RGV carrying robot capable of automatically loading and unloading goods

Abstract

The utility model discloses an automatic loading and unloading RGV carrying robot which comprises a frame body, a lifting plate and a lifting mechanism are arranged on the two sides of the frame body, a goods taking mechanism used for clamping goods to the frame body is arranged on the lifting plate, a conveying mechanism used for loading and unloading the goods is arranged on the frame body, and the conveying mechanism is located between two installation side frames. The conveying device comprises a conveying motor, a main transmission shaft, an auxiliary transmission shaft and a first transmission belt, the main transmission shaft and the auxiliary transmission shaft are located on the two sides of the positive and negative tooth lead screw correspondingly, and the two ends of the main transmission shaft and the auxiliary transmission shaft are rotationally connected to the lifting plate. A plurality of main transmission wheels are arranged on the main transmission shaft at equal intervals; the auxiliary transmission shaft is provided with auxiliary transmission wheels corresponding to the main transmission wheels in a one-to-one mode, and transmission belts are arranged between the main transmission wheels and the auxiliary transmission wheels and the main transmission wheels in a tensioned mode. The conveying motor is fixedly connected to the outer side of the lifting plate, and the power end of the conveying motor is fixedly connected with the main transmission shaft to drive the main transmission shaft to rotate. The RGV has the advantages of automatic loading and unloading functions, high working efficiency 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 capable of automatically loading and unloading goods. 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] Existing common RGV trolleys only have the functions of picking up goods and transportation. After the goods are transported to the designated position, they do not have the function of automatic unloading and need workers to unload the goods manually.

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

[0005] The utility model provides an RGV handling robot capable of automatically loading and unloading goods to solve the above technical problems.

[0006] The purpose of the utility model is realized through the following technical scheme: an RGV handling robot capable of automatically loading and unloading goods, including a frame body, both sides of the frame body are fixedly connected with installation side frames, a lifting plate and a lifting mechanism for driving the lifting plate to move up and down are arranged on the installation side frames, a picking mechanism for clamping goods onto the frame body is arranged on the lifting plate, and is characterized in that a conveying mechanism for loading and unloading goods is arranged on the frame body, the conveying mechanism is located in the middle of the two installation side frames, and includes a conveying motor, a main transmission shaft, a sub-transmission shaft, and a first transmission belt. Both ends of the main transmission shaft and the sub-transmission shaft are rotatably connected to the lifting plate; a plurality of main transmission wheels are equidistantly arranged on the main transmission shaft; a sub-transmission wheel corresponding to each of the plurality of main transmission wheels is arranged on the sub-transmission shaft, and the first transmission belt is tensioned between the sub-transmission wheel and the main transmission wheel; the conveying motor is fixedly connected to the outside of the lifting plate, and its power end is fixedly connected to the main transmission shaft to drive the main transmission shaft to rotate.

[0007] Further, a guiding mechanism is further arranged between the main transmission shaft and the sub-transmission shaft. The guiding mechanism includes at least two guiding shafts. Both ends of the guiding shafts respectively pass through a driving plate and the lifting plate in sequence and are slidably connected to the driving plate and the lifting plate through linear bearings; idler wheels corresponding to each of the plurality of main transmission wheels are arranged on the guiding shafts, and the idler wheels are connected to the transmission belt.

[0008] Furthermore, the picking mechanism includes a positive and negative thread lead screw located between the drive shaft and the auxiliary drive shaft, a drive plate, a clamping block, and a drive motor for driving the positive and negative thread lead screw to rotate. The positive and negative thread lead screw is provided with positive threads and negative threads in different directions on the left and right sides respectively with its midpoint as the boundary; a first lead screw nut is connected to both the positive thread and the negative thread, and the positive and negative thread lead screw rotates to drive the two first lead screw nuts to perform linear movement of approaching or separating from each other; the first lead screw nut is fixedly connected with a drive plate, and both sides of the bottom of the drive plate are slidably connected to the main drive shaft and the auxiliary drive shaft through linear bearings; a linear guide rail is arranged along the length of the inner side of the drive plate, and a clamping block is slidably connected to the linear guide rail, and the clamping block can perform horizontal movement to the left or right relative to the drive plate along the linear guide rail.

