25 on the left and right sides drive the telescopic side plates 14 and the telescopic slide rails 12 on the left and right sides, and extend to the end of the corresponding bin together. At this time, the photoelectric detection ends at the ends of the side telescopic plates 14 on the left and right sides detect no foreign object blocking, and when the photoelectric detection ends in the middle of the side telescopic plates 14 on the left and right sides detect a bin, the pulling arms 21 at the ends of the side telescopic plates 14 on the left and right sides are controlled by the rotary cylinder 16 to rotate 90°, so that it changes from the original perpendicular to the ground (zero-degree position detection magnetic switch 9 ON) to parallel to the ground (ninety-degree position detection magnetic switch 15 ON). At this time, the pneumatic telescopic rods 25 on the left and right sides drive the telescopic side plates 14 on the left and right sides and the left and right pulling arms 21 to pull the corresponding bin into the bin handling manipulator 8. When the photoelectric detection indicates that the bin has completely entered the bin handling manipulator 8, the synchronous belt automatic elevator 4 automatically lifts to the corresponding temporary storage shelf layer, and the bin handling manipulator 8 automatically rotates 90° to dock with the corresponding bin temporary storage shelf 3. The pneumatic telescopic rods 25 on the left and right sides inside the bin handling manipulator 8 drive the telescopic side plates 14 and the pushing arms 31, push the bin to the corresponding layer of the bin temporary storage place and reset the pulling arm 21 to the zero-degree position (zero-degree position detection magnetic switch 9 ON), and then the pneumatic telescopic rods 25 and the telescopic side plates 14 on the left and right sides automatically retract to the origin. And so on, repeating the above process until all the bin temporary storage positions on the robot are filled with bins. According to the storage task issued by the WMS, the automatic guided vehicle 1 automatically runs to the corresponding shelf in the corresponding aisle of the shelf, and when the synchronous belt automatic elevator 4 automatically lifts to the corresponding shelf layer, the bin handling manipulator 8 automatically rotates to the designated shelf.

[0032] 2.2: According to the storage task issued by the WMS, when the automatic guided vehicle 1 automatically walks to the corresponding shelf in the corresponding aisle of the shelf, and the synchronous belt automatic elevator 4 automatically lifts to the corresponding shelf layer, and the bin handling manipulator 8 automatically rotates to the designated shelf, when the corresponding photoelectric detection ends on the right side telescopic plate 14 detect no foreign object blocking on the corresponding storage shelf, at this time the pushing arm 31 is fixed, that is, parallel to the ground, and the pneumatic telescopic rods 25 on the left and right sides drive the corresponding telescopic side plates 14 and the telescopic slide rails 12, and the pushing arm 31 pushes the bin to the shelf together.

[0033] 2.3: After the storage bin is completely stored in the corresponding shelf location and the pulling arm 21 is reset to the zero-degree position (the zero-degree position detection magnetic switch 9 is ON), at this time, the telescopic cylinders 25 on the left and right sides drive the left and right telescopic side plates 14 to retract into the storage and retrieval bin manipulator 8, completing one operation of storing the storage bin on the warehouse shelf. And so on, repeating the above process until all the storage bins in the temporary storage positions on the robot are sent to the corresponding shelf locations. Thus, one task of storing the storage bins on the warehouse shelf is completed, and then it waits again for the operation task from the WMS.

[0034] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic storage and retrieval bin robot for warehouse shelves, comprising an automatic walking AGV cart (1). On one side of the upper surface of the automatic walking AGV cart (1), a bin temporary storage shelf (3) is fixedly installed. On one side of the bin temporary storage shelf (3), a synchronous belt automatic elevator (4) is fixedly installed. On one side of the synchronous belt automatic elevator (4), a lifting plate (6) is fixedly installed. On the outer side of the lifting plate (6), a bin access and retrieval manipulator (8) is fixedly installed, characterized in that: The manipulator (8) of the access bin includes a rotating device, which is fixedly installed on the upper surface of the lifting plate (6). The top of the rotating device is fixedly installed with a rotating bottom plate (27). On the left and right sides of the rotating bottom plate (27), there are symmetrically fixedly installed cylinder fixing side plates (10). Inside the two cylinder fixing side plates (10), there are respectively fixed telescopic cylinders (11). On the two telescopic cylinders (11), there are respectively fixedly installed cylinder telescopic rods (25). The telescopic ends of the two cylinder telescopic rods (25) are respectively fixedly installed with telescopic side plates (14) with photoelectric detection ends arranged at both the middle and the end. At the rear ends of the two telescopic side plates (14), there are respectively fixedly installed pushing small arms (31). At the front ends of the two telescopic side plates (14), there are respectively fixedly installed rotating cylinders (16). On the outer sides of the two rotating cylinders (16), there are successively and correspondingly fixedly installed a zero-degree position detection magnetic switch (9) and a ninety-degree position detection magnetic switch (15). The output shafts of the two rotating cylinders (16) are respectively fixedly connected with rotating shafts (20) through couplings (18). At the outer ends of the two rotating shafts (20), there are respectively fixedly installed pulling small arms (21).

2. The automatic storage and retrieval bin robot for warehouse shelves according to claim 1, wherein: The rotating device includes a rotating fixed base (29), which is fixedly installed at the top of the lifting plate (6). On the rotating fixed base (29), there is fixedly installed a rotating servo motor (30). The top of the output shaft of the rotating servo motor (30) is fixedly installed with a rotating mechanism (28). The upper surface of the rotating mechanism (28) is fixedly connected with the bottom of the rotating bottom plate (27).

3. The automatic storage and retrieval bin robot for warehouse shelves according to claim 1, wherein: On the cylinder fixing side plate (10), there is provided a telescopic slide rail (12) that is slidably connected to the telescopic side plate (14).

4. The automatic storage and retrieval bin robot for warehouse shelves according to claim 1, wherein: On one side of the upper surface of the automatic walking AGV cart (1), there is fixedly installed a micro air pump (2) corresponding to the telescopic cylinder (11) and the rotating cylinder (16).

5. The automatic storage and retrieval bin robot for a warehouse shelf according to claim 1, characterized in that: On one side of the upper surface of the automatic walking AGV cart (1), there is fixedly installed a servo lifting motor (5) corresponding to the synchronous belt automatic elevator (4).

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