Three-dimensional storage robot
By setting protrusions and pulley systems at the bottom of the guide trough of the automated storage and retrieval system (AS/RS) robot and adjusting the fork posture, the problem of existing robots being unable to pick up low-positioned goods has been solved, enabling more flexible automated goods handling.
Patent Information
- Application Number
- CN202423120605.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-16
- Publication Date
- 2025-11-04
- Estimated Expiration
- 2034-12-16
AI Technical Summary
The forks of existing automated storage and retrieval systems (AS/RS) robots have difficulty picking up goods at lower positions.
A protrusion is set at the bottom of the guide groove of the automated storage and retrieval system robot, and pulleys are set on the side of the slide plate. When the pulleys come into contact with the bottom of the groove, they can raise the slide plate and adjust the forks to be in an upward or downward state to pick up goods at a lower position.
It enables convenient forklifting of goods at lower positions, improving the adaptability and automated handling capabilities of the automated warehousing robot.
Smart Images
Figure CN223508955U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of logistics, and in particular to a three-dimensional warehousing robot. Background Technology
[0002] Automated storage robots are devices that use forks to pick up and move goods. Currently, the forks of existing automated storage robots generally extend straight down to pick up goods. However, with social development, goods are now placed more densely, and some goods are located at lower positions, making it difficult for the forks of existing automated storage robots to reach in and pick them up. Therefore, it is necessary to improve existing automated storage robots to enhance their adaptability. Utility Model Content
[0003] In view of this, the present invention provides a three-dimensional warehousing robot to solve the technical problem that existing goods are difficult to pick up when they are at a lower position.
[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:
[0005] An automated storage and retrieval system (AS / RS) robot, the AS / RS robot comprising:
[0006] The vehicle body has a guide groove, which extends through one side wall of the vehicle body to form a bevel, and a protrusion is provided on the bottom of the guide groove near the bevel.
[0007] A moving mechanism, mounted on the vehicle body, is used to move the vehicle body;
[0008] The vehicle also includes a fork mechanism, comprising a movable component, a frame, and forks. The movable component includes a slide plate and a pulley assembly. The pulley assembly includes at least two pulleys respectively positioned at opposite ends of the slide plate and externally positioned on one side of the slide plate. The pulleys abut against the bottom of the guide groove and are capable of sliding out of the bevel along the extension direction of the guide groove. The frame is mounted on the slide plate, and the extension direction of the frame is angled to the vehicle body. The forks are mounted on the frame and used to pick up goods.
[0009] In some embodiments of the three-dimensional storage robot, the surface of the protrusion is arc-shaped and smoothly transitions with the bottom surface of the surrounding groove.
[0010] In some embodiments of the automated storage and retrieval robot, there are two pulley sets, which are respectively placed on opposite sides of the slide plate.
[0011] In some embodiments of the automated storage robot, there are multiple guide slots and multiple fork mechanisms, and the fork mechanisms are arranged in a one-to-one correspondence with the guide slots.
[0012] Alternatively, there may be multiple fork mechanisms, with each pulley in each fork mechanism abutting the bottom of one of the guide grooves.
[0013] In some embodiments of the automated storage and retrieval robot, the fork mechanism further includes a first drive assembly. The vehicle body has a first receiving cavity communicating with the guide groove. The first drive assembly is partially housed in the first receiving cavity. The portion of the first drive assembly extending from the first receiving cavity into the guide groove is a first drive end connected to the slide plate. The first drive end is used to drive the slide plate to slide relative to the vehicle body.
[0014] In some embodiments of the automated storage and retrieval system (AS / RS) robot, the first drive assembly includes a first drive motor, a drive wheel, a driven wheel, and a chain. The output end of the drive motor is connected to the drive wheel, and the chain is wound around the drive wheel and the driven wheel. The chain is also connected to the slide plate or the frame to drive the slide plate to move.
[0015] In some embodiments of the automated storage and retrieval system (AS / RS) robot, the fork mechanism further includes a second drive assembly mounted on the frame. The second drive assembly has a second drive end connected to the fork and is used to drive the fork closer to or away from the vehicle body.
[0016] In some embodiments of the automated storage and retrieval robot, the second drive component is a sprocket and chain type or a gear and rack type.
[0017] In some embodiments of the automated storage and retrieval robot, the frame is vertically connected to the slide plate, the forks extend in a direction perpendicular to the frame and in the same direction as the slide plate, and the guide groove has a straight section at its bottom on the side away from the bevel that is parallel to the extension direction of the slide plate, the length of the straight section being greater than the farthest distance between the two pulleys in the pulley block.