[0009] Furthermore, a transmission mechanism for driving the clamping block to move is also provided on the installation side frame. The transmission mechanism includes a clamping motor, a first transmission gear, a second transmission gear, a sub-transmission gear, a transmission rack, an installation bracket, and a second transmission belt. The clamping motor and the installation bracket are fixedly connected to the drive plate; a drive rotating shaft is vertically connected to the top of the installation bracket, and the first transmission gear and the sub-transmission gear are sleeved on the drive rotating shaft from top to bottom in sequence; the second transmission gear is fixedly connected to the power end of the clamping motor; the second transmission belt is tensioned between the first transmission gear and the second transmission gear; the transmission rack is fixedly connected to the outer side of the clamping block and is meshed and connected with the sub-transmission gear.

[0010] Furthermore, a plurality of protrusions are formed along the height of the inner side of the clamping block, and the plurality of protrusions are equidistantly distributed.

[0011] Furthermore, the lifting mechanism includes a transmission lead screw, a second lead screw nut, and a lifting motor. The transmission lead screw is rotatably connected to the installation side frame, and the second lead screw nut is sleeved on the transmission lead screw; the lifting motor is installed on the installation side frame, and its power end is connected to the transmission lead screw to drive the transmission lead screw to rotate.

[0012] The beneficial technical effects achieved by the present utility model are:

[0013] By setting a conveying mechanism, the RGV handling robot of the present application simultaneously has the functions of loading and unloading, improving its operation efficiency and reducing the labor intensity of workers. Moreover, a guiding mechanism is provided on the conveying mechanism, and the guiding mechanism is located between the main drive shaft and the auxiliary drive shaft in the conveying mechanism, which can not only improve the stability of the RGV handling robot for gripping goods, but also play an auxiliary supporting role in placing the goods on the conveying mechanism. Description of the Drawings

[0014] Figure 1 is one of the overall structural schematic diagrams of an RGV handling robot with automatic loading and unloading of goods according to the present utility model;

[0015] Figure 2 is the second of the overall structural schematic diagrams of an RGV handling robot with automatic loading and unloading of goods according to the present utility model;

[0016] Figure 3 is an enlarged schematic diagram of A in 2;

[0017] Figure 4 is one of the schematic diagrams of the positional relationship between the conveying mechanism and the goods picking mechanism in the present utility model;

[0018] Figure 5 is the second of the schematic diagrams of the positional relationship between the conveying mechanism and the goods picking mechanism in the present utility model;

[0019] Figure 6 is Figure 5 an enlarged schematic diagram of B in; Specific embodiments

[0020] Please refer to Figures 1-6 , as shown in the figure, an RGV handling robot with automatic loading and unloading of goods applied in the present utility model is used for automatic conveying of goods in an intelligent three-dimensional warehouse. The RGV handling robot includes a frame body 1. Both sides of the frame body 1 are fixedly connected with installation side frames 4. A lifting plate 152 and a lifting mechanism 2 for driving the lifting plate 152 to move up and down are arranged on the installation side frames 4. A goods picking mechanism for clamping goods onto the frame body 1 is arranged on the lifting plate 152, where:

[0021] As Figure 1 shown, a conveying mechanism for loading and unloading goods is arranged on the frame body 1. The conveying mechanism is located in the middle of the two installation side frames 4 and includes a conveying motor 16, a main transmission shaft 11, a secondary transmission shaft 12, and a first transmission belt 13. Both ends of the main transmission shaft 11 and the secondary transmission shaft 12 are rotatably connected to the lifting plate 152; a plurality of main transmission wheels 110 are arranged at equal intervals on the main transmission shaft 11; a secondary transmission wheel 120 corresponding to each of the plurality of main transmission wheels 110 is arranged on the secondary transmission shaft 12. A first transmission belt 13 is tensioned between the secondary transmission wheel 120 and the main transmission wheel 110; the conveying motor 16 is fixedly connected to the outside of the lifting plate 152, and its power end is fixedly connected to the main transmission shaft 11 to drive the main transmission shaft 11 to rotate.

[0022] In this design solution, as Figure 1As shown in the figure, in order to improve the stability and rationality of the conveying mechanism, a guiding mechanism is further provided between the main transmission shaft 11 and the auxiliary transmission shaft 12. The guiding mechanism includes at least two guiding shafts 101. The two ends of the guiding shaft 101 sequentially pass through the driving plate 15 and the lifting plate 152, and are slidably connected to the driving plate 15 and the lifting plate 152 through linear bearings. Idler wheels corresponding to a plurality of main transmission wheels 110 one by one are provided on the guiding shaft 101, and the idler wheels are connected to the transmission belt. Accordingly, the guiding shaft 101 can play a role in supporting the goods, and the idler wheels can improve the stability of the rotation of the transmission belt and make it not easy to slip.

