Truss manipulator for trans-regional stereoscopic warehouse

Abstract

The utility model relates to the technical field of truss manipulators, in particular to a truss manipulator for a trans-regional stereoscopic warehouse, which comprises a longitudinal track group, a transverse track and a truss manipulator, and the truss manipulator comprises a rack, a first driving device, a hanging bracket, a second driving device, a bearing frame and a third driving device; the rack is arranged on the transverse rail, and the first driving device is used for driving the rack to move left and right along the transverse rail; the hanging bracket is arranged on the rack, and the second driving device is used for driving the hanging bracket to move up and down along the rack; the bearing frame is arranged below the hanging bracket, the bearing frame comprises a bottom plate and tow bars arranged on the two sides of the bottom plate, and the third driving device is used for driving the tow bars to move left and right. According to the utility model, the manipulator can move at any position in a warehouse, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of truss manipulators, in particular to a truss manipulator used for cross-area warehouses. Background Art

[0002] A truss manipulator is an automated actuator based on a truss structure. It enables precise, high-speed movement and positioning within two or three-dimensional space according to a pre-programmed path. Widely used in a variety of industries, including automotive manufacturing, electronics assembly, food processing, and logistics, truss manipulators are a vital component of modern industrial automation and intelligent manufacturing.

[0003] Chinese Patent Publication No. CN211278464U discloses a truss picking robot, comprising an X-axis assembly, a Y-axis assembly, and a Z-axis assembly. The X-axis assembly comprises a first gantry, a second gantry, a first drive motor, a first driving wheel, a first driven wheel, a first connecting belt, a second drive motor, a second driving wheel, a second driven wheel, and a second connecting belt. The Y-axis assembly comprises a connecting rod, a first connecting plate, a first roller, a second connecting plate, and a second roller. The Z-axis assembly comprises a vertical rod, a suction cup, a visual scanning device, a slide, a third roller, a T-shaped slider, a first pulley, a second pulley, a third pulley, a fourth pulley, a fifth pulley, a third drive motor, a third driving wheel, a fourth drive motor, a fourth driving wheel, and a third connecting belt. It can be seen that the above technical solution can only extract goods via the suction cup Z-axis and cannot load or unload goods from shelves. Utility Model Content

[0004] To this end, the utility model provides a truss manipulator for cross-area warehouses, which is used to overcome the problem in the prior art that the truss manipulator cannot load and take goods on the shelves.

[0005] To achieve the above-mentioned purpose, the present invention provides a truss manipulator for a cross-area warehouse, comprising:

[0006] A longitudinal track group, a transverse track and a truss manipulator, wherein the truss manipulator includes a frame, a first drive device, a hanger, a second drive device, a load-bearing frame and a third drive device;

[0007] The frame is arranged on the transverse track, and the first driving device is used to drive the frame to move left and right along the transverse track;

[0008] The hanger is arranged on the frame, and the second driving device is used to drive the hanger to move up and down along the frame;

[0009] The load-bearing frame is arranged below the hanger, and the load-bearing frame includes a base plate and towing rods arranged on both sides of the base plate. The third driving device is used to drive the towing rods to move left and right.

[0010] Furthermore, the first driving device includes a first slide plate, a first motor, a first transmission, a first driving gear, and a first rack;

[0011] The first transmission is fixed on the first skateboard, the input end of the first transmission is provided with a first motor, the output end of the first transmission is provided with a first driving gear, the first driving gear is engaged with the first rack, wherein the first rack is arranged horizontally along the transverse track.

[0012] Furthermore, a limit block is provided on the transverse track, wherein a rubber seat is provided on the limit block close to the direction of the first slide plate.

[0013] Furthermore, the hanger includes a second slide, a first vertical slider and a second vertical slider arranged on one side of the second slide, wherein the first vertical slider contacts the first vertical slide rail vertically arranged on the frame, the second vertical slider contacts the second vertical slide rail vertically arranged on the frame, and a hanger arranged on the side of the second slide away from the frame.