[0018] In some embodiments of the automated storage and retrieval system (AS / RS) robot, the moving mechanism includes a drive wheel and an auxiliary wheel, both of which are mounted on the side of the vehicle body away from the fork mechanism, so as to drive the vehicle body to move.
[0019] Implementing the embodiments of this utility model will have at least the following beneficial effects:
[0020] The aforementioned automated storage and retrieval robot has the technical effect of facilitating the picking of goods at lower positions. Specifically, the automated storage and retrieval robot of this utility model has a protrusion on the bottom of the guide groove of the vehicle body, and pulleys are also set on the side of the slide plate. When the pulleys abut against the bottom of the guide groove, they can raise the slide plate. Thus, when the front and rear pulleys abut against the protrusions respectively, the forks can be adjusted to an upward or downward state, thereby enabling the picking of goods at lower positions and solving the technical problem that it is difficult to pick up goods at lower positions in existing systems. Attached Figure Description
[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0022] Figure 1 This is a front view of an automated warehouse robot in one embodiment;
[0023] Figure 2 This is a schematic diagram of the internal guiding structure of an automated storage and retrieval system robot in one embodiment;
[0024] Figure 3 This is a schematic diagram of the internal drive structure of an automated storage and retrieval system robot in one embodiment;
[0025] Figure 4 This is a schematic diagram of the fork mechanism in one embodiment;
[0026] Figure 5 This is a schematic diagram of the tilted state structure of an automated storage robot in one embodiment.
[0027] in:
[0028] 1. Vehicle body; 11. Guide groove; 12. Bevel; 13. Protrusion;
[0029] 2. Moving mechanism; 21. Drive wheel; 22. Auxiliary wheel;
[0030] 3. Forklift mechanism; 31. Moving component; 311. Slide plate; 312. Pulley block; 32. Frame; 33. Fork; 34. First drive assembly; 341. Drive wheel; 342. Driven wheel; 343. Chain. Detailed Implementation
[0031] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. The drawings illustrate preferred embodiments of this utility model. However, this utility model can be implemented in many other different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.
[0032] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.
[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.
[0034] The following is combined Figure 1-5 The automated storage and retrieval system robot involved in this embodiment will be explained in further detail.
[0035] like Figure 1-5 As shown, in one embodiment of an automated storage and retrieval system (AS / RS) robot, the AS / RS robot includes a vehicle body 1, a moving mechanism 2, and a fork mechanism 3. The vehicle body 1 has a guide groove 11, which extends through one side wall of the vehicle body 1 to form a bevel 12. A protrusion 13 is provided on the bottom of the guide groove 11 near the bevel 12. The moving mechanism 2 is mounted on the vehicle body 1 and is used to move the vehicle body 1. The fork mechanism 3 includes a movable component 31, a frame 32, and forks 33. The movable component 31 includes a sliding plate 311 and a pulley assembly 312. The pulley assembly 312 includes at least two pulleys respectively positioned at opposite ends of the sliding plate 311 and both externally positioned on one side of the sliding plate 311. The pulleys abut against the bottom of the guide groove 11 and can slide out of the bevel 12 along the extending direction of the guide groove 11. The frame 32 is mounted on the sliding plate 311, and the extending direction of the frame 32 forms an angle with the vehicle body 1. Forks 33 are mounted on the frame 32 and are used to pick up goods.
[0036] In this embodiment, the automated storage and retrieval robot has a protrusion 13 on the bottom of the guide groove 11 of the vehicle body 1, and also has pulleys on the side of the slide plate 311. When the pulleys abut against the bottom of the guide groove 11, they can raise the slide plate 311. Thus, when the front and rear pulleys abut against the protrusion 13 respectively, the forks 33 can be adjusted to an upward or downward state, thereby enabling the forks to pick up goods at lower positions, solving the technical problem that it is difficult to pick up goods at lower positions in existing systems.
[0037] Understandably, when the guide groove 11 moves in the direction of the guide and toward the bevel 12, the pulleys near the bevel 12 and in front will first change the state of the slide plate 311 as it reaches the protrusion 13. If the guide groove 11 and the fork 33 were horizontal before, they will change to an upward and tilted state. When the front pulley passes the protrusion 13 and the rear pulley reaches the protrusion 13, it will change to a downward and tilted state, which is beneficial for picking up goods at a lower position.
[0038] In one embodiment of an automated storage and retrieval system (AS / RS) robot, such as Figure 2 and 5 As shown, the surface of the protrusion 13 is arc-shaped and smoothly transitions with the bottom surface of the surrounding groove.