[0023] In this design scheme, as Figure 1 shown, in order to improve the flexibility of the picking mechanism for picking goods, the picking mechanism includes a positive and negative thread lead screw 17 located between the main transmission shaft 11 and the auxiliary transmission shaft 12, a driving plate 15, a clamping block 14, and a driving motor 18 for driving the positive and negative thread lead screw 17 to rotate. The two ends of the positive thread lead screw 17 are respectively rotatably connected to the lifting plate 152. Different-direction positive threads and reverse threads are respectively provided on the left and right sides of the positive and negative thread lead screw 17 with its midpoint as the boundary. A first lead screw nut 171 is connected to both the positive thread and the reverse thread. The positive and negative thread lead screw 17 drives the two first lead screw nuts 171 to perform linear movement of approaching or separating from each other. A driving plate 15 is fixedly connected to the first lead screw nut 171. The two sides of the bottom of the driving plate 15 are slidably connected to the main transmission shaft 11 and the auxiliary transmission shaft 12 through linear bearings. A linear guide rail 151 is provided along the length of the inner side of the driving plate 15. A clamping block 14 is slidably connected to the linear guide rail 151, and the clamping block 14 can perform horizontal movement to the left or right relative to the driving plate 15 along the linear guide rail 151. Accordingly, the picking mechanism can accurately clamp the goods and lift the goods, and place the goods on the conveying mechanism.

[0024] In this design scheme, as Figure 3 and Figure 4 shown, in order to improve the flexibility and accuracy of the picking mechanism for picking goods, a transmission mechanism 3 for driving the clamping block 14 to move is further provided on the installation side frame 4. The transmission mechanism 3 includes a clamping motor 31, a first transmission gear 32, a second transmission gear 33, a sub-transmission gear 34, a transmission rack 35, an installation bracket 36, and a second transmission belt 37. The clamping motor 31 and the installation bracket 36 are fixedly connected to the driving plate 15. A driving rotating shaft 38 is vertically connected to the top of the installation bracket 36. The first transmission gear 32 and the sub-transmission gear 34 are sequentially sleeved on the driving rotating shaft 38 from top to bottom. The second transmission gear 33 is fixedly connected to the power end of the clamping motor 31. The second transmission belt 37 is tensioned between the first transmission gear 32 and the second transmission gear 33. The transmission rack 35 is fixedly connected to the outer side of the clamping block 14 and is meshed and connected to the sub-transmission gear.

[0025] In this design scheme, as Figure 6As shown in the figure, in order to improve the stability of the picking mechanism for picking up goods, a plurality of protrusions 1521 are formed along the height on the inner side of the clamping block 14, and the plurality of protrusions 1521 are equally spaced. Accordingly, the frictional force between the clamping block 14 and the goods surface can be increased, ensuring that the goods are not easily separated from the clamping block 14 during the process of clamping and moving.

[0026] In this design solution, as Figure 2 shown, the lifting mechanism 2 includes a transmission lead screw 21, a second lead screw nut 22, and a lifting motor 23. The transmission lead screw 21 is rotatably connected to the installation side frame 4, and the second lead screw nut 22 is sleeved on the transmission lead screw 21; the lifting motor 23 is installed on the installation side frame 4, and its power end is connected to the transmission lead screw 21 to drive the transmission lead screw 21 to rotate. In this solution, the connection between the lifting motor 23 and the transmission lead screw 21 can be a belt drive connection or a direct motor connection, and both connection methods are prior arts and will not be described in detail here.

[0027] The working principle is as follows:

[0028] The RGV handling robot slidingly connected to the shelf is positioned to the cargo lane to be shipped through the positioning system. There are goods placed in the cargo lane. When the picking mechanism picks up the goods, the clamping motor 31 on the installation side frame 4 drives the clamping block 14 to horizontally move towards the goods and extend to both sides of the goods; the driving motor 18 drives the positive and negative thread lead screw 17 to rotate in a preset direction, so that the oppositely arranged clamping blocks 14 move closer to each other as the driving plate 15 moves and clamp the goods; then the lifting mechanism 2 drives the picking mechanism to lift and then drives the clamping block 14 to return to its original position, so that the goods are placed on the conveying mechanism;

[0029] After the RGV handling robot transports the goods to the designated position, the conveying motor 16 in the conveying mechanism drives the main transmission shaft 11 to rotate, and the auxiliary transmission shaft 12 is linked under the action of the first transmission belt 13 to play the role of loading and unloading goods.