[0014] Furthermore, the number of the suspension rods is 1 or 2.

[0015] Furthermore, the second driving device includes a connecting plate, a second motor, a second transmission, a second driving gear, and a second rack;

[0016] The connecting plate is arranged at one end of the second slide plate, the second transmission is fixed on the connecting plate, the input end of the second transmission is provided with a second motor, the output end of the second transmission is provided with a second driving gear, the second driving gear is engaged with the second rack, wherein the second rack is arranged vertically along the frame.

[0017] Furthermore, the second driving device also includes a vertical position sensor arranged on the connecting plate.

[0018] Furthermore, the third driving device includes a third motor, a third transmission, a third transmission shaft, a third driving gear, and a third rack;

[0019] The third transmission is fixed on one side of the base plate, the input end of the third transmission is provided with a third motor, the output end of the third transmission is connected to the third transmission shaft, the third transmission shaft is perpendicular to the tow bar, and third drive gears are respectively provided near both ends of the third transmission shaft, wherein each third drive gear is respectively engaged with the third rack, and the upper end of the third rack is fixedly connected to the tow bar.

[0020] Furthermore, a camera is provided on each side of the bottom plate parallel to the third transmission shaft.

[0021] Compared to existing technologies, the present invention offers significant advantages in that, through the coordinated operation of the first, second, and third drive mechanisms, the truss manipulator can move left and right on the transverse track, up and down on the frame, and left and right via the tow bar of the load-bearing frame. This three-dimensional mobility allows the manipulator to flexibly reach any location within the warehouse, achieving a high degree of automation.

[0022] Furthermore, each driving device in the present invention adopts a gear and rack meshing transmission mode, which ensures the smoothness of transmission and the accuracy of positioning.

[0023] Furthermore, the present invention is provided with a position sensor, which can further improve the positioning accuracy of the manipulator and ensure the accuracy of the operation.

[0024] Furthermore, the limit blocks and rubber seats provided on the transverse rails of the present invention can effectively prevent the rack from exceeding a predetermined range during movement, thereby protecting the equipment and preventing accidents.

[0025] Furthermore, the hanger is in contact with the vertical slide rail on the rack via the vertical slider, thereby ensuring the stability of the hanger during the up and down movement.

[0026] Furthermore, the load-bearing frame is provided with a bottom plate and a tow bar structure, so that the manipulator can grab and load goods from the shelf, thereby realizing warehouse transportation automation.

[0027] Furthermore, the number of booms can be selected according to actual needs to ensure stable operation of the manipulator.

[0028] Furthermore, the utility model is provided with a camera on each side of the bottom plate parallel to the third transmission shaft. The camera can monitor the working status of the manipulator and changes in the surrounding environment in real time to ensure the safety of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a structural diagram of a truss manipulator for a cross-area vertical warehouse according to an embodiment of the utility model;

[0030] Figure 2 This is a schematic structural diagram of the manipulator according to an embodiment of the present utility model;

[0031] Figure 3 This is a schematic structural diagram of the first driving device according to an embodiment of the present utility model;

[0032] Figure 4This is a schematic structural diagram of the second drive device and the third drive device in an embodiment of the present utility model;

[0033] Figure 5 This is a partially enlarged structural diagram of the second driving device according to an embodiment of the utility model;

[0034] Figure 6 This is a partial enlarged structural diagram of the third driving device in an embodiment of the utility model;

[0035] In the figure: 1, longitudinal track group; 2, transverse track; 21, limit block; 22, rubber seat; 3, truss manipulator; 31, frame; 32, first drive device; 321, first slide; 322, first motor; 323, first transmission; 325, first rack; 33, hanger; 331, second slide; 332, first vertical slider; 333, second vertical slider; 334, first vertical slide rail; 335, second vertical slide rail; 336, hanger ; 34. Second drive device; 341. Connecting plate; 342. Second motor; 343. Second transmission; 344. Second drive gear; 345. Second rack; 346. Vertical position sensor; 35. Load-bearing frame; 351. Bottom plate; 352. Drag rod; 36. Third drive device; 361. Third motor; 362. Third transmission; 363. Third transmission shaft; 364. Third drive gear; 365. Third rack; 366. Camera. DETAILED DESCRIPTION

[0036] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the embodiments described below are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0037] It should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply 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 on the embodiments of the present invention.