[0039] In this embodiment, by smoothly transitioning the protrusion 13 with the bottom surface of the surrounding groove, it can be understood that an uphill section and a downhill section will be formed after the smooth transition is set. The bevel 12 is close to the downhill section. Preferably, the bevel 12 can be the bottom of the downhill section, which can facilitate the smooth movement of the pulley.
[0040] In one embodiment of a three-dimensional storage robot, there are two pulley sets 312, which are respectively placed on opposite sides of the slide plate 311.
[0041] In this embodiment, by setting two sets of pulleys 312, the movement of the guide slide 311 can be stabilized.
[0042] In one embodiment of an automated storage and retrieval system (AS / RS) robot, there are multiple guide slots 11 and multiple fork mechanisms 3, with each fork mechanism 3 corresponding to a guide slot 11. Alternatively, there are multiple fork mechanisms 3, with each pulley in each fork mechanism 3 abutting against the bottom of a guide slot 11.
[0043] In this embodiment, the guide groove 11 can be a single groove or correspond one-to-one with the number of fork mechanisms 3. When there is a single guide groove 11, each fork mechanism 3 moves within a single guide groove 11, which simplifies the manufacturing process. When there are multiple guide grooves 11, the movement of each fork mechanism 3 can be guided more smoothly.
[0044] In one embodiment of an automated storage and retrieval system (AS / RS) robot, such as Figure 3As shown, the fork mechanism 3 also includes a first drive assembly 34. The vehicle body 1 has a first receiving cavity that communicates with the guide groove 11. The first drive assembly 34 is partially housed in the first receiving cavity. The part of the first drive assembly 34 that extends from the first receiving cavity into the guide groove 11 is a first drive end connected to the slide plate 311. The first drive end is used to drive the slide plate 311 to slide relative to the vehicle body 1.
[0045] In this embodiment, by setting the first drive component 34, it is possible to move with less effort and it is also conducive to automated control, which can facilitate automatic handling in unmanned workshops. In addition, in this embodiment, the first drive component 34 is housed in the first receiving cavity inside the vehicle body 1. In conjunction with the previous embodiment, the first receiving cavity can be formed by hollowing out the part between the two guide grooves 11, which can facilitate connection and also avoid the first drive component 34 being external and protected from dust.
[0046] In one embodiment of an automated storage and retrieval system (AS / RS) robot, such as Figure 3 As shown, the first drive assembly 34 includes a first drive motor, a drive wheel 341, a driven wheel 342, and a chain 343. The output end of the drive motor is connected to the drive wheel 341. The chain 343 is straddled and wound around the drive wheel 341 and the driven wheel 342. The chain 343 is also connected to the slide plate 311 or the frame 32 so as to drive the slide plate 311 to move.
[0047] In this embodiment, the first drive assembly 34 is composed of a chain 343 sprocket structure. The forward and reverse drive of the first drive motor can drive the fork mechanism 3 to move forward or backward as a whole. Specifically, the connection between the chain 343 and the slide plate 311 or the frame 32 can be achieved by installing or setting a connecting rod on the chain 343 to connect with the slide plate 311 or the frame 32.
[0048] In one embodiment of a three-dimensional warehouse robot, the fork mechanism 3 further includes a second drive component, which is mounted on the frame 32. The second drive end of the second drive component is connected to the fork 33 and is used to drive the fork 33 to move closer to or away from the vehicle body 1.
[0049] In this embodiment, it can be understood that when the vehicle body 1 is placed horizontally, the vehicle body 1 is at the bottom, and the lifting and lowering of the forks 33 is determined by the movement of the forks 33 closer to or further away from the vehicle body 1. By setting a second drive component, the automatic movement of the forks 33 can be realized, thereby corresponding to goods of different heights and achieving a better forking effect. The second drive component can be a linear drive module such as a cylinder, hydraulic cylinder, or linear motor. In a preferred embodiment, the second drive component is a sprocket and chain type 343 or a gear and rack type, which can achieve a better and smoother movement effect.
[0050] In one embodiment of a three-dimensional storage robot, the frame 32 is vertically connected to the slide plate 311, the fork 33 extends perpendicularly to the frame 32 and in the same direction as the slide plate 311, and the guide groove 11 has a straight section at the bottom of its groove on the side away from the bevel 12 that is parallel to the extension direction of the slide plate 311. The length of the straight section is greater than the farthest distance between the two pulleys in the pulley block 312.
[0051] In this embodiment, it can be understood that when placed on a horizontal ground and in the initial state, the vehicle body 1 is horizontal, the frame 32 is vertical, and the forks 33 are also horizontal. The length of the straight section is greater than the farthest distance between two pulleys in the pulley block 312, which ensures that all pulleys in a pulley block 312 are in contact with the straight section, thereby ensuring that the forks 33 are in a horizontal state at this position, i.e., the aforementioned initial position.