[0030] 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.

[0031] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present utility model. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. An RGV handling robot capable of automatically loading and unloading goods, comprising a frame body. Both sides of the frame body are fixedly connected with mounting side frames. A lifting plate and a lifting mechanism for driving the lifting plate to move up and down are arranged on the mounting side frames. A goods picking mechanism for picking up goods onto the frame body is arranged on the lifting plate, and it is characterized in that, A conveying mechanism for loading and unloading goods is provided on the frame body. The conveying mechanism is located in the middle of the two mounting side frames and includes a conveying motor, a main transmission shaft, a secondary transmission shaft, and a first transmission belt. Both ends of the main transmission shaft and the secondary transmission shaft are rotatably connected to the lifting plate; a plurality of main transmission wheels are equidistantly arranged on the main transmission shaft; a secondary transmission wheel corresponding to each of the plurality of main transmission wheels is arranged on the secondary transmission shaft, and the first transmission belt is tensioned between the secondary transmission wheel and the main transmission wheel. The conveying motor is fixedly connected to the outside of the lifting plate, and its power end is fixedly connected to the main transmission shaft to drive the main transmission shaft to rotate.

2. The RGV handling robot capable of automatically loading and unloading goods according to claim 1, wherein, A guiding mechanism is further provided between the main transmission shaft and the secondary transmission shaft. The guiding mechanism includes at least two guiding shafts. Both ends of the guiding shaft sequentially pass through the driving plate and the lifting plate, and are slidably connected to the driving plate and the lifting plate through linear bearings; idler wheels corresponding to each of the plurality of main transmission wheels are arranged on the guiding shaft, and the idler wheels are connected to the transmission belt.

3. The RGV handling robot capable of automatic loading and unloading according to claim 1, characterized in that, The goods picking mechanism includes a left - right hand threaded lead screw, a driving plate, a clamping block, and a driving motor for driving the left - right hand threaded lead screw to rotate, which are located in the middle of the transmission shaft and the secondary transmission shaft. Both ends of the left - right hand threaded lead screw are rotatably connected to the lifting plate; different - direction right - hand threads and left - hand threads are respectively arranged on the left and right sides of the left - right hand threaded lead screw with its mid - point as the boundary; a first lead screw nut is connected to each of the right - hand thread and the left - hand thread. The left - right hand threaded lead screw drives the two first lead screw nuts to perform linear movement of approaching or separating from each other; the first lead screw nut is fixedly connected to the driving plate, and both sides of the bottom of the driving plate are slidably connected to the main transmission shaft and the secondary transmission shaft through linear bearings; a linear guide rail is arranged along the length of the inner side of the driving plate, and a clamping block is slidably connected to the linear guide rail, and the clamping block can perform horizontal movement relative to the driving plate to the left or right along the linear guide rail.

4. The RGV handling robot capable of automatically loading and unloading goods according to claim 3, characterized in that, A transmission mechanism for driving the clamping block to move is further provided on the mounting side frame. The transmission mechanism includes a clamping motor, a first transmission gear, a second transmission gear, a sub - transmission gear, a transmission rack, a mounting bracket, and a second transmission belt. The clamping motor and the mounting bracket are fixedly connected to the driving plate; a driving rotating shaft is vertically connected to the top of the mounting bracket, and the first transmission gear and the sub - transmission gear are sleeved on the driving rotating shaft from top to bottom in sequence; the second transmission gear is fixedly connected to the power end of the clamping motor; the second transmission belt is tensioned between the first transmission gear and the second transmission gear; the transmission rack is fixedly connected to the outside of the clamping block and is meshed with the sub - transmission gear.

5. The RGV handling robot capable of automatically loading and unloading goods according to claim 4, characterized in that A plurality of protrusions are formed along the height of the inner side of the clamping block, and the plurality of protrusions are equidistantly distributed.

6. The RGV handling robot capable of automatically loading and unloading goods according to claim 1, characterized in that, The lifting mechanism includes a transmission lead screw, a second lead screw nut, and a lifting motor. The transmission lead screw is rotatably connected to the installation side frame, and the second lead screw nut is sleeved on the transmission lead screw. The lifting motor is installed on the installation side frame, and its power end is connected to the transmission lead screw to drive the transmission lead screw to rotate.

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