[0038] In the description of the present invention, “a plurality of” means at least two, such as two, three, etc., unless otherwise clearly defined.

[0039] In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on the specific circumstances.

[0040] See also Figures 1 to 6 , which are respectively a structural schematic diagram of a truss manipulator for a cross-area warehouse according to an embodiment of the utility model; a structural schematic diagram of the manipulator according to an embodiment of the utility model; a structural schematic diagram of the first driving device according to an embodiment of the utility model; a structural schematic diagram of the second driving device and the third driving device according to an embodiment of the utility model; a partially enlarged structural schematic diagram of the second driving device according to an embodiment of the utility model; and a partially enlarged structural schematic diagram of the third driving device according to an embodiment of the utility model.

[0041] The present invention provides a truss manipulator for a cross-area vertical warehouse, comprising:

[0042] A longitudinal track group 1, a transverse track 2 and a truss manipulator 3, wherein the truss manipulator 3 includes a frame 31, a first drive device 32, a hanger 33, a second drive device 34, a load-bearing frame 35 and a third drive device 36;

[0043] The frame 31 is arranged on the transverse track 2, and the first driving device 32 is used to drive the frame 31 to move left and right along the transverse track 2;

[0044] The hanger 33 is arranged on the frame 31, and the second driving device 34 is used to drive the hanger 33 to move up and down along the frame 31;

[0045] The load-bearing frame 35 is arranged below the hanger 33 . The load-bearing frame 35 includes a bottom plate 351 and drag rods 352 arranged on both sides of the bottom plate 351 . The third driving device 36 is used to drive the drag rods 352 to move left and right.

[0046] Specifically, the first driving device 32 includes a first slide 321, a first motor 322, a first transmission 323, a first driving gear, and a first rack 325, wherein the first driving gear is not marked in the figure;

[0047] The first transmission 323 is fixed on the first skateboard 321, and the input end of the first transmission 323 is provided with a first motor 322, and the output end of the first transmission 323 is provided with a first driving gear, which is engaged with the first rack 325, wherein the first rack 325 is arranged horizontally along the transverse track 2.

[0048] Specifically, a limit block 21 is provided on the transverse track 2 , wherein a rubber seat 22 is provided on the limit block 21 close to the first slide plate 321 to protect the device from collision and damage to the device.

[0049] Specifically, the hanger 33 includes a second slide 331, a first vertical slider 332 and a second vertical slider 333 arranged on one side of the second slide 331, wherein the first vertical slider 332 contacts the first vertical slide rail 334 vertically arranged on the frame 31, the second vertical slider 333 contacts the second vertical slide rail 335 vertically arranged on the frame 31, and a hanger 336 arranged on the side of the second slide 331 away from the frame 31.

[0050] Specifically, the number of the suspension rods 336 is not limited and can be determined according to actual working conditions to ensure that the load-bearing frame 35 works in a balanced and stable manner.

[0051] Specifically, the second driving device 34 includes a connecting plate 341, a second motor 342, a second transmission 343, a second driving gear 344, and a second rack 345;

[0052] The connecting plate 341 is arranged at one end of the second slide plate 331, the second transmission 343 is fixed on the connecting plate 341, the input end of the second transmission 343 is provided with a second motor 342, the output end of the second transmission 343 is provided with a second driving gear 344, the second driving gear 344 is engaged with the second rack 345, wherein the second rack 345 is vertically arranged along the frame 31.

[0053] Specifically, the second driving device 34 further includes a vertical position sensor 346 disposed on the connecting plate 341 .

[0054] Specifically, the vertical position sensor 346 is used to monitor the position of the robot arm moving up and down to protect the equipment and improve the accuracy of work positioning.