[0052] In one embodiment of an automated storage and retrieval system (AS / RS) robot, such as Figure 1-5 As shown, the moving mechanism 2 includes a drive wheel 21 and an auxiliary wheel 22. Both the drive wheel 21 and the auxiliary wheel 22 are mounted on the side of the vehicle body 1 away from the fork mechanism 3, so as to drive the vehicle body 1 to move.
[0053] In this embodiment, by setting the moving mechanism 2 in the form of a drive wheel 21 and an auxiliary wheel 22, the level of automation can be further improved.
[0054] In conjunction with the preceding embodiments, the automated storage and retrieval system (AS / RS) robot of this embodiment can autonomously and automatically transport goods without human intervention. With the cooperation of the drive wheel 21, the first drive assembly 34, and the second drive assembly, the AS / RS robot can move to different workstations and adjust the up-down and back-and-forth positions of the forks 33 to adapt to the needs of transporting goods at different heights. It is more flexible and convenient to adjust the posture of the forks 33, thereby making it easier to pick up goods at lower and higher positions, such as goods on the ground. When picking up goods at higher positions, the space required below the storage location is smaller.
[0055] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0056] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.
Claims
1. A three-dimensional warehousing robot, characterized in that, The automated warehousing robot includes: The vehicle body has a guide groove, which extends through one side wall of the vehicle body to form a bevel, and a protrusion is provided on the bottom of the guide groove near the bevel. A moving mechanism, mounted on the vehicle body, is used to move the vehicle body; The vehicle also includes a fork mechanism, comprising a movable component, a frame, and forks. The movable component includes a slide plate and a pulley assembly. The pulley assembly includes at least two pulleys respectively positioned at opposite ends of the slide plate and externally positioned on one side of the slide plate. The pulleys abut against the bottom of the guide groove and are capable of sliding out of the bevel along the extension direction of the guide groove. The frame is mounted on the slide plate, and the extension direction of the frame is angled to the vehicle body. The forks are mounted on the frame and used to pick up goods.
2. The automated storage and retrieval system robot as described in claim 1, characterized in that, The surface of the protrusion is arc-shaped and smoothly transitions with the bottom surface of the surrounding groove.
3. The automated storage and retrieval system robot as described in claim 1, characterized in that, The number of pulley sets is two, and the two pulley sets are respectively placed on opposite sides of the slide plate.
4. The automated storage and retrieval system robot as described in claim 1, characterized in that, The number of guide slots and the number of fork mechanisms are both multiple, and the fork mechanisms are arranged in a one-to-one correspondence with the guide slots; Alternatively, there may be multiple fork mechanisms, with each pulley in each fork mechanism abutting the bottom of one of the guide grooves.
5. The automated storage and retrieval system robot as described in claim 1, characterized in that, The fork mechanism further includes a first drive assembly. The vehicle body has a first receiving cavity that communicates with the guide groove. The first drive assembly is partially housed in the first receiving cavity. The portion of the first drive assembly extending from the first receiving cavity into the guide groove is a first drive end connected to the slide plate. The first drive end is used to drive the slide plate to slide relative to the vehicle body.
6. The automated storage and retrieval system robot as described in claim 5, characterized in that, The first drive assembly includes a first drive motor, a drive wheel, a driven wheel, and a chain. The output end of the drive motor is connected to the drive wheel. The chain is straddled and wound around the drive wheel and the driven wheel. The chain is also connected to the skateboard or the frame so as to drive the skateboard to move.
7. The automated storage and retrieval system robot as described in claim 1 or 5, characterized in that, The fork mechanism further includes a second drive assembly, which is mounted on the frame. The second drive end of the second drive assembly is connected to the fork and is used to drive the fork closer to or away from the vehicle body.
8. The automated storage and retrieval system robot as described in claim 7, characterized in that, The second drive component is a sprocket and chain type or a gear and rack type.
9. The automated storage and retrieval system robot as described in claim 1, characterized in that, The frame is vertically connected to the slide plate, the forks extend in a direction perpendicular to the frame and in the same direction as the slide plate, and the guide groove has a straight section at the bottom of its groove on the side away from the bevel that is parallel to the extension direction of the slide plate. The length of the straight section is greater than the farthest distance between the two pulleys in the pulley block.
10. The automated storage and retrieval system robot as described in claim 1, characterized in that, The moving mechanism includes a drive wheel and an auxiliary wheel, both of which are mounted on the side of the vehicle body away from the fork mechanism, so as to drive the vehicle body to move.