[0055] Specifically, the third driving device 36 includes a third motor 361, a third transmission 362, a third transmission shaft 363, a third driving gear 364, and a third rack 365;

[0056] The third transmission 362 is fixed to one side of the base plate 351, and a third motor 361 is provided at the input end of the third transmission 362. The output end of the third transmission 362 is connected to the third transmission shaft 363. The third transmission shaft 363 is perpendicular to the tow bar 352, and third driving gears 364 are respectively provided near both ends of the third transmission shaft 363, wherein each third driving gear 364 is respectively engaged with the third rack 365, and the upper end of the third rack 365 is fixedly connected to the tow bar 352.

[0057] Specifically, a camera 366 is provided on each side of the base plate 351 parallel to the third transmission shaft 363 to monitor the surrounding working environment in real time and determine the operation point to ensure the safety and accuracy of the operation.

[0058] For those skilled in the art, according to the concept of the embodiments of the present invention, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A truss manipulator for a cross-area warehouse, comprising a longitudinal track group, a transverse track and a truss manipulator, characterized in that: The truss manipulator comprises: a frame, a first driving device, a hanger, a second driving device, a load-bearing frame and a third driving device; The frame is arranged on the transverse track, and the first driving device is used to drive the frame to move left and right along the transverse track; The hanger is arranged on the frame, and the second driving device is used to drive the hanger to move up and down along the frame; The load-bearing frame is arranged below the hanger, and the load-bearing frame includes a base plate and towing rods arranged on both sides of the base plate. The third driving device is used to drive the towing rods to move left and right.

2. The truss manipulator for a cross-area warehouse according to claim 1 is characterized in that: The first driving device includes a first slide, a first motor, a first transmission, a first driving gear, and a first rack; The first transmission is fixed on the first skateboard, the input end of the first transmission is provided with a first motor, the output end of the first transmission is provided with a first driving gear, the first driving gear is engaged with the first rack, wherein the first rack is arranged horizontally along the transverse track.

3. The truss manipulator for a cross-area vertical warehouse according to claim 2 is characterized in that: A limit block is provided on the transverse track, wherein the limit block is provided with a rubber seat close to the first slide plate.

4. The truss manipulator for a cross-area warehouse according to claim 1 is characterized in that: The hanger includes a second slide, a first vertical slider and a second vertical slider arranged on one side of the second slide, wherein the first vertical slider contacts a first vertical slide rail vertically arranged on the frame, the second vertical slider contacts a second vertical slide rail vertically arranged on the frame, and a hanger arranged on the side of the second slide away from the frame.

5. The truss manipulator for a cross-area warehouse according to claim 4 is characterized in that: The number of the suspension rods is 1 or 2.

6. The truss manipulator for a cross-area warehouse according to claim 1 is characterized in that: The second driving device includes a connecting plate, a second motor, a second transmission, a second driving gear, and a second rack; The connecting plate is arranged at one end of the second slide plate, the second transmission is fixed on the connecting plate, the input end of the second transmission is provided with a second motor, the output end of the second transmission is provided with a second driving gear, the second driving gear is engaged with the second rack, wherein the second rack is arranged vertically along the frame.

7. The truss manipulator for a cross-area warehouse according to claim 6 is characterized in that: The second driving device further includes a vertical position sensor arranged on the connecting plate.

8. The truss manipulator for a cross-area warehouse according to claim 1 is characterized in that: The third driving device includes a third motor, a third transmission, a third transmission shaft, a third driving gear, and a third rack; The third transmission is fixed on one side of the base plate, the input end of the third transmission is provided with a third motor, the output end of the third transmission is connected to the third transmission shaft, the third transmission shaft is perpendicular to the tow bar, and third drive gears are respectively provided near both ends of the third transmission shaft, wherein each third drive gear is respectively engaged with the third rack, and the upper end of the third rack is fixedly connected to the tow bar.

9. The truss manipulator for a cross-area warehouse according to claim 8 is characterized in that: A camera is respectively provided on two sides of the bottom plate parallel to the third transmission shaft.